Intelligent express access robot, system and method

Abstract

The application discloses an intelligent express delivery storage and taking robot, system and method, which comprises a robot chassis, a mechanical arm and a control module carried on the robot chassis; the end of the mechanical arm is provided with a storage label card reader for reading a storage label arranged on a goods shelf; a landmark label card reader is arranged on the robot chassis and used for reading a landmark label arranged on the center line of a running path; the control module controls the robot to move along the landmark label according to the positions of a target goods shelf and a target storage compartment; the mechanical arm posture is adjusted according to the mechanical arm posture parameters of the mechanical arm reaching the position of the storage label on the target goods shelf and the mechanical arm posture parameters of the mechanical arm reaching the target storage compartment, so that the mechanical arm completes express delivery putting or grabbing at the position of the target storage compartment. The application meets the positioning and navigation requirements of the robot, does not need to build a track, and guarantees the correctness of express delivery putting and grabbing.

Description

Technical Field

[0001] This invention relates to the field of logistics robot technology, and in particular to an intelligent express delivery storage and retrieval robot, system and method. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] With the gradual increase in express delivery volume, especially during large-scale e-commerce promotional events, the contradiction between the surge in parcel volume and the large short-term labor shortage at the last mile is prone to problems such as extended delivery time and parcel backlog. The "last mile" problem is becoming increasingly prominent. The "last mile" refers to the distance from the logistics center to the distribution center and from the distribution center to the customer. It is the last link in the logistics and distribution process and the only link where the customer has direct contact.

[0004] Currently, there are three main models for express delivery:

[0005] (1) The courier delivers or picks up the package at the address provided by the courier. However, this method has high labor costs. During the pickup and delivery process, multiple phone calls are often required, and the package cannot be picked up or delivered in a timely manner due to reasons such as the customer not being at home. As a result, the overall efficiency of receiving and sending packages is low.

[0006] (2) Express delivery collection (delivery) stations are manually managed express delivery storage and transfer stations where recipients collect their packages with a pickup voucher. However, the security management of express delivery collection stations is currently inadequate. The spaces are small and the population is dense. There are no restrictions on the number of people picking up packages. Some stations are even located in shops and need to handle other business operations. The staff may be negligent in managing the flow of people. When people pick up packages, they may mistakenly take the wrong package or even steal it by searching for it on the express delivery shelf using the pickup code. This is inefficient and unsafe.

[0007] (3) Smart parcel lockers are installed and configured in communities by specific companies. They have communication functions and can verify personnel information. However, due to the lack of unified standards and requirements, the construction and operation of smart parcel lockers are still carried out by individual companies. The average construction cost of a set of smart parcel lockers is high, which will occupy public land, face the problem of rent collection, and also have to bear the labor costs of operation and maintenance personnel and other expenses such as electricity bills. This increases the difficulty of operation and management for each company, making the overall efficiency of the industry low and not conducive to providing better services to users, thus affecting the promotion and use of parcel lockers.

[0008] In recent years, with the rapid development of artificial intelligence, 5G, cloud computing, and the Internet of Things, as well as the demand driven by innovation in emerging business models, the application of robots in various aspects of logistics has been increasing, and the logistics robot industry has shown a rapid development trend. Logistics robots, abbreviated as AGVs, refer to robots used in warehouses, sorting centers, and transportation scenarios to perform operations such as cargo transfer and handling. Logistics robots can be divided into industrial logistics robots and commercial logistics robots in terms of application areas, and into unmanned transport vehicles, palletizing robots, and sorting robots in terms of function.

[0009] Currently, AGVs move along fixed tracks by setting up storage racks and staggered tracks within the racks in the warehouse; however, using track-based navigation in enclosed storage spaces increases construction costs.

[0010] Another method uses LiDAR for navigation, but because the driving path is divided by storage shelves and the local environment is too similar, there is a possibility of mismatch during the localization process when registering with map information. The storage accuracy is insufficient, and when the robot reaches the navigation destination, it cannot accurately place the goods in the storage cabinet, or there is a problem that the stored goods do not match the assigned storage cabinet number. Summary of the Invention

[0011] To address the aforementioned issues, this invention proposes an intelligent express delivery storage and retrieval robot, system, and method. It designs landmark tags and storage tags, constructs a global map based on the locations of the landmark tags to meet the robot's positioning and navigation needs without requiring the construction of tracks, and locates the storage compartments using the storage tags to ensure the accuracy of express delivery delivery and retrieval.

[0012] To achieve the above objectives, the present invention adopts the following technical solution:

[0013] In a first aspect, the present invention provides an intelligent express delivery storage and retrieval robot, comprising: a robot chassis and a robotic arm and a control module mounted on the robot chassis;

[0014] The end of the robotic arm is equipped with a storage tag reader, which is used to read the storage tags on the shelf. The storage tags store the location and size of each storage compartment in the shelf, the express delivery information of the occupied storage compartment, and the robotic arm posture parameters from the location of the storage tag to each storage compartment.

[0015] The robot chassis is equipped with a landmark tag reader and a ranging module;

[0016] The landmark tag reader is used to read the landmark tags set on the centerline of the driving path. The landmark tag stores the position of the storage tag corresponding to the landmark tag and the robot arm posture parameters when the robot arm reaches the position of the storage tag.

[0017] The ranging module is used to detect the distance between the robot chassis and the two sides of the travel path so that the robot can travel along the centerline of the travel path.

[0018] The control module is configured to control the robot to move along the landmark label according to the position of the target shelf and the target storage compartment, and stop at the landmark label corresponding to the target shelf. The robot's posture is adjusted by reading the robot's posture parameters when it reaches the storage label on the target shelf and the robot's posture parameters when it reaches the target storage compartment, so that the robot can complete the delivery or grabbing of the express at the target storage compartment.

[0019] As an alternative implementation, the location of the storage tag is the relative zero point of the robotic arm, and the position of each storage compartment is set with an offset distance relative to the location of the storage tag.

[0020] As an alternative implementation, the end of the robotic arm is connected to a mechanical gripper;

[0021] When the package is received, the mechanical claw grips and grabs it from the edge of the longitudinal section of the storage compartment. The edge on which the mechanical claw bears the gripping force is the height edge of the longitudinal section of the storage compartment, which is the edge perpendicular to the horizontal line when the package is placed.

[0022] When the package is being shipped out, the mechanical gripper remains level with the center of the package's height and tightens when it reaches the center of the package's side profile.

[0023] As an alternative implementation, the robotic arm is also equipped with a depth vision camera at its end, which is used to scan the dimensions of the express packages to be received.

[0024] Alternatively, before the robotic arm moves to the target storage compartment to place or grab something, a depth vision camera scans the spatial dimensions of the target storage compartment to verify its vacancy status.

[0025] Alternatively, before the robotic arm moves to the target storage compartment to grab the package, a depth vision camera calculates the distance between the package's exterior and the robotic arm to control the grabbing action.

[0026] As an alternative implementation, the robot chassis is also equipped with a cargo box, the upper edge of which is equipped with a sensor for detecting overload.

[0027] As an alternative implementation, the control module is configured to: perform path planning based on the location of the target shelf, determine the order of the landmark labels along the route, and control the robot to read the landmark labels one by one from the current position in order to move along the landmark labels;

[0028] By reading the robotic arm posture parameters when the robotic arm reaches the location of the storage tag corresponding to the target storage compartment, it is considered that the end of the robotic arm has reached the location of the storage tag on the target shelf when the antenna signal strength of the storage tag reader is higher than the set decibel threshold.

[0029] The system reads the storage tag on the target shelf, retrieves the robotic arm posture parameters based on the target storage compartment number, and drives the robotic arm end to reach the front boundary of the target storage compartment, thereby controlling the delivery or retrieval of the package.

[0030] In a second aspect, the present invention provides an intelligent express delivery storage and retrieval robot system, comprising: the intelligent express delivery storage and retrieval robot described in the first aspect and a control terminal;

[0031] The control terminal is used to allocate target storage compartments for incoming express packages and store the express package information, as well as to determine the target storage compartments for outgoing express packages and send the determined target storage compartments and their corresponding target shelves to the intelligent express package storage and retrieval robot.

[0032] The intelligent express delivery robot completes the delivery or retrieval of express packages based on the location of the target shelf and target storage compartment.

[0033] Thirdly, the present invention provides a method for storing packages using an intelligent express delivery storage and retrieval robot system, employing the intelligent express delivery storage and retrieval robot system described in the second aspect, comprising:

[0034] Scan incoming packages and assign storage locations, identifying the target storage compartment and its corresponding shelf;

[0035] Based on the location of the target shelf, a path is planned, the order of the landmark labels along the route is determined, the robot is controlled to move along the landmark labels, and stops at the landmark label corresponding to the target shelf;

[0036] By reading the robotic arm's posture parameters when it reaches the location of the storage label on the target shelf, the position of the robotic arm's end effector when it reaches the storage label on the target shelf can be controlled.

[0037] Read the storage tag of the target shelf, retrieve the robotic arm posture parameters when the robotic arm reaches the target storage compartment, and control the end effector of the robotic arm to reach the target storage compartment;

[0038] A depth vision camera at the end of a robotic arm is used to scan the spatial dimensions of the target storage compartment in order to verify its vacancy status.

[0039] When the target storage compartment is empty, the robotic arm uses a robotic claw at the end of the arm to grab the package to be stored and place it in the warehouse.

[0040] Fourthly, the present invention provides an outbound method for an intelligent express delivery storage and retrieval robot system, which utilizes the intelligent express delivery storage and retrieval robot system described in the second aspect, comprising:

[0041] By querying the inbound information, the target storage compartment and the target shelf where the outbound express package is stored can be determined.

[0042] Based on the location of the target shelf, a path is planned, the order of the landmark labels along the route is determined, the robot is controlled to move along the landmark labels, and stops at the landmark label corresponding to the target shelf;

[0043] By reading the robotic arm's posture parameters when it reaches the location of the storage label on the target shelf, the position of the robotic arm's end effector when it reaches the storage label on the target shelf can be controlled.

[0044] Read the storage tag of the target shelf, retrieve the robotic arm posture parameters when the robotic arm reaches the target storage compartment, and control the end effector of the robotic arm to reach the target storage compartment;

[0045] A depth vision camera at the end of a robotic arm is used to scan the spatial dimensions of the target storage compartment in order to verify its vacancy status.

[0046] When the target storage compartment is not empty, the robotic arm uses a robotic gripper at the end of the arm to grab the package to be shipped out.

[0047] As an alternative implementation method, the gripping force of the mechanical claw is designed as follows when grasping express packages:

[0048] F≥G / μ, or,

[0049] Where G is the gravitational force of the clamped object, F is the clamping force, μ is the coefficient of friction, m is the mass of the express delivery, g is the acceleration due to gravity, a is the acceleration in the vertical direction, and s is the safety factor.

[0050] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0051] This invention proposes an intelligent express delivery storage and retrieval robot, system, and inbound / outbound method. It designs two types of tags: landmark tags and storage tags. A global map is constructed based on the location of the landmark tags to meet the robot's positioning and navigation needs, eliminating the need for track construction and saving space and cost within a limited warehouse space. The storage tags locate the position of the storage compartments, ensuring the accuracy of express delivery delivery and retrieval.

[0052] This invention employs a mobile robot chassis equipped with a depth vision camera, cargo box, robotic arm, and robotic gripper. Landmark tags guide the robot to locate shelf positions, storage tags determine the storage attributes of packages, and the robotic arm adjusts its posture. Depth vision is used to perceive the positional relationship between the package and the gripper, thus completing the delivery and retrieval of packages. By associating information such as tracking number, appearance, storage location, and owner, an authentication relationship is established between the robot's intelligent system and the package, ensuring secure management of package storage and retrieval.

[0053] This invention proposes an intelligent express delivery storage and retrieval robot, system, and inbound / outbound method. It utilizes RFID tags for robot positioning and navigation within a closed warehouse space. Landmark RFID tags and storage RFID tags are placed in fixed locations. The robot is equipped with a corresponding reader; when the reader detects a tag signal at close range, it can read the information embedded in the RFID tag. Compared to laser SLAM (Simultaneous Localization and Mapping) navigation and visual navigation, this method is lower in cost and more suitable for environmental requirements. By marking shelf locations with RFID tags, one shelf's RFID tags correspond to multiple express delivery storage locations. Different posture parameters of the robotic arm are stored in the RFID tags. The storage location is retrieved by the express delivery ID, and the robotic arm posture is obtained from the storage location, enabling unmanned automatic retrieval and placement, improving the efficiency and accuracy of express delivery inbound and outbound operations.

[0054] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0055] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0056] Figure 1 This is a schematic diagram of the intelligent express delivery storage and retrieval robot provided in Embodiment 1 of the present invention;

[0057] Figure 2 This is a schematic diagram of a two-finger flat-finger mechanical claw provided in Embodiment 1 of the present invention;

[0058] The components include: 1. Mechanical gripper; 2. Depth vision camera; 3. Storage tag reader; 4. Robotic arm; 5. Cargo box; 6. Sensor; 7. Ranging module; 8. Robot chassis; 9. Landmark tag reader; and 10. Supplemental lighting equipment. Detailed Implementation

[0059] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0060] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0061] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, unless the context clearly indicates otherwise, the singular form is intended to include the plural form as well. Furthermore, it should be understood that the terms “comprising” and “including”, and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such process, method, product, or apparatus.

[0062] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0063] Example 1

[0064] Using track-based navigation in enclosed warehouse spaces increases construction costs. If lidar navigation is used, the driving path is divided by storage shelves, and the local environment is too similar, which may lead to mismatches when registering with map information during the positioning process.

[0065] Therefore, this embodiment proposes an intelligent express delivery storage and retrieval robot with automatic storage and retrieval function suitable for express delivery terminals, including: a robot chassis and a robotic arm and control module mounted on the robot chassis;

[0066] The end of the robotic arm is equipped with a storage tag reader, which is used to read the storage tags on the shelf. The storage tags store the location and size of each storage compartment in the shelf, the express delivery information of the occupied storage compartment, and the robotic arm posture parameters from the location of the storage tag to each storage compartment.

[0067] The robot chassis is equipped with a landmark tag reader and a ranging module;

[0068] The landmark tag reader is used to read the landmark tags set on the centerline of the driving path. The landmark tag stores the position of the storage tag corresponding to the landmark tag and the robot arm posture parameters when the robot arm reaches the position of the storage tag.

[0069] The ranging module is used to detect the distance between the robot chassis and the two sides of the travel path so that the robot can travel along the centerline of the travel path.

[0070] The control module is configured to control the robot to move along the landmark label according to the position of the target shelf and the target storage compartment, and stop at the landmark label corresponding to the target shelf. The robot's posture is adjusted by reading the robot's posture parameters when it reaches the storage label on the target shelf and the robot's posture parameters when it reaches the target storage compartment, so that the robot can complete the delivery or grabbing of the express at the target storage compartment.

[0071] In this embodiment, Radio Frequency Identification (RFID) technology is used to locate and navigate the robot in a closed warehouse space. RFID tags do not require a power source and generate energy by using signals emitted by the reader at close range to transmit their information to the reader. Compared with other communication tags, RFID tags have advantages such as low cost, easy configuration, and passive operation.

[0072] The RFID tags are divided into landmark RFID tags and storage RFID tags. Landmark RFID tags are set on the center line of the ground driving path, and storage RFID tags are set at the intervals between shelves. A global map is constructed based on the location of the landmark RFID tags, and the robot's positioning and driving mode are adjusted by laying short-range RFID tags on the shelves and the ground.

[0073] like Figure 1 As shown, the robot chassis 8 is a four-wheel drive chassis, with a supplementary lighting device 10 in front of it in the direction of movement. A landmark tag reader 9 is set at the center of the robot chassis 8. The information stored in the landmark RFID tag describes the location coordinates of this tag in the global map, the corresponding shelf number, the numbers of the landmark RFID tags associated with it, and the robot's driving status at this tag location, such as going straight, turning 90 degrees to the left, turning 90 degrees to the right, turning 180 degrees in place, etc.

[0074] The robot chassis 8 is equipped with ranging modules 7 on both sides. The ranging modules 7 can be ultrasonic ranging radars, which are used to detect the distance between the robot chassis and the two sides of the travel path, so that the robot can travel along the center line of the travel path.

[0075] A storage tag reader 3 is installed at the end of the robotic arm 4. The location of the storage RFID tag is the relative zero point of the robotic arm. The position of each storage compartment is set with an offset distance relative to the location of the storage RFID tag.

[0076] In this embodiment, the shelf is divided into multiple layers, and in order to make fuller use of the storage shelf space, the shelf is divided into several storage compartments of different sizes. The location attributes of each storage compartment in the shelf are stored in the storage RFID tag, and this attribute is associated with the robot's robotic arm posture parameters from the location of the storage tag to each storage compartment. At the same storage RFID tag location, the robot adjusts the robotic arm posture according to the location attributes of the storage compartment, and can pick up or place the express delivery at any storage compartment location on the corresponding shelf.

[0077] In addition, each storage compartment has a unique number, and the location of the compartment and the information of the stored package are linked and written into the corresponding storage RFID tag.

[0078] In this embodiment, a mechanical claw 1 is connected to the end of the robotic arm 4;

[0079] When the package is received, before gripping it, the mechanical claw selects the side of the storage compartment's longitudinal section along the height direction to grab and place the package. That is, the mechanical claw rotates according to the length and width ratio of the storage compartment so that the side bearing the gripping force is the corresponding height side, which is the side perpendicular to the horizontal line when the package is placed. In this way, when the mechanical claw is pulled out after delivery, it can slightly expand to get rid of the friction of the package box, so as not to drag the package and cause abnormal delivery.

[0080] When the package is being shipped out, the two fingers of the mechanical claw remain horizontal to the center of the package height, expand to the width of the package with a slight margin, and tighten the mechanical claw when it reaches the center of the side facade of the package.

[0081] Since the express packaging is made of cardboard boxes, which have a certain degree of flexibility and allow for slight deformation, the mechanical gripper can transmit a slightly larger torque to increase the friction between the express and the gripper without reducing the service life of the mechanical gripper.

[0082] During the process of grabbing a package and placing it into the cargo box, the robotic arm controls the robotic gripper to ensure that the package remains horizontal at all times, preventing the package from falling due to a shift in its center of gravity, and also ensuring the orderly stacking of packages in the cargo box.

[0083] As a rotatable implementation, the end of the mechanical gripper is equipped with a frosted or rubber gripping plate, which can disperse pressure and increase friction. Under redundant pressure, it can ensure that the outer packaging of the express is intact and not damaged, and stably grasp the express.

[0084] Understandably, mechanical grippers come in various drive types, such as pneumatic, hydraulic, and gear-driven, and fingers also have styles such as flat fingers and V-shaped fingers. This embodiment will not further explain the types of mechanical grippers; taking a two-finger flat-finger mechanical gripper hand as an example, such as... Figure 2 As shown.

[0085] In this embodiment, a depth vision camera 2 is also provided at the end of the robotic arm, and the depth vision camera 2 is used for:

[0086] (1) When the express delivery is received, the size of the express delivery is scanned. A depth vision camera is used to scan the express delivery in a 180° semi-circular fan shape. The size of the express delivery is obtained through distance information. The size calculation process can be done using conventional methods and will not be described in detail.

[0087] (2) In order to prevent abnormalities in the delivery or retrieval of express packages, before the robotic arm moves to the target storage compartment to deliver or pick up the express package, the empty status of the target storage compartment is verified by a depth vision camera. Specifically, the depth vision camera scans the size of the storage space in front of the storage compartment. If the depth distance scanned is less than the size of the storage compartment, it proves that the storage compartment is not empty.

[0088] (3) When the express delivery is out of the warehouse, before the robotic arm moves to the target storage compartment to grab the express delivery, the distance between the outer surface of the express delivery and the robotic claw is calculated by the depth vision camera in order to control the grabbing action of the robotic claw.

[0089] In this embodiment, a cargo box 5 is also mounted on the robot chassis. The cargo box 5 is open-topped and its size is larger than the largest cardboard box that can be loaded. A sensor 6 for detecting overload is provided on the upper edge of the cargo box 5. The cargo box can load multiple express packages at a time. If the height limit of the loaded express boxes exceeds the height limit of the cargo box during the loading process, the sensor alarm is triggered. The loading process defaults to sorting the express packages according to their size, grabbing and loading them in order from largest to smallest.

[0090] In this embodiment, when the package is received, the smallest storage compartment that can hold the current package is selected based on the size of the package and the redundant space of the mechanical claw opening and closing; or when the package is shipped out, the package's receiving information is queried based on the tracking number, thereby determining the target shelf and the target storage compartment on the target shelf.

[0091] The optimal path is planned according to the landmark RFID tags corresponding to the storage RFID tags of the target shelf. Since the robot uses landmark RFID tags for navigation, the planned path is the order of the landmark RFID tags marked on the global map. The heading angle, distance and other information to the next landmark RFID tag are updated in each landmark RFID tag.

[0092] Following the planned path, the robot reads the landmark RFID tags one by one from its current position, moves along the landmark RFID tags until it reaches the landmark RFID tag corresponding to the target shelf and stops. It uses the landmark RFID tags to locate and navigate, and corrects the driving error by using each landmark RFID tag to reach the destination landmark RFID tag.

[0093] Since the storage compartments of the shelf are densely distributed and located on both sides of the travel path, the landmark RFID tag corresponds to multiple storage RFID tags. The landmark RFID tag stores the robotic arm posture parameters that reach each storage RFID tag. By reading the robotic arm posture parameters that the robotic arm reaches the location of the storage RFID tag corresponding to the target storage compartment, the storage tag reader at the end of the robotic arm is brought close to the storage RFID tag at the shelf location.

[0094] When the antenna signal strength of the storage tag reader is higher than the set decibel threshold, the robotic arm is considered to have reached the location of the storage RFID tag. Specifically, as the storage tag reader approaches the storage RFID tag, it can measure the signal strength. The closer the reader is to the tag, the higher the signal strength. A decibel threshold for signal strength is preset. When the signal strength measured by the reader reaches the decibel threshold, the robotic arm stops moving and marks this position as the "origin" or "zero point" of this shelf, thus completing the error correction caused during the robot's movement.

[0095] Each storage RFID tag stores the posture parameters of the robotic arm reaching all storage compartments at this location. By reading the storage RFID tag and retrieving the robotic arm posture parameters when it reaches the target storage compartment according to the target storage compartment number, the robotic arm end effector is driven to reach the front boundary of the storage compartment, thereby completing the delivery or retrieval of the express package through the control of the robotic gripper.

[0096] This embodiment uses RFID tags for robot positioning and navigation in a closed warehouse space. Compared with laser SLAM navigation and visual navigation, it is lower in cost and more in line with environmental requirements. The RFID tags mark the shelf positions, with one shelf's RFID tag corresponding to the storage location of multiple packages. Different posture parameters of the robotic arm are stored in the RFID tags. The storage location is retrieved by the package ID, and the robotic arm posture is obtained from the storage location.

[0097] The system utilizes a mobile robot chassis equipped with a depth vision camera, cargo box, robotic arm, and robotic gripper. Navigation via landmark RFID tags guides the robot to locate shelf positions, while storage RFID tags determine the storage attributes of packages, adjusting the robotic arm's posture. Depth vision is used to perceive the positional relationship between the package and the gripper, enabling package delivery and retrieval. A system uses interconnected information such as tracking number, appearance, storage location, and owner to establish an authentication relationship between people and packages, ensuring secure management of package storage and retrieval.

[0098] Example 2

[0099] This embodiment provides an intelligent express delivery storage and retrieval robot system, including: the intelligent express delivery storage and retrieval robot described in embodiment 1 and a control terminal;

[0100] The control terminal is used to allocate target storage compartments for incoming express packages and store the express package information, as well as to determine the target storage compartments for outgoing express packages and send the determined target storage compartments and their corresponding target shelves to the intelligent express package storage and retrieval robot.

[0101] The intelligent express delivery robot completes the delivery or retrieval of express packages based on the location of the target shelf and target storage compartment.

[0102] Example 3

[0103] This embodiment provides a method for warehousing the intelligent express delivery storage and retrieval robot system described in Embodiment 2, including:

[0104] (1) Scan the incoming express packages, including packaging size, weight, tracking number, recipient information, etc., and store them in the control terminal;

[0105] If cardboard packaging is used, the specifications can be quickly entered according to the standard cardboard box size. For example, SF Express cardboard boxes come in 6 different sizes:

[0106] Size 1: 20cm×18cm×10cm, can bear a maximum load of 1.5kg;

[0107] Size 2: 25cm×20cm×18cm, can bear a maximum weight of 3kg;

[0108] Size 3: 30cm×25cm×20cm, can bear a maximum weight of 5kg;

[0109] Size 4: 36cm×30cm×25cm, can bear a maximum load of 10kg;

[0110] Size 5: 53cm×32cm×23cm, can bear a maximum load of 15kg;

[0111] Size 6: 70cm×40cm×32cm, can bear a maximum weight of 15kg.

[0112] If a non-standard style is used, a depth vision camera at the end of the robotic arm is used to scan the package in a 180° semi-circular fan shape around the package to obtain the packaging size through distance information.

[0113] (2) Allocate storage locations, including shelf numbers and storage compartments of appropriate size; based on the packaging size of the express delivery, the redundant space for the mechanical claw to open and close, and the currently unoccupied storage compartments, select the target storage compartment with the smallest size that can store the current express delivery, and associate the information of the express delivery to be put into the warehouse with the corresponding storage RFID tag.

[0114] (3) Load the express delivery to be put into the warehouse according to the size of the cargo box, and do not exceed the full load limit; if the loaded express delivery to be put into the warehouse exceeds the full load limit during the loading process, the sensor alarm will be triggered, indicating that the robot's loading box is overloaded, and the last express delivery needs to be removed from the cargo box and the loading will end.

[0115] (4) After loading is completed, the optimal path is planned according to the location of the assigned target shelf, following the principle of "last in first out". The order and driving parameters of the landmark RFID tags are marked in the robot's global map, and the heading angle, distance and other information for going to the next landmark RFID tag are updated in each landmark RFID tag.

[0116] (5) Following the planned path, control the robot to read the landmark RFID tags one by one from the current position, move along the landmark RFID tags, and stop when it reaches the landmark RFID tag corresponding to the target shelf.

[0117] (6) By reading the robotic arm posture parameters from the landmark RFID tag corresponding to the target shelf, the robotic arm moves to the location of the storage RFID tag corresponding to the target storage compartment, so that the storage tag reader at the end of the robotic arm approaches the storage RFID tag at the shelf position.

[0118] (7) When the antenna signal strength of the storage tag reader is higher than the set decibel threshold, it is considered that the robotic arm has reached the storage RFID tag position;

[0119] (8) Read the storage RFID tag, retrieve the robotic arm posture parameters of the robotic arm when it reaches the target storage compartment according to the target storage compartment number, and drive the end of the robotic arm to reach the front boundary of the target storage compartment.

[0120] (9) Use a depth vision camera at the end of the robotic arm to scan the size of the storage space in front of the target storage compartment to verify the empty status of the target storage compartment.

[0121] If the target storage compartment is empty, proceed to step (10);

[0122] If the depth distance is less than the target storage compartment size, the target storage compartment is not empty, indicating that there are foreign objects or it is occupied in the target storage compartment. Abandon this delivery, return to the original route to temporarily store this package, execute step (4), enter the delivery process of the next package, and report the abnormal status of the storage compartment.

[0123] (10) The robotic arm and robotic claw pick up the corresponding express delivery to be put into the warehouse from the cargo box and put it into the middle position of the target storage compartment.

[0124] Before gripping the package, the mechanical claw rotates according to the length and width ratio of the target storage compartment, so that the side bearing the gripping force is the corresponding height side, that is, the side that is perpendicular to the horizontal line when the package is placed. In this way, when the mechanical claw is pulled out after delivery, the mechanical claw can slightly expand to get rid of the friction of the package box, so as not to drag the package and cause abnormal delivery.

[0125] (11) If there are remaining express packages in the shipping container, proceed to step (5) to complete the next express package's entry into the warehouse; otherwise, return to the starting point of the express package entry into the warehouse and proceed to step (1) until all entry tasks are completed.

[0126] Example 4

[0127] This embodiment provides an outbound method for the intelligent express delivery storage and retrieval robot system described in Embodiment 2, including:

[0128] (1) During the outbound delivery process, there are instances of mistakenly taking, mistaking, or stealing packages. Although video surveillance systems are in place, their effectiveness is minimal. Therefore, identity verification of recipients during the pickup process must be both convenient and secure.

[0129] This embodiment provides multiple methods for verifying the identity of the recipient, binding the recipient to the tracking number, which not only makes it convenient for the recipient to pick up the package, but also ensures the security of the package pickup.

[0130] For example, methods such as sending verification codes to the recipient's mobile phone number in real time for express delivery orders, notifying the recipient of a pickup code when the package is received at the warehouse, and verifying the recipient's identity by facial recognition and matching their ID card.

[0131] To avoid accidental pickups, multiple packages belonging to the same recipient will be shipped out in the same batch. When multiple people are picking up packages, they can be verified in the order of arrival. After the robot returns with the packages, the tracking number will be scanned at the pickup point and the corresponding recipient will be notified one by one.

[0132] (2) Query the warehouse information of the express delivery according to the tracking number, including: packaging size, storage location, weight, etc. If multiple express delivery items need to be shipped out, a greedy algorithm is used to solve the "knapsack problem". Prioritize picking the express delivery with large size and weight and place it at the bottom of the cargo box. When the capacity is full, the remaining express delivery items are divided into multiple batches for shipment. The route planning of the outbound express delivery is carried out in this way, and the order and driving parameters of the RFID tags of the landmarks along the route are marked on the global map.

[0133] The "knapsack problem" refers to the problem of how to pack items of varying value, size, and weight into a knapsack with a fixed capacity and weight, maximizing the total value of the items inside. In the process of a robot handling outbound parcels, the robot doesn't need to calculate the value of the parcels; it only considers the volume of the cargo box and the safety of the loading. Therefore, when multiple parcels need to be shipped out simultaneously, a greedy strategy is used: larger parcels are shipped out first and loaded into the cargo box. After receiving the outbound parcel information, the robot sorts the parcels according to their dimensions and then uses a greedy algorithm to determine the outbound order, maximizing the use of cargo box space while ensuring delivery stability.

[0134] (3) After determining the target storage compartment and target shelf where the outbound express is located, perform path planning and control the robot to move to the target storage compartment; the specific process is the same as steps (5)-(8) of the inbound method in Example 3, and will not be repeated.

[0135] (4) Use the depth vision camera at the end of the robotic arm to scan the size of the storage space in front of the target storage compartment to verify the empty status of the target storage compartment; if the target storage compartment is empty, abandon the current package pickup, execute step (9), and report the abnormal status of the target storage compartment; if the target storage compartment is not empty, proceed to step (5).

[0136] (5) Calculate the distance between the express delivery exterior and the mechanical claw using a depth vision camera, and calculate the length and width of the rectangular shape of the express delivery exterior. Calculate the center of gravity of the express delivery box using the known dimensions and weight of the express delivery package. Set the extension length, clamping force, and depth extension distance of the mechanical claw. Tighten the mechanical claw appropriately on both sides of the center of gravity area of ​​the express delivery to complete the gripping.

[0137] Specifically, during the inbound process, the robotic gripper selects the edge of the storage compartment along the vertical direction of the cross section to grab and place the package; during the outbound process, the two fingers of the robotic gripper maintain a horizontal position with the center of the package height, expanding to a width dimension with slight redundancy. When it reaches the center of the side profile of the packaging box, the robotic gripper tightens. Since the package is made of cardboard, which has a certain degree of flexibility and allows for slight deformation, the robotic gripper can transmit a slightly larger torque to increase the friction between the package and the gripper without reducing the service life of the robotic gripper.

[0138] The calculation of the gripping force of the mechanical gripper includes:

[0139] The object being held is subject to gravity G, clamping force (elastic force) F, and static friction force f. From the equilibrium conditions of concurrent forces f=G and f=μF, we know that F=G / μ, where μ is the coefficient of friction between the object and the clamping object. Therefore, the clamping force F≥G / μ is sufficient to keep the grasped object stable.

[0140] If we consider the force generated by the acceleration of the robotic gripper during the start and stop of its movement after grasping the package, and assign a safety factor to the clamping force, then the parameters that need to be calculated for the clamping force include: the package mass m, the coefficient of friction μ, the gravitational acceleration g, the vertical acceleration a, and the safety factor s. Therefore, the clamping force is:

[0141]

[0142] For example: The package weighs 5kg, and the acceleration due to gravity is 10m / s². 2 The maximum starting acceleration of the robotic arm when it moves upward is 2 m / s². 2 The coefficient of friction between the rubber pads of the mechanical gripper and the cardboard box was tested to be between 0.4 and 0.5. The coefficient of friction μ was taken as the lowest value of 0.4 and a constant value of 2 was used as the safety factor. The safety factor can be adjusted according to the characteristics of the cardboard box and its deformation resistance. Substituting into the above formula, the safe gripping force for grabbing this express delivery is 300N.

[0143] Understandably, the design of the mechanical gripper's clamping force is also applicable to the process of the mechanical gripper grabbing and placing the express delivery to be put into storage in the warehousing method of Example 3.

[0144] (6) After being grabbed, the express delivery is placed into the cargo box by the robotic arm. Since the "knapsack problem" greedy strategy is used in step (2) to load the express delivery out of the warehouse, there is basically no overloading phenomenon during the process of putting the express delivery into the cargo box.

[0145] However, to ensure loading safety, overload protection measures are still activated. When the total volume of the loaded express is too large and exceeds the upper boundary of the loading compartment, the sensor alarm is triggered, indicating that the loading compartment is overloaded. The robot interrupts the remaining pickup process and executes step (8); if there is still space in the loading compartment, step (7) is executed.

[0146] (7) If this pickup is the last package in a delivery process, proceed to step (8); if there are remaining pickup tasks, proceed to step (10).

[0147] (8) Return to the pickup window and inform the recipient that the package has been picked up.

[0148] (9) Determine if there are any remaining tasks in the same pickup process. If not, wait for the next pickup process; if so, execute step (10).

[0149] (10) For the remaining pickup tasks, travel to the next destination RFID tag according to the route plan, and complete steps (3) to (6).

[0150] While the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of the present invention are still within the scope of protection of the present invention.

Claims

1. An intelligent express delivery storage and retrieval robot, characterized in that, include: Robot chassis and robotic arm and control module mounted on the robot chassis; The end of the robotic arm is equipped with a storage tag reader, which is used to read the storage tags on the shelf. The storage tags store the location and size of each storage compartment in the shelf, the express delivery information of the occupied storage compartment, and the robotic arm posture parameters from the location of the storage tag to each storage compartment. The robot chassis is equipped with a landmark tag reader and a ranging module; The landmark tag reader is used to read the landmark tags set on the centerline of the driving path. The landmark tag stores the position of the storage tag corresponding to the landmark tag and the robot arm posture parameters when the robot arm reaches the position of the storage tag. The ranging module is used to detect the distance between the robot chassis and the two sides of the travel path so that the robot can travel along the centerline of the travel path. The control module is configured to control the robot to move along the landmark label according to the position of the target shelf and the target storage compartment, and stop at the landmark label corresponding to the target shelf. The robot's posture is adjusted by reading the robot's posture parameters when it reaches the storage label on the target shelf and when it reaches the target storage compartment, so that the robot can complete the delivery or grabbing of the express at the target storage compartment.

2. The intelligent express delivery storage and retrieval robot as described in claim 1, characterized in that, The location of the storage tag is the relative zero point of the robotic arm, and the position of each storage compartment is set with an offset distance relative to the location of the storage tag.

3. The intelligent express delivery storage and retrieval robot as described in claim 1, characterized in that, The end of the robotic arm is connected to a mechanical claw; When the package is received, the mechanical claw grips and grabs it from the edge of the longitudinal section of the storage compartment. The edge on which the mechanical claw bears the gripping force is the height edge of the longitudinal section of the storage compartment, which is the edge perpendicular to the horizontal line when the package is placed. When the package is being shipped out, the mechanical gripper remains level with the center of the package's height and tightens when it reaches the center of the package's side profile.

4. The intelligent express delivery storage and retrieval robot as described in claim 1, characterized in that, The robotic arm is also equipped with a depth vision camera at its end, which is used to scan the dimensions of the express packages to be received. Alternatively, before the robotic arm moves to the target storage compartment to place or grab something, a depth vision camera scans the spatial dimensions of the target storage compartment to verify its vacancy status. Alternatively, before the robotic arm moves to the target storage compartment to grab the package, a depth vision camera calculates the distance between the package's exterior and the robotic arm to control the grabbing action.

5. The intelligent express delivery storage and retrieval robot as described in claim 1, characterized in that, The robot chassis is also equipped with a cargo box, and the upper edge of the cargo box is equipped with a sensor for detecting whether it is overloaded.

6. The intelligent express delivery storage and retrieval robot as described in claim 1, characterized in that, The control module is configured to: perform path planning based on the location of the target shelf, determine the order of the landmark labels along the route, and control the robot to read the landmark labels one by one from the current position in order to move along the landmark labels; By reading the robotic arm posture parameters when the robotic arm reaches the location of the storage tag corresponding to the target storage compartment, it is considered that the end of the robotic arm has reached the location of the storage tag on the target shelf when the antenna signal strength of the storage tag reader is higher than the set decibel threshold. The system reads the storage tag on the target shelf, retrieves the robotic arm posture parameters based on the target storage compartment number, and drives the robotic arm end to reach the front boundary of the target storage compartment, thereby controlling the delivery or retrieval of the package.

7. An intelligent express delivery storage and retrieval robot system, characterized in that, include: The intelligent express delivery storage and retrieval robot and control terminal according to any one of claims 1-6; The control terminal is used to allocate target storage compartments for incoming express packages and store the express package information, as well as to determine the target storage compartments for outgoing express packages and send the determined target storage compartments and their corresponding target shelves to the intelligent express package storage and retrieval robot. The intelligent express delivery robot completes the delivery or retrieval of express packages based on the location of the target shelf and target storage compartment.

8. A method for warehousing in an intelligent express delivery storage and retrieval robot system, characterized in that, The intelligent express delivery storage and retrieval robot system according to claim 7 includes: Scan incoming packages and assign storage locations, identifying the target storage compartment and its corresponding shelf; Based on the location of the target shelf, a path is planned, the order of the landmark labels along the route is determined, the robot is controlled to move along the landmark labels, and stops at the landmark label corresponding to the target shelf; By reading the robotic arm's posture parameters when it reaches the location of the storage label on the target shelf, the position of the robotic arm's end effector when it reaches the storage label on the target shelf can be controlled. Read the storage tag of the target shelf, retrieve the robotic arm posture parameters when the robotic arm reaches the target storage compartment, and control the end effector of the robotic arm to reach the target storage compartment; A depth vision camera at the end of a robotic arm is used to scan the spatial dimensions of the target storage compartment in order to verify its vacancy status. When the target storage compartment is empty, the robotic arm uses a robotic claw at the end of the arm to grab the package to be stored and place it in the warehouse.

9. A method for outbound delivery from an intelligent express delivery storage and retrieval robot system, characterized in that, The intelligent express delivery storage and retrieval robot system according to claim 7 includes: By querying the inbound information, the target storage compartment and the target shelf where the outbound express package is stored can be determined. Based on the location of the target shelf, a path is planned, the order of the landmark labels along the route is determined, the robot is controlled to move along the landmark labels, and stops at the landmark label corresponding to the target shelf; By reading the robotic arm's posture parameters when it reaches the location of the storage label on the target shelf, the position of the robotic arm's end effector when it reaches the storage label on the target shelf can be controlled. Read the storage tag of the target shelf, retrieve the robotic arm posture parameters when the robotic arm reaches the target storage compartment, and control the end effector of the robotic arm to reach the target storage compartment; A depth vision camera at the end of a robotic arm is used to scan the spatial dimensions of the target storage compartment in order to verify its vacancy status. When the target storage compartment is not empty, the robotic arm uses a robotic gripper at the end of the arm to grab the package to be shipped out.

10. The method for receiving a smart express delivery robot as described in claim 8 or the method for taking a smart express delivery robot out of storage as described in claim 9, characterized in that, When grabbing a package, the gripping force of the mechanical claw is designed as follows: ,or, ; in, The force of gravity acting on the clamped object. For clamping force, is the friction coefficient; m is the mass of the express delivery, g is the acceleration due to gravity, a is the acceleration in the vertical direction, and s is the safety factor.

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