A logistics carrier system and a full-plant-area transportation method for automatically boarding an elevator

Abstract

The present application relates to a kind of logistics carrier systems of automatic boarding elevator and whole factory area transport method, including task input platform, logistics carrier and rear-mounted pressing device, rear-mounted pressing device is set in the side of elevator button, when logistics carrier needs to cross floor, logistics carrier is connected with the rear-mounted pressing device of relevant elevator button, and sends start signal, controls rear-mounted pressing device to control elevator, so that logistics carrier boarding, realize that logistics carrier completes the whole factory area of different floor cargo transport work;And the rear-mounted pressing device of the present application belongs to late addition, i.e. on the original elevator structure is added, need not replace the control mainboard of original elevator or rewrite original control program, keep original elevator system structure;The mechanical arm of rear-mounted pressing device simulates human hand to touch elevator button, and elevator control can be completed;Visible, the present application can be directly applied to original elevator structure, suitable for any factory area transport system modification, can be widely applied.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent logistics, in particular to an automatic elevator-riding logistics carrier system and a full-factory-area transportation method. BACKGROUND

[0002] Automated Guided Vehicle (AGV) is also known as automated guided vehicle or automated guided carrier. Intelligent AGV is an automated carrier that can realize automatic transportation and carrying by virtue of its intelligent sensing and decision-making capabilities. Its advantages include high automation, flexible application, safety and reliability, etc.

[0003] Intelligent AGV is widely used in various factories, warehouses, logistics distribution centers and other places, which can effectively improve the efficiency of logistics transportation and carrying, reduce labor intensity and save labor costs.

[0004] However, most of the existing intelligent AGVs are used for transportation within the same floor of the factory. If the AGV needs to move to other floors, manual intervention is still required, such as pushing the AGV into the elevator by the operator, sending it to the target floor, and then restarting the AGV.

[0005] The above problems are worth solving. SUMMARY

[0006] In order to overcome the problem that the existing logistics carrier system needs manual intervention when moving between different floors of the factory, and to solve the problems of insufficient intelligence and low transportation efficiency, the present application provides an automatic elevator-riding logistics carrier system and a full-factory-area transportation method.

[0007] The technical solution of the present application is as follows:

[0008] An automatic elevator-riding logistics carrier system, comprising a task input platform, a logistics carrier and a rear-mounted pressing device, the task input platform is connected with the logistics carrier through network signal, and the logistics carrier is connected with the rear-mounted pressing device through Bluetooth signal; the task input platform is used for inputting delivery instructions and sending the delivery instructions to the logistics carrier through network; the logistics carrier is used for moving according to the designed route after receiving the delivery instructions, and is used for sending a start signal to the rear-mounted pressing device; the rear-mounted pressing device is installed beside the elevator button and is provided with a mechanical arm, and the rear-mounted pressing device is used for driving the mechanical arm to touch the elevator button after receiving the start signal.

[0009] Optionally, the task input platform is a computer terminal or a mobile phone terminal.

[0010] According to the automatic elevator-riding logistics carrier system of the present application, the logistics carrier system further comprises a plurality of charging parking spaces, the plurality of charging parking spaces are uniformly distributed on different floors of a factory area, and the number of the charging parking spaces corresponds to the number of the logistics carriers.

[0011] According to the automatic elevator-riding logistics carrier system of the present application, the rear-mounted pressing device comprises a first pressing device and a second pressing device; the first pressing device is arranged beside the up-and-down buttons outside the elevator, and the first pressing device is provided with a retractable first mechanical arm; the first pressing device is used to press the up button or the down button by extending the first mechanical arm after receiving a starting signal; the second pressing device is arranged beside the floor buttons inside the elevator, and the second pressing device is provided with a retractable second mechanical arm; the second pressing device is used to press the corresponding floor button by extending the second mechanical arm after receiving a starting signal.

[0012] Further, the first pressing device comprises an up pressing device and a down pressing device; the up pressing device is arranged beside the up button; and the down pressing device is arranged beside the down button.

[0013] Further, the number of the second pressing devices corresponds to the number of the floor buttons inside the elevator.

[0014] According to the automatic elevator-riding logistics carrier system of the present application, the front of the logistics carrier is provided with an obstacle avoidance sensor; the obstacle avoidance sensor is an infrared sensor, an ultrasonic sensor or a laser radar; and the bottom of the logistics carrier is provided with a tracking sensor; the tracking sensor is used to detect a pre-set route sticker.

[0015] According to the automatic elevator-riding logistics carrier system of the present application, the front of the logistics carrier is further provided with a first camera; the first camera is used to identify the number of persons in front of the logistics carrier.

[0016] According to the automatic elevator-riding logistics carrier system of the present application, the logistics carrier is provided with a touch screen; the touch screen is used to set the networking state of the logistics carrier, the pairing state with the rear-mounted pressing device and the speed of the logistics carrier; and the touch screen is further used to query the information of a cargo list.

[0017] Further, the top of the touch screen is provided with a second camera; the second camera is used for face recognition.

[0018] Further, the side of the touch screen is provided with a voice collection and recognition port and a voice broadcast port; the voice collection and recognition port is used to collect voice instructions; and the voice broadcast port is used to play sound.

[0019] The present application further provides a full-factory-area transportation method, which is realized by the automatic elevator-riding logistics carrier system according to the above-mentioned scheme, and specifically comprises the following steps:

[0020] Step 1, send a delivery instruction through a task input platform, and a plurality of logistics carriers receive the instruction and upload position information and working states, and the total control system screens out an idle logistics carrier closest to the delivery party;

[0021] Step 2, the logistics carrier moves according to a set route using a tracking sensor, first moves to the delivery party and then moves to the receiving party, and if the route involves different floors, the logistics carrier needs to move to an elevator;

[0022] Step 3, the logistics carrier first controls a rear loading pressing device outside the elevator to open the elevator door, and then controls a rear loading pressing device inside the elevator to select a target floor;

[0023] Step 4, the logistics carrier sends the goods to the receiving party after arriving at the target floor by taking the elevator.

[0024] According to the above-mentioned scheme, in step 2, when the logistics carrier moves on the predetermined route, the obstacle avoidance sensor of the vehicle head detects the front of the logistics carrier in real time, and when an obstacle is detected, the logistics carrier pauses walking, and continues to move when the obstacle is removed.

[0025] According to the above-mentioned scheme, step 3 includes the following steps:

[0026] Step 301, the logistics carrier is paired and connected with the first pressing device, a start signal is sent after successful connection, and the first pressing device holds the up key or the down key;

[0027] Step 302, the first camera of the logistics carrier takes a picture and recognizes the number of people in the elevator, and determines whether to enter the elevator according to the number of people; if the elevator is entered, step 303 is executed; if the elevator is not entered, step 305 is executed;

[0028] Step 303, the logistics carrier reduces the moving speed, slowly drives into the elevator, and broadcasts an avoidance prompt voice;

[0029] Step 304, the logistics carrier is paired and connected with the second pressing device, a start signal is sent after successful connection, and the second pressing device presses the corresponding floor button to complete the target floor selection;

[0030] Step 305, the logistics carrier controls the first pressing device to retract the first mechanical arm, waits for the elevator door to close, and then controls the first pressing device to hold the up key or the down key again, and repeats step 302.

[0031] According to the above-mentioned scheme, in step 302, the number threshold is set to 4, when the number of people in the elevator recognized by the first camera does not exceed the threshold, it is determined to enter the elevator; when the number of people in the elevator recognized by the first camera exceeds the threshold, it is determined not to enter the elevator.

[0032] According to the application of the above scheme, the step 4 comprises the following steps:

[0033] Step 401, the trailer infrared sensor of the logistics carrier senses that the elevator is opened, broadcasts an avoidance prompt voice, and slowly drives out of the elevator;

[0034] Step 402, moving to the area where the consignee is located along the predetermined route in the target floor;

[0035] Step 403, broadcast a consignment prompt sound to remind the consignee to timely pick up the goods;

[0036] Step 404, waiting for the consignee to pick up the goods and input the task completion instruction to the logistics carrier, and completing the delivery task.

[0037] According to the application of the above scheme, the full-plant-area transportation method further comprises the following steps:

[0038] Step 5, the logistics carrier feeds back position information to the general control system and sends a homing request;

[0039] Step 6, the general control system sends the position information of the empty and nearest charging parking space to the logistics carrier according to the occupancy of the charging parking space, and the logistics carrier is homed.

[0040] According to the application of the above scheme, the beneficial effects are as follows:

[0041] The logistics carrier system of the application comprises a task input platform, a logistics carrier and a rear-mounted pressing device, the rear-mounted pressing device is arranged beside the elevator button, when the logistics carrier needs to cross floors, the logistics carrier is connected with the rear-mounted pressing device of the related elevator button and sends a starting signal to control the rear-mounted pressing device to control the elevator so that the logistics carrier can ride, realizing the full-plant-area goods transportation work of the logistics carrier in different floors;

[0042] Moreover, the rear-mounted pressing device of the application is a late-added part, that is, it is added to the original elevator structure, without the need to replace the original control mainboard of the elevator or rewrite the original control program, and the original elevator system structure is reserved; the mechanical arm of the rear-mounted pressing device simulates the human hand to touch the elevator button, so that the elevator control can be completed;

[0043] Therefore, the application can be directly applied to the original elevator structure, is suitable for the transportation system transformation of any plant area, and can be widely applied. BRIEF DESCRIPTION OF DRAWINGS

[0044] Figure 1 It is a structural schematic view of the logistics carrier in the application;

[0045] Figure 2 It is a structural schematic view of the logistics carrier from another perspective;

[0046] Figure 3 Figure 1 is a structural diagram of the rear-mounted pressing device in the present application;

[0047] Figure 4 Figure 2 is an exploded structural diagram of the rear-mounted pressing device;

[0048] Figure 5 Figure 3 is a bottom view of the upper shell;

[0049] Figure 6 Figure 4 is an exploded diagram of the driving source, linkage block and mechanical arm part;

[0050] Figure 7 Figure 5 is a structural diagram of the mechanical arm;

[0051] Figure 8 Figure 6 is a structural diagram of the linkage block;

[0052] Figure 9 Figure 7 is a cross-sectional view of the mechanical arm of the rear-mounted pressing device not extended;

[0053] Figure 10 Figure 8 is a cross-sectional view of the mechanical arm of the rear-mounted pressing device extended;

[0054] Figure 11 Figure 9 is a block diagram of the logistics carrier system.

[0055] In the drawings,

[0056] 1. Logistics carrier;

[0057] 11. Touch screen; 12. Storage box;

[0058] 2. Rear-mounted pressing device;

[0059] 21. Box body; 201. Upper shell; 202. Lower bottom plate; 211. Clamping plate; 212. Positioning shaft; 213. Notch;

[0060] 22. Linkage block; 221. Longitudinal limiting groove;

[0061] 23. Mechanical arm; 231. Protruding part; 232. Inclined slot hole; 233. Extension rod; 234. Touching part;

[0062] 24. Driving source; 241. Sliding block;

[0063] 25. Circuit board;

[0064] 26. External rechargeable battery;

[0065] 3. Elevator button. DETAILED DESCRIPTION

[0066] For better understanding of the purpose, technical solutions and technical effects of the present application, the present application will be further explained in the following with reference to the accompanying drawings and examples. It should be noted that similar reference numerals and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings. At the same time, it is declared that the following described examples are only for explaining the present application, and do not limit the present application.

[0067] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or there can be a middle element, and when an element is referred to as being "connected to" another element, it can be directly connected to the other element or there can be a middle element.

[0068] The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship commonly placed when the product of the application is used, or the orientation or positional relationship commonly understood by those skilled in the art, or the orientation or positional relationship commonly placed when the product of the application is used, only for the purpose of facilitating the description of the present application and simplifying the description, and is not intended to indicate or imply that the device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0069] The terms "first", "second" are only for the purpose of facilitating the description, and cannot be understood as indicating or implying relative importance or implying the number of technical features. The meaning of "several" is two or more, unless otherwise specifically limited.

[0070] As shown in Figures 1 to 3 , Figure 11 An automatic elevator-riding logistics carrier system includes a task input platform, a logistics carrier 1 and a rear loading pressing device 2, the task input platform is connected with the logistics carrier 1 through a network signal, and the logistics carrier 1 is connected with the rear loading pressing device 2 through a Bluetooth signal. In an optional embodiment, the task input platform is connected with the logistics carrier 1 through a 5G mobile signal or a wifi signal, the task input platform is used for inputting a delivery instruction, for example, a deliveryman inputs the information of the goods to be transferred, the information of the recipient, etc. into the task input platform, forms a delivery instruction, and sends the delivery instruction to the logistics carrier 1 through a network signal.

[0071] The logistics carrier 1 is used for moving according to a designed route after receiving a delivery instruction, and sends a starting signal to control the rear-mounted pressing device 2 to operate the elevator when moving to the elevator. The rear-mounted pressing device 2 is provided with a mechanical arm 23 and is arranged beside the elevator button, and the rear-mounted pressing device 2 is used for receiving the starting signal sent by the logistics carrier 1 and driving the mechanical arm 23 to touch the elevator button 3. It can be seen that the logistics carrier 1 of the present application advances according to the set route after receiving the delivery instruction, and when it needs to cross floors, it is connected with the rear-mounted pressing device 2 through a Bluetooth signal to control the elevator. Moreover, the rear-mounted pressing device 2 is a late-mounted part, that is, it is mounted late in the original perfect elevator structure, and it does not need to replace the original control mainboard of the elevator or rewrite the original control program, and it does not damage the original elevator structure, and it uses the mechanical arm 23 of the rear-mounted pressing device 2 to simulate the human hand to touch the elevator button to complete the elevator operation, and it can be directly applied to the existing elevator in the factory area, and it is convenient and fast and has small mounting difficulty.

[0072] In an optional embodiment, the task input platform is a computer terminal or a mobile phone terminal, for example, a delivery work order is input through an APP on a mobile phone, including goods information, sender information, receiver information and the like; a timed delivery can also be set; and the logistics carrier 1 can start to deliver goods after the receiver confirms that the goods can be received on the mobile phone.

[0073] In the present application, the logistics carrier 1 system that automatically gets on the elevator further comprises a plurality of charging parking spaces, the plurality of charging parking spaces are uniformly distributed on different floors of the factory area, and the number of the charging parking spaces corresponds to the number of the logistics carriers 1. In an optional embodiment, the charging parking space is provided with a charging plug, and the logistics carrier 1 is provided with a matching charging socket, when the logistics carrier 1 moves to the charging parking space, the charging socket is aligned with the charging plug, so that the logistics carrier 1 is automatically charged after returning to the original position. In other optional embodiments, the charging parking space is provided with a wireless charging magnetic induction area, and the logistics carrier 1 is internally provided with a magnetic induction charging coil, so that the logistics carrier 1 can be wirelessly charged after parking in the charging parking space.

[0074] In the present application, the rear-mounted pressing device 2 comprises a first pressing device and a second pressing device; the first pressing device is arranged beside the up-down buttons outside the elevator, and the first pressing device is provided with a retractable first mechanical arm, and the first pressing device is used for receiving the starting signal from the logistics carrier 1 and extending the first mechanical arm to press the up button or the down button; the second pressing device is arranged beside the floor button inside the elevator, and the second pressing device is provided with a retractable second mechanical arm, and the second pressing device is used for receiving the starting signal from the logistics carrier 1 and extending the second mechanical arm to press the corresponding floor button.

[0075] The first pressing device includes an up-pressing device and a down-pressing device. The up-pressing device is arranged beside the up-key, and the down-pressing device is arranged beside the down-key. The up-pressing device is responsible for the up-key only, and the down-pressing device is responsible for the down-key only. The logistics carrier 1 selects one of the up-pressing device and the down-pressing device to connect according to needs. It can be seen that the first mechanical arms of the up-pressing device and the down-pressing device do not interfere with each other, which is beneficial to the stability of control and can also make the design structure of the first mechanical arm simple and easy to realize.

[0076] The number of the second pressing devices corresponds to the floor keys in the elevator one by one, and each second pressing device is responsible for one floor key. Generally, the number of elevator keys in a factory area is small, and there are only two rows of floor keys. There is sufficient space on the upper and lower sides or the left and right sides of the floor key area to install multiple second pressing devices. Similarly, each second pressing device is responsible for one floor key, and the respective second mechanical arms do not interfere with each other, which is beneficial to simplify the design structure of the second mechanical arm.

[0077] As shown in Figures 3 to 8 In a preferred embodiment, the rear-mounted pressing device 2 includes a box body 21, a mechanical arm 23, a driving source 24, and a power supply. Specifically, the box body 21 includes an upper shell 201 and a lower bottom plate 202. The upper shell 201 and the lower bottom plate 202 are tightened by bolts to combine into a rectangular box body 21 with a mounting cavity. The box body 21 adopts a rectangular structure to save floor space. The lower surface of the upper shell 201 is provided with a plurality of fixing studs. The internal parts of the rear-mounted pressing device 2, such as the circuit board 25, the mechanical arm 23, and the driving source 24, are all installed in the upper shell 201 through the fixing studs. The inside of the upper shell 201 is provided with a clamping plate 211, which serves to limit the mechanical arm 23. In addition, one side of the upper shell 201 is provided with a notch 213 corresponding to the clamping plate 211. The mechanical arm 23 can extend out of the box body 21 through the notch 213.

[0078] As shown in Figure 4 The driving source 24 adopts a linear actuator to provide power for the extension and retraction of the mechanical arm 23. A linkage block 22 is further arranged between the driving source 24 and the mechanical arm 23. The driving source 24 transmits power to the mechanical arm 23 through the linkage block 22. Specifically, the sliding block 241 of the driving source 24 is provided with a first screw hole, and the side surface of the linkage block 22 close to the sliding block 241 is provided with a second screw hole. The linkage block 22 is installed on the sliding block 241 through the first screw hole and the second screw hole, so as to realize the linear motion of the linkage block 22 driven by the driving source 24.

[0079] As shown in Figure 8As shown, the linkage block 22 has a longitudinal limiting groove 221 on one side near the robotic arm 23, and the end of the robotic arm 23 has a protrusion 231 that inserts into the longitudinal limiting groove 221 and can slide up and down within the longitudinal limiting groove 221. The other end of the robotic arm 23 has an extension rod 233, which is used to extend out of the notch 213 of the box body 21 and touch the elevator button 3.

[0080] like Figures 5 to 7 As shown, the robotic arm 23 is provided with an inclined slot 232, and the inclined slot 232 is inclined from low to high in the direction from the extension rod 233 to the protrusion 231. The side wall of the clamping plate 211 of the upper housing 201 is provided with a positioning shaft 212, which is inserted into the inclined slot 232. In the initial state, the positioning shaft 212 is located at the lowest point of the inclined slot 232; the initial state refers to the state in which the robotic arm 23 has not extended out of the housing 21. When the drive source 24 drives the linkage block 22 to move forward, the linkage block 22 pushes the robotic arm 23. As the robotic arm 23 moves, under the action of the inclined slot 232 and the positioning shaft 212, the robotic arm 23 descends. At this time, the protrusion 231 of the robotic arm 23 slides down in the longitudinal limiting groove 221. Finally, the extension rod 233 of the robotic arm 23 extends out of the housing 21 and touches the elevator button 3 downward.

[0081] In an optional embodiment, to ensure that the end of the extension rod 233 can press the elevator button 3 more stably, the lower surface of the end of the extension rod 233 is provided with a downwardly protruding contact portion 234. The outer side of the contact portion 234 is provided with an arc surface to prevent the robotic arm 23 from scratching the elevator button 3 during the forward extension and downward pressing process.

[0082] In an optional embodiment, in order to increase the stability of the movement of the robotic arm 23, two clamping plates 211 of the upper housing 201 are respectively located on both sides of the robotic arm 23, and the two clamping plates 211 are symmetrically provided with positioning shafts 212, and the positioning shafts 212 on both sides are inserted into the inclined slots 232 of the robotic arm 23.

[0083] The power source for the rear-mounted pressing device 2 can be a built-in button battery, which needs to be replaced periodically. However, this makes the structure of the rear-mounted pressing device simpler and helps save space around the elevator buttons.

[0084] like Figure 3 As shown, the power supply for the rear-mounted pressing device 2 can also be an independent external rechargeable battery 26, which is detachably connected to the rear-mounted pressing device 2 via a power plug. This structure requires a battery placement slot on the side of the rear-mounted pressing device 2. This structure requires sufficient installation space around the elevator buttons. When the external rechargeable battery 26 is depleted, it can be unplugged and replaced.

[0085] The first pressing device and the second pressing device of the application have the same structure, and both adopt the structure design of the rear-mounted pressing device 2 of the above embodiment; the first pressing device and the second pressing device are only arranged at different button positions of the elevator.

[0086] As shown in the drawings, Figure 1 In a preferred embodiment, the bottom of the logistics carrier 1 is provided with a tracking sensor for detecting a pre-set route sticker. The tracking sensor is a common sensor, which is usually composed of a light-emitting diode and a photoresistor. The light-emitting diode emits a beam of infrared light, which is absorbed when it shines on the black line on the ground, and is reflected back when it shines on the white (bright or non-black) area. The tracking sensor detects the intensity of the reflected infrared light by using the photoresistor to determine whether the logistics carrier 1 is walking on the set track.

[0087] In other optional embodiments, a vehicle-mounted camera facing the ceiling direction can be arranged on the logistics carrier, which is used for image acquisition and identifies the ceiling reference such as the ceiling pattern and wall pattern during the travel of the logistics carrier. The vehicle-mounted camera can learn the route walked by the logistics carrier and save the walked route. When there is a delivery route identical to the saved route, the route can be directly retrieved and sent to the logistics carrier. Compared with the tracking sensor, the route obtained by the camera recognition method is more reliable because the ceiling reference is less likely to change due to daily work and life.

[0088] The front of the logistics carrier 1 is provided with an obstacle avoidance sensor, which is an infrared sensor or an ultrasonic sensor or a laser radar; when the obstacle avoidance sensor senses that there is a person or an obstacle in front of the carrier, it can stop running and wait until the obstacle is removed before continuing to walk; or it can continue to walk around the obstacle after sensing the obstacle in front of the carrier.

[0089] The front of the logistics carrier 1 is also provided with a first camera for identifying the number of people in front of the vehicle. By using the first camera, the number of people in the elevator can be identified before the logistics carrier 1 enters the elevator. If the identified number of people exceeds a certain value, it is determined that the elevator space is insufficient, and the logistics carrier 1 does not enter the elevator to avoid colliding with people and ensure the safety of the factory area.

[0090] The logistics carrier 1 is provided with a touch screen 11, which is used to set the networking state of the logistics carrier 1, the pairing state of the logistics carrier 1 and the rear-mounted pressing device 2, and the vehicle speed of the logistics carrier 1. For example, the logistics carrier 1 is set to enter a 5G networking state through the touch screen 11; the pairing information of the first pressing device and the second pressing device is input in the system of the logistics carrier 1 through the touch screen 11; the maximum driving speed of the logistics carrier 1 is set through the touch screen 11, and the avoidance prompt voice (including language, voice content, tone and volume) of the logistics carrier 1 can also be set through the touch screen 11. The touch screen 11 is also used to query the order information, for example, when the logistics carrier 1 stops due to failure, the factory personnel can query the order information to take remedial measures for manual distribution of undelivered goods.

[0091] The top of the touch screen 11 is provided with a second camera, which is used for face recognition. With the face recognition function of the second camera, the logistics carrier 1 can obtain personnel information, compare the personnel information obtained by the second camera with the input receiver information, and judge whether it is the correct receiver personnel. At the same time, a lockable storage box 12 can be added to the logistics carrier 1, which can only be opened by the correct receiver personnel in combination with the above-mentioned functions, so as to improve the safety of goods transportation.

[0092] The side of the touch screen 11 is provided with a voice collection and recognition port, which is used to collect voice instructions and realize the function of man-machine voice interaction. The side of the touch screen 11 is also provided with a voice broadcast port, which is used to play sound, such as avoidance prompt voice, receiver prompt voice, etc.

[0093] In an optional embodiment, the touch screen 11 of the logistics carrier 1 is detachably connected with the carrier body, and the touch screen 11 is clamped on the handrail of the carrier body, so that the touch screen 11 can be taken off for operation, and it is also convenient for the staff to replace and maintain the touch screen 11.

[0094] In the present application, the logistics carrier 1 is provided with two storage spaces, one is a storage box 12 for placing small items, and the other is a carrier body for carrying large items.

[0095] The present application also provides a full-plant-domain transportation method, which comprises the following steps:

[0096] Step 1: Send a delivery instruction through a task input platform, and a plurality of logistics carriers receive the instruction and upload position information and working state, and the total control system selects the idle logistics carrier closest to the sender;

[0097] Step 2: The logistics carrier moves according to the set route by using a tracking sensor, first moves to the sender and then moves to the receiver, and if the route involves different floors, the logistics carrier needs to move to the elevator;

[0098] Step 3, the logistics carrier first controls the rear loading press device outside the elevator to open the elevator door, and then controls the rear loading press device inside the elevator to select the target floor;

[0099] Step 4, after the logistics carrier reaches the target floor by taking the elevator, the goods are delivered to the receiver.

[0100] In the above step 1, the task input platform can be a computer terminal or a mobile terminal independent of the logistics carrier, or a touch screen loaded on the logistics carrier. The sender can directly input the delivery instruction on the touch screen of a logistics carrier to control the logistics carrier without networking. The input method of the touch screen of the logistics carrier can be handwriting input or voice interactive input.

[0101] In the above step 2, when the logistics carrier moves on the predetermined route, the obstacle avoidance sensor at the front of the vehicle head detects the front of the logistics carrier in real time. When an obstacle is detected, the logistics carrier pauses to move, and when the obstacle is removed, the logistics carrier continues to move. Alternatively, after sensing the obstacle in front, the logistics carrier can continue to move towards the destination after bypassing the obstacle.

[0102] In a preferred embodiment, the above step 3 includes the following steps:

[0103] Step 301, the logistics carrier is paired with the first press device. After successful connection, a start signal is sent, and the first press device drives the first mechanical arm to press the up key or the down key;

[0104] For example, when the logistics carrier needs to go upstairs, the logistics carrier is paired with the up press device, and the first mechanical arm of the up press device is driven to press the up key of the elevator. After the elevator reaches the floor where the logistics carrier is located and the logistics carrier enters the elevator, the logistics carrier disconnects with the up press device.

[0105] For example, when the logistics carrier needs to go downstairs, the logistics carrier is paired with the down press device, and the first mechanical arm of the down press device is driven to press the down key of the elevator. After the elevator reaches the floor where the logistics carrier is located and the logistics carrier enters the elevator, the logistics carrier disconnects with the down press device.

[0106] Step 302, the first camera of the logistics carrier takes a picture and recognizes the number of people in the elevator, and determines whether to enter the elevator according to the number of people. If the elevator is entered, step 303 is performed; if the elevator is not entered, step 305 is performed;

[0107] Preferably, the number threshold is set to 4, when the number of people in the elevator recognized by the first camera is not more than the threshold, it is determined to enter the elevator; when the number of people in the elevator recognized by the first camera exceeds the threshold, it is determined not to enter the elevator. For example, the staff sets the number threshold to 4 according to the actual elevator space, then the logistics carrier identifies that the number of people in the elevator is ≥4 through the first camera after the elevator door is opened, and then it is determined not to enter the elevator; it is determined to enter the elevator when the number of people in the elevator is <4.

[0108] Step 303, the logistics carrier reduces the moving speed, slowly drives into the elevator, and broadcasts the avoidance prompt voice;

[0109] Step 304, the logistics carrier is connected with the second pressing device, a start signal is sent after successful connection, the second mechanical arm of the second pressing device presses the corresponding floor button, and the target floor selection is completed;

[0110] As can be seen from the foregoing steps, the logistics carrier entering the elevator is disconnected from the first pressing device; the logistics carrier connects the second pressing device corresponding to the target floor button according to the target floor, so that the second mechanical arm of the second pressing device presses the floor button of the target floor, and after reaching the target floor, step 4 is executed.

[0111] Step 305, the logistics carrier controls the first pressing device to retract the first mechanical arm, waits for the elevator door to close, and then controls the first pressing device to press the up button or the down button again, and repeats step 302.

[0112] When the logistics carrier determines not to enter the elevator, step 305 is executed, specifically, in step 305, the logistics carrier can be set to wait for 3 seconds after the elevator door is closed, and then control the first pressing device to start again, and wait for the elevator to come again, which can ensure that the logistics carrier does not affect the smooth departure of the elevator carrying people. The logistics carrier can determine the opening and closing state of the elevator door through the first camera, or use the obstacle avoidance sensor; or additionally set a front infrared sensor dedicated to sensing the state of the elevator door.

[0113] In one preferred embodiment, step 4 includes the following steps:

[0114] Step 401, after the rear infrared sensor of the logistics carrier senses that the elevator is opened, the avoidance prompt voice is broadcasted, and the logistics carrier slowly drives out of the elevator;

[0115] Step 402, moving along the predetermined route to the area where the consignee is located in the target floor;

[0116] Step 403, broadcast the pickup prompt sound to remind the consignee to pick up the goods in time;

[0117] Step 404, after the consignee picks up the goods and inputs the task completion instruction to the logistics carrier, the delivery task is completed.

[0118] In a preferred embodiment, step 4 is further followed by the steps of:

[0119] Step 5, the logistics carrier feeds back position information to the general control system and sends a homing request;

[0120] Step 6, the general control system sends the position information of the nearest empty charging parking space to the logistics carrier according to the occupancy of the charging parking space, and the logistics carrier returns to the charging parking space.

[0121] The technical features of the above embodiments can be combined in any manner. In order to make the description concise, not all possible combinations of the technical features in the above embodiments are described, but as long as the combinations of the technical features do not exist, they should be considered as the scope of the description.

[0122] The above embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the patent. It should be pointed out that for those skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are all within the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A plant-wide transportation method characterized by, The system is realized by an automatic elevator-riding logistics carrier system, which comprises a task input platform, a logistics carrier and a rear loading pressing device, the task input platform is connected with the logistics carrier through network signals, and the logistics carrier is connected with the rear loading pressing device through Bluetooth signals; The task input platform is used for inputting delivery instructions and sending the delivery instructions to the logistics carrier through the network; The logistics carrier is used for moving according to the designed route after receiving the delivery instructions, and is used for sending a start signal to the rear loading pressing device; The rear loading pressing device is installed beside the elevator button and is provided with a mechanical arm, and the rear loading pressing device is used for driving the mechanical arm to touch the elevator button after receiving the start signal; Specifically comprising the following steps: Step 1, issuing a delivery instruction through the task input platform, a plurality of logistics carriers receiving the instruction upload position information and working state, the total control system selects the idle logistics carrier closest to the sender; Step 2, the logistics carrier moves according to the set route using the tracking sensor, first moves to the sender and then moves to the receiver, if the route involves different floors, the logistics carrier needs to move to the elevator; Wherein, when the logistics carrier moves on the given route, the obstacle avoidance sensor of the vehicle head detects the front of the logistics carrier in real time, and when an obstacle is detected, the logistics carrier pauses walking, and continues to move when the obstacle is removed; Step 3, the logistics carrier first controls the rear loading pressing device outside the elevator to open the elevator door, and then controls the rear loading pressing device inside the elevator to select the target floor; comprising the following steps: Step 301, the logistics carrier is connected with the first pressing device, a start signal is sent after successful connection, and the first pressing device holds the up key or the down key; Step 302, the first camera of the logistics carrier takes a picture and recognizes the number of people in the elevator, and determines whether to enter the elevator according to the number of people; the number threshold is set to 4, when the number of people in the elevator recognized by the first camera does not exceed the threshold, it is determined to enter the elevator; when the number of people in the elevator recognized by the first camera exceeds the threshold, it is determined not to enter the elevator; if entering the elevator, step 303 is executed; if not entering the elevator, step 305 is executed; Step 303, the logistics carrier reduces the moving speed, slowly drives into the elevator, and broadcasts an avoidance prompt voice; Step 304, the logistics carrier is connected with the second pressing device, a start signal is sent after successful connection, and the second pressing device presses the corresponding floor button to complete the target floor selection; Step 305, the logistics carrier controls the first pressing device to retract the first mechanical arm, waits for the elevator door to close, and then controls the first pressing device to hold the up key or the down key again, and repeats step 302; Step 4, the logistics carrier rides the elevator to the target floor and delivers the goods to the receiver.

2. The plant-wide transportation method according to claim 1, characterized by, The step 4 comprises the following steps: Step 401, the tail infrared sensor of the logistics carrier senses that the elevator is opened, broadcasts an avoidance prompt voice, and slowly drives out of the elevator; Step 402, moving along the given route to the area where the receiver is located in the target floor; Step 403, broadcast a receiver prompt sound to remind the receiver to take the goods in time; Step 404, the goods are received by the goods receiver, and the delivery task is completed by inputting a task completion instruction to the logistics carrier.

3. The plant-wide transportation method according to claim 1, characterized by, The rear-mounted pressing device comprises a first pressing device and a second pressing device; The first pressing device is arranged beside the up-and-down button outside the elevator, and the first pressing device is provided with a retractable first mechanical arm, which is used to press the up button or the down button after receiving the starting signal; The second pressing device is arranged beside the floor button inside the elevator, and the second pressing device is provided with a retractable second mechanical arm, which is used to press the corresponding floor button after receiving the starting signal.

4. The plant-wide transportation method according to claim 1, characterized by, The front of the logistics carrier is provided with an obstacle avoidance sensor, which is an infrared sensor, an ultrasonic sensor or a laser radar; The bottom of the logistics carrier is provided with a tracking sensor, which is used to detect the pre-set route sticker.

5. The plant-wide transportation method according to claim 1, wherein, The front of the logistics carrier is also provided with a first camera, which is used to identify the number of people in front of the vehicle.

6. The plant-wide transportation method according to claim 1, wherein, The logistics carrier is provided with a touch screen, which is used to set the networking state of the logistics carrier, the pairing state with the rear-mounted pressing device, and the vehicle speed, and the touch screen is also used to query the goods list information.

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