A double-machine cooperative unmanned express post station transportation device and method

Abstract

The application discloses a double-machine cooperative unmanned express post station transportation device and method, which realizes express warehousing, goods shelving, goods reservation, user goods taking and daily maintenance through cooperation of a post station robot and a gantry robot; the unmanned express post station transportation method provided by the application uses digital twin technology to build a virtual scene, reads motion parameters and working states of the post station robot and the gantry robot, feeds back position information in real time, realizes information intercommunication of the two robots, coordinates and schedules, and cooperates with each other, so that the use range of the robots is increased, the available space is increased, and the work efficiency is improved; meanwhile, the efficient cooperation of the two robots avoids the problem of increasing the number of robots or large-scale reconstruction of the express post station in a cramming mode, and reduces the reconstruction cost of the post station.

Description

Technical Field

[0001] This invention relates to the field of warehousing and logistics distribution technology, specifically a dual-machine collaborative unmanned express delivery station transportation device and method. Background Technology

[0002] As online shopping continues to expand, the amount of goods stored in warehouses has increased significantly, which in turn raises the requirements for the logistics industry. Logistics points are becoming more dispersed and complex, and more and more express delivery stations are becoming important facilities to facilitate people's lives.

[0003] Currently, existing logistics robots both domestically and internationally include unmanned delivery vehicles, autonomous forklifts, stackers, and shelf-lifting robots. These existing robots possess significant advantages and have therefore been applied in the logistics and distribution field. However, each type of logistics robot also has certain shortcomings. For example, unmanned delivery vehicles are difficult to deploy on a large scale due to cost and technical issues; autonomous forklifts and stackers are only suitable for handling heavy, large goods in open spaces, making them overkill for small items. Furthermore, their large size and weight limit their movement speed for safety, resulting in low efficiency and making them difficult to apply in the confined spaces of residential delivery stations; shelf-lifting robots move slowly and often carry unnecessary shelves and other goods together, leading to high energy consumption. They are unsuitable for the complex and confined environments of delivery stations, and the modification costs far exceed budgets. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the purpose of this invention is to provide a dual-machine collaborative unmanned express delivery station transportation device and its operation method, which solves the problems of low efficiency and easy misplacement and loss of express packages caused by the current express delivery stations where employees manually put express packages on shelves and manually retrieve them from the express compartments.

[0005] On the one hand, the technical solution adopted in this application is: a dual-machine collaborative unmanned express delivery station transportation method, the key technical points of which include the following steps: S1: The station robot transports the packages pre-placed in the cargo basket on the delivery tricycle to the station interior via the forklifts at the bottom of the robot; S2: Goods are shelved using gantry robots and station robots; S3: After receiving the warehouse entry notification, users can make a pickup appointment on the app platform. After receiving the appointment application, the express station will coordinate and schedule the pickup based on the number of appointments and the appointment time. S4: When a user arrives at the scheduled time to pick up their package, they need to show their tracking code for identity verification. After verification, the station robot will scan the code and take a photo of the package in the pickup area again. After verification, the robot will deliver the package to the customer, completing the pickup process.

[0006] Preferably, step S2 specifically includes the following steps: S21: After the goods are put on the shelves, the station robot and the gantry robot will scan the newly arrived packages, assess whether the packages are damaged, and take photos for record-keeping; S22: Scan the express barcode using the first vision module on the station robot or the second vision module on the gantry robot, register the express information, and record the location of the express on the shelf. S23: After entering the information in S4, notify the user to come and pick up the goods; Preferably, in S2, small boxed packages are picked up by a gantry robot and placed on the upper shelf; large boxed packages are placed on the fork tray at the bottom of the station robot; and documents or flat bagged packages are placed in storage boxes on a dedicated station robot.

[0007] Preferably, step S3 specifically includes the following steps: S31: After receiving a pickup instruction and location information for a certain express delivery, the station robot goes to the shelf area to pick up the goods and scans the express delivery barcode to confirm the information; S32: For packages on the upper shelf, the gantry robot directly grabs them and places them in the placement slot of the station robot for transport; the goods are then placed in pre-installed parcel lockers, waiting for the user to pick them up. The "goods shelving" process refers to the process where, after goods are shelved, the smart station robots and gantry robots scan newly arrived packages, assess whether they are damaged, take photos for record-keeping, scan the package barcode, register the package information, and record the package's location on the shelf. Once the information is entered, the user is notified to pick up their goods.

[0008] On the other hand, this application also protects a dual-machine collaborative unmanned express delivery station transportation device, the key technical points of which are: This includes station robots, gantry robots, and wireless charging stations; The station robot is equipped with a first mechanical gripper, a first vision module, and an obstacle-crossing motion mechanism. The overall obstacle-crossing motion mechanism works in conjunction with the crank-rocker mechanism at its front end and the center of gravity adjustment mechanism at its rear end to achieve continuous obstacle-crossing actions. The gantry robot includes a gantry frame, a robotic arm, and a robotic arm base. The robotic arm base is equipped with a slider and a synchronous pulley. Guide rails are arranged on both sides of the gantry frame to cooperate with the slider. A second mechanical gripper is provided at the end of the robotic arm, and a second vision module is equipped on the second mechanical gripper.

[0009] Preferably, the obstacle-crossing mechanism of the rest stop robot includes a front wheel mechanism, a height adjustment device, and an auxiliary climbing structure. The front wheel mechanism adopts a double-center crank-rocker mechanism, which is used to adjust the height of the two sets of front wheels by controlling the rotation of the cranks on rough terrain. The height adjustment device can adjust the height in real time, coordinating with the movement of the front wheels to keep the rest stop robot in a horizontal state at all times. The auxiliary climbing structure is located at the bottom of the rest stop robot and is used to cooperate with the front wheels to achieve the function of climbing stairs and overcoming obstacles.

[0010] The station robot is equipped with a fork tray at the bottom for placing large items; a storage box in the middle for placing documents or flat, bagged packages; and a placement slot at the top for placing goods picked up by the gantry robot.

[0011] Preferably, the gantry robot can achieve three-dimensional movement via guide rails. The top of the inner wall of the gantry frame is provided with horizontally and vertically intersecting X-axis and Y-axis guide rails. A robotic arm is provided at the intersection of the X-axis and Y-axis guide rails, and a Z-axis guide rail is provided on the robotic arm.

[0012] Preferably, the second mechanical gripper moves along the Z-axis guide rail and can rotate 360 ​​degrees. The vision module equipped on the second mechanical gripper is used to scan and identify the barcode of the goods, confirm the goods information, and then, through the movement of the guide rail and the multi-degree-of-freedom movement of the robotic arm, realize the picking and placing of the upper-level express delivery.

[0013] Preferably, the wireless charging pile can wirelessly charge the station robot. Both the wireless charging pile and the station robot are equipped with coils. The coils, through alternating current, generate current with the coils built into the station robot under the action of electromagnetic induction, thereby realizing the charging process.

[0014] The advantages and beneficial effects of this invention are as follows: This invention protects an "anytime, anywhere delivery" intelligent station, a fully automated improvement scheme for express delivery stations. Compared with traditional stations, the "anytime, anywhere delivery" intelligent station uses a fully automated management mode, greatly saving manpower and material resources and improving work efficiency. Secondly, the station robot adopts a wireless charging mode, enabling the intelligent station to operate around the clock. Furthermore, thanks to the station robot's strong obstacle-crossing ability, this intelligent station can better adapt to complex residential express delivery station scenarios. Moreover, the "anytime, anywhere delivery" intelligent station has low construction costs, high reliability, and high work efficiency. The application scenario of the "anytime, anywhere delivery" intelligent station designed in this invention is an unmanned express delivery station, which needs to complete a series of functions such as express delivery warehousing, goods shelving, pickup appointment, user pickup, and daily maintenance. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the gantry robot. Figure 2 This is an overall schematic diagram of the station robot; Figure 3 This is a schematic diagram of the front wheel mechanism. Figure 4 A schematic diagram of the structure to aid in climbing; Explanation of reference numerals in the attached drawings: 1. Gantry frame; 2. X-axis guide rail; 3. Y-axis guide rail; 4. Robotic arm; 5. Reinforcing rib; 6. First mechanical gripper; 7. Front wheel mechanism; 701. Double-aligned crank; 702. Swing arm A; 703. Swing arm B; 704. Front wheel; 8. Auxiliary climbing structure; 801. Rear drive chassis; 802. Crank; 803. Support wheel; 9. Second mechanical gripper; 10. Placement slot. Detailed Implementation

[0016] The present invention will be further illustrated below with reference to specific embodiments. It should be understood that these embodiments are for illustrative purposes only and are not intended to limit the scope of the invention. Furthermore, it should be understood that after reading the teachings of this invention, those skilled in the art can make various alterations or modifications to the invention, and these equivalent forms also fall within the scope defined by the appended claims.

[0017] This application protects a dual-machine collaborative unmanned express delivery station transportation device and method. The dual-machine collaborative unmanned express delivery station transportation device includes a station robot, a gantry robot, and a wireless charging pile, such as... Figure 1As shown, the gantry robot is an intelligent transformation of the shelves of the express delivery station. It is mainly responsible for picking up goods. The gantry robot can achieve three-dimensional movement through linear guide rails and is equipped with a first mechanical gripper 6 at the end of the robot arm. The first mechanical gripper is equipped with a first vision module, which can scan and identify the barcode of the goods to confirm the goods information. It can pick up and put down the express delivery on the upper layer by moving along the guide rails in conjunction with the multi-degree-of-freedom movement of the robotic arm 4.

[0018] In this embodiment, the gantry robot has a slider and a synchronous pulley added to the base of the robotic arm. Guide rails are arranged on both sides of the gantry frame 1 to cooperate with the slider. Stepper motors drive the synchronous belts at both ends to move, thus driving the robotic arm to move at high speed. Since the synchronous belt only needs to move half of its stroke, a clamp can be added to the rear end of the synchronous belt. It can be adjusted according to the required length, making it highly adaptable. It can also adjust the tension of the synchronous belt, compensate for the deformation of the synchronous belt caused by long-term use, and improve its service life. The gantry robot can achieve three-dimensional movement through linear guide rails. In conjunction with the mechanical gripper at the end of the robot arm, and equipped with a vision module, it can scan and identify the barcodes of goods to confirm the goods information. The robot can perform the picking and placing of express packages on the upper layer by moving along the guide rails and coordinating the multi-degree-of-freedom movement of the robotic arm.

[0019] Furthermore, the gantry robot can achieve three-dimensional motion through linear guide rails. The top of the inner wall of the gantry frame is provided with horizontally and vertically intersecting X-axis guide rails 2 and Y-axis guide rails 3. The ends of the X-axis guide rails and Y-axis guide rails are connected to cross-track drives that can move along the outer wall of the gantry frame. A robotic arm 4 is provided at the intersection of the X-axis guide rails and Y-axis guide rails, and a Z-axis guide rail is provided on the robotic arm.

[0020] Furthermore, the robotic arm includes a Z-axis guide rail, a steering motor is mounted on the top of the Z-axis guide rail, a cross rail connecting seat is fixedly connected to the top of the steering motor, the cross rail connecting seat is slidably connected to the X-axis guide rail and the Y-axis guide rail, and a Z-axis drive group for driving the gantry robot to move along the Z-axis is mounted on one side of the bottom of the steering motor.

[0021] Furthermore, the second mechanical gripper moves along the Z-axis guide rail and can rotate 360 ​​degrees. The vision module equipped on the second mechanical gripper is used to scan and identify the barcode of the goods, confirm the goods information, and then, through the movement of the guide rail and the multi-degree-of-freedom movement of the robotic arm, realize the picking and placing of the upper-level express delivery.

[0022] In this embodiment, the station robot, as the main robot of the unmanned station, primarily undertakes tasks such as package handling, package information entry, and cargo integrity inspection. The station robot is equipped with a second mechanical gripper 9 and a second vision module, enabling it to identify and assess the shape and size of packages, select different grippers for grasping, and read package information by scanning the barcode. Simultaneously, to adapt to the unique environment of typical residential area express delivery stations with uneven ground and obstacles such as stairs and thresholds, the robot is equipped with an obstacle-crossing mechanism. During obstacle crossing, to ensure stability, an IMU (Inertial Measurement Unit) is added to detect the tilt angle of the mechanism. If the front is too high, a center-of-gravity stabilization mechanism arches the body to maintain stability. The entire mechanism achieves continuous obstacle-crossing actions through the cooperation of a front crank-rocker mechanism and a rear center-of-gravity adjustment mechanism. While improving the station robot's operating speed, it also increases its adaptability to complex ground environments. The rear center-of-gravity adjustment device ensures that the loading surface remains level, increasing the safety of cargo transportation and avoiding the risk of tipping over. By designing routes within unmanned rest stations, intelligent rest station robots can automatically follow the tracks. Utilizing digital twin technology, bidirectional information transmission can be achieved, and the robot's movement can be monitored and controlled in real time, thereby improving the robot's movement accuracy.

[0023] Furthermore, in this embodiment, the obstacle-crossing mechanism of the rest stop robot includes a front wheel mechanism 7, a height adjustment device, and an auxiliary climbing structure 8. The front wheel mechanism 7 adopts a double-center crank 701 rocker mechanism. The tops of the swing arms A702 and B703 are connected together by the center crank 701. The double-center crank rocker mechanism is used to adjust the height of the two sets of front wheels by controlling the rotation of the cranks when on rough terrain. The height adjustment device can adjust the height in real time, coordinating with the movement of the front wheels to keep the rest stop robot in a horizontal state at all times. The auxiliary climbing structure is located at the bottom of the rest stop robot and is used to cooperate with the front wheels to achieve the function of climbing stairs and crossing obstacles.

[0024] In this embodiment, the station robot is equipped with a fork tray at the bottom for placing large items; a storage box is provided in the middle of the station robot for placing documents or flat bagged express packages; and a placement slot 10 is provided at the top of the station robot for placing goods grabbed by the gantry robot.

[0025] The steps for using its obstacle course mechanism are as follows: With the cooperation of camera sensors and infrared ranging sensors, the vehicle model can detect the presence of an obstacle when it is 3 meters away from it, and gradually adjust its vehicle status to overcome the obstacle. It enters the obstacle-crossing procedure after being 10cm away from the obstacle. Experiments showed that the robot's speed was approximately 20 steps / min when going upstairs, with a maximum speed of 26 steps / min, and approximately 18 steps / min when going downstairs. Its obstacle-crossing speed was approximately 90% of its normal travel speed.

[0026] In this invention, the gantry robot and the rest stop robot are equipped with a first vision module and a second vision module. These two vision modules enable barcode recognition, and the barcode recognition and decoding system achieves barcode scanning with a confidence level between 98.5% and 100%. This system can adapt to more complex real-world environments. It selects high-resolution barcode images as input, performs blurring, Gauss filtering, and erosion / dilation processing, performs morphological operations, and then identifies the outline of the barcode region. In dimly lit conditions, the system can automatically perform lighting compensation. The decoding accuracy is improved by fusing the zbar barcode recognition library and the Zxing library.

[0027] Because the requirements for cargo identification and gripping during pickup are high, this application focuses on the research and development of cargo positioning and the gripping function of the first mechanical gripper. The station robot system can identify the location and information of goods in different packaging forms. After identifying the cargo location, the Nano processing module transmits the center coordinates of the object to the STC32 main controller via serial port. Combined with IMU data, the robot body is aligned. The first mechanical gripper selects a suitable gripping method according to the characteristics of different packaging forms, uses the calculated gripping point as input for inverse kinematics calculation and PD control, and finally achieves precise gripping by the first mechanical gripper.

[0028] On the other hand, this application also protects a dual-machine collaborative unmanned express delivery station transportation method, including the following steps: S1: The station robot transports the packages pre-placed in the cargo basket on the delivery tricycle to the station interior via the forklifts at the bottom of the robot; S2: Goods are shelved using gantry robots and station robots; S21: After the goods are put on the shelves, the station robot and the gantry robot will scan the newly arrived packages, assess whether the packages are damaged, and take photos for record-keeping; S22: Scan the express barcode using the first vision module on the station robot or the second vision module on the gantry robot, register the express information, and record the location of the express on the shelf. S23: After entering the information in S4, notify the user to come and pick up the goods; S3: After receiving the warehouse entry notification, users can make a pickup appointment on the app platform. After receiving the appointment application, the express station will coordinate and schedule the pickup based on the number of appointments and the appointment time. S31: After receiving a pickup instruction and location information for a certain express delivery, the station robot goes to the shelf area to pick up the goods and scans the express delivery barcode to confirm the information; S32: For packages on the upper shelf, the gantry robot directly grabs them and places them in the placement slot of the station robot for transport; the goods are then placed in pre-installed parcel lockers, waiting for the user to pick them up. S4: When a user arrives at the scheduled time to pick up their package, they need to show their tracking code for identity verification. After verification, the station robot will scan the code and take a photo of the package in the pickup area again. After verification, the robot will deliver the package to the customer, completing the pickup process.

[0029] In S2, small boxed packages are picked up by a gantry robot and placed on the upper shelf; large boxed packages are placed on the fork trays on the bottom of the station robot; and documents or flat bagged packages are placed in storage boxes on a special station robot.

[0030] This application protects a dual-machine collaborative unmanned express delivery station transportation method, which includes five major steps: (1) express delivery warehousing, (2) goods shelving, (3) pickup reservation, (4) user pickup and (5) daily maintenance. Express delivery warehousing refers to the station robot transporting the express delivery pre-placed in the basket on the express delivery tricycle to the station through the bottom forklift. Then, the gantry robot and the station robot work together.

[0031] In this invention, "goods shelving" refers to the process where, after goods are shelved, the intelligent station robot and the gantry robot scan newly arrived packages, assess whether they are damaged, take photos for record-keeping, scan the package barcode, register the package information, and record the package's location on the shelf. After the information is entered, the user is notified to pick up their goods.

[0032] Meanwhile, we adopt personalized storage solutions for different types and sizes of goods: small boxed packages can be picked up by gantry robots and placed on the upper shelves; large boxed packages are placed on the bottom pallets; and documents or flat bagged packages can be placed in special storage boxes, which can improve the neatness and capacity of package placement.

[0033] In this invention, pickup reservations are made by users on the app platform after receiving an inbound notification. Upon receiving the reservation request, the courier station coordinates and schedules pickups based on the number of reservations and the scheduled time. After receiving a pickup instruction and location information for a particular package, the station robot retrieves the package from the shelf area and scans the package barcode for confirmation. For packages on upper shelves, a gantry robot directly grabs the package and places it in the station robot's slot for transport. The package is then placed in a pre-designated parcel locker, awaiting user pickup. This combination of shelves and lockers completes the placement, storage, and retrieval of packages. When a package arrives at the station, it is stored on the shelves. A pickup notification is sent to the user, who can then schedule a pickup time. The reserved package is then removed from the shelf and placed in the locker. Upon arrival, the user can retrieve the package from the locker without queuing, simply by entering a pickup code.

[0034] In this invention, when a user picks up their package at the scheduled time, they need to present their tracking code for identity verification. After verification, the station robot will scan the code and photograph the package in the pickup area again. Once confirmed, the package will be delivered, completing the pickup process. For storage carts carrying large items, the station robot will drag them to a designated area after pickup for easy handling when goods are received again.

[0035] In this invention, routine maintenance involves the station robot automatically navigating to the charging station for wireless charging when there are no pickup tasks, ensuring it has a sufficient battery level. The use of wireless charging improves charging efficiency and extends battery life.

[0036] To enable the smart station to operate 24 / 7, this invention incorporates a wireless charging module. During the station robot's downtime, it follows a designed route to the wireless charging station, aligns its body, and begins wireless charging. The coil inside the charging station carries alternating current, and through electromagnetic induction, a current is generated in the robot's internal coil, thus completing the charging process.

[0037] To ensure sufficient power for the vending machines, we designed an independent wireless charging system. Our charging solution uses a MOS half-bridge circuit to drive the DC power into an AC signal, which is then sent to the coil. The receiving coil converts the magnetic field into electrical energy through electromagnetic coupling, and the AC voltage is then converted back into DC power through a rectifier bridge.

[0038] Calculations and experiments show that our charging system can achieve a transmission efficiency of approximately 70% when the receiving coil is tuned to around 100kHz, with a charging power of around 50W. A full charge of a 6000mAh 6S lithium battery takes approximately 2.5 hours. Because of the long charging time, we have also written software to prioritize pickup tasks and return to the charging station for charging when idle, allowing for seamless switching between working and charging modes.

[0039] This application protects a dual-machine collaborative unmanned express delivery station transportation device and method. It lays black trajectory lines within the Cainiao Station and uses four infrared sensors for line following, ultimately achieving accurate and sensitive line-following navigation for the vehicle model at a speed of approximately 1.8 m / s. This solution also reduces line-following costs. Furthermore, the obstacle-crossing mechanism of the station robot facilitates climbing stairs and overcoming obstacles. After writing a control program based on the obstacle-crossing motion logic of the mechanical design, the vehicle model can flexibly solve a series of problems encountered in real-world scenarios, such as climbing stairs and crossing thresholds.

[0040] To ensure the stable and convenient operation of the smart delivery station, this application utilizes digital twin technology to build a virtual scene, read the motion parameters and working status of the station robot and the gantry robot, and provide real-time location information feedback. This enables information exchange, coordinated scheduling, and cooperative work between the two types of robots, increasing their operational range, expanding usable space, and improving work efficiency. Furthermore, the efficient cooperation between the two types of robots avoids the need for haphazardly increasing the number of robots or large-scale renovations to the delivery station, thus reducing the station's transformation costs.

[0041] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within the present invention.

[0042] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A dual-machine collaborative unmanned express delivery station transportation device, characterized in that: The system includes a rest stop robot, a gantry robot, and a wireless charging station. The rest stop robot is equipped with a first mechanical gripper, a first vision module, and an obstacle-crossing mechanism. This mechanism utilizes a crank-rocker mechanism at its front end and a center-of-gravity adjustment mechanism at its rear end to achieve continuous obstacle-crossing movements. The obstacle-crossing mechanism includes a front wheel mechanism, a height adjustment device, and an auxiliary climbing structure. The front wheel mechanism employs a double-center crank-rocker mechanism, which adjusts the height of the two sets of front wheels by controlling the rotation of the cranks on rough terrain. The height adjustment device can adjust the height in real time, coordinating with the movement of the front wheels to keep the rest stop robot level. The auxiliary climbing structure is located at the bottom of the rest stop robot and works with the front wheels to achieve stair climbing and obstacle-crossing functions. The gantry robot includes a gantry frame, a mechanical arm, and a mechanical arm base. The mechanical arm base is equipped with a slider and a synchronous pulley. Guide rails are arranged on both sides of the gantry frame to cooperate with the slider. A second mechanical gripper is located at the end of the mechanical arm, and the second mechanical gripper is equipped with a second vision module. The wireless charging pile enables wireless charging of the station robot. Both the wireless charging pile and the station robot are equipped with coils. When AC power is applied, electromagnetic induction generates current in the station robot's internal coil, thus achieving the charging process. The device is also equipped with a digital twin scheduling module. This module builds a virtual scene, reads the motion parameters and working status of the station robot and the gantry robot, and provides real-time feedback of location information, enabling information exchange and coordinated scheduling between the station robot and the gantry robot.

2. The dual-machine collaborative unmanned express delivery station transportation device according to claim 1, characterized in that: The station robot is equipped with a fork tray at the bottom for placing large items; a storage box in the middle for placing documents or flat, bagged packages; and a placement slot at the top for placing goods picked up by the gantry robot.

3. The dual-machine collaborative unmanned express delivery station transportation device according to claim 1, characterized in that: The gantry robot can achieve three-dimensional movement via guide rails. The top of the inner wall of the gantry is provided with horizontally and vertically intersecting X-axis and Y-axis guide rails. A robotic arm is provided at the intersection of the X-axis and Y-axis guide rails, and a Z-axis guide rail is provided on the robotic arm.

4. The dual-machine collaborative unmanned express delivery station transportation device according to claim 1, characterized in that: The second mechanical gripper moves along the Z-axis guide rail and can rotate 360 ​​degrees. The second mechanical gripper is equipped with a second vision module for scanning and recognizing the barcode of the goods to confirm the goods information. Then, through the movement of the guide rail and the multi-degree-of-freedom movement of the robotic arm, the upper-level express delivery can be picked up and placed.

5. A dual-machine collaborative unmanned express delivery station transportation method, applied to the dual-machine collaborative unmanned express delivery station transportation device according to any one of claims 1-4, characterized in that, Includes the following steps: S1: The station robot transports the packages pre-placed in the basket on the delivery tricycle to the station interior via the forklift at the bottom of the robot; S2: Goods are shelved using gantry robots and station robots; S21: After the goods are put on the shelves, the station robot and the gantry robot will scan the newly arrived packages, assess whether the packages are damaged, and take photos for record-keeping; S22: Scan the express barcode using the first vision module on the station robot or the second vision module on the gantry robot, register the express information, and record the location of the express on the shelf. S23: After the information is entered, notify the user to come and pick up the goods; S3: After receiving the warehouse receipt notification, users can make a pickup appointment on the app platform. After receiving the appointment application, the express station will coordinate and schedule the pickup based on the number of appointments and the appointment time. S31: After receiving a pickup instruction and location information for a certain express delivery, the station robot goes to the shelf area to pick up the goods and scans the express delivery barcode to confirm the information. S32: For packages on the upper shelf, the gantry robot directly grabs them and places them in the placement slot of the station robot for transport; the goods are then placed in pre-installed parcel lockers, waiting for the user to pick them up. S4: When a user arrives at the scheduled time to pick up their goods, they need to show their tracking code for identity verification. After verification, the station robot will scan the code and take a photo of the package in the pickup area again. After verification, the robot will deliver the package to complete the pickup process. During the execution of steps S1-S4, the digital twin scheduling module continuously reads the motion parameters and working status of the station robot and the gantry robot, completes virtual mapping, and realizes information exchange and collaborative scheduling between the two robots.

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