Goods delivery cabinet, goods delivery cabinet and storage medium

Abstract

The embodiment of the invention relates to a goods channel opening positioning method of a goods distribution cabinet, the goods distribution cabinet and a storage medium, the goods distribution cabinet comprises a first goods channel and a goods taking platform, the first goods channel is used for storing goods to be taken out, and a goods taking identifier is arranged at a preset position of a goods channel opening of the first goods channel; the goods taking platform is used for taking out the goods stored in the first goods channel from the goods channel opening. The method comprises the steps that the first position of the goods channel opening is determined; the object taking platform is controlled to move towards the first position; determining a first actual position of the moved object taking platform on the object taking plane and an object taking position indicated by the object taking identifier sensed by the moved object taking platform; and based on the first actual position and the object taking position, a second actual position of the cargo channel opening on the object taking plane is determined. Therefore, the positioning efficiency of the cargo channel opening can be improved.

Description

Technical Field

[0001] The present application relates to the field of automatic control technology, and in particular to a method for locating a cargo channel entrance of an item delivery cabinet, an item delivery cabinet, and a storage medium. Background Art

[0002] The item delivery cabinet is an automatic device that supplies items in an unmanned way. It is usually placed in office buildings, factories, schools, shopping centers, etc. to provide people with items. Some delivery cabinets have multi-layer aisles inside to meet people's demand for the richness of items, and there are pick-up platforms to take out items from the aisles.

[0003] However, when installing the existing delivery cabinets, the pickup platform needs to manually determine the location of the cargo channel entrance one by one for calibration. In addition, the vibration of the unit during transportation will also cause the cargo channel to move to the final layout location, which requires recalibration.

[0004] It can be seen that how to improve the efficiency of cargo entrance positioning is a technical issue worthy of attention. Summary of the invention

[0005] In view of this, in order to solve some or all of the above-mentioned technical problems, the embodiments of the present application provide a method for locating a cargo channel entrance of an item delivery cabinet, an item delivery cabinet and a storage medium.

[0006] In a first aspect, an embodiment of the present application provides a method for locating a cargo channel entrance of an item delivery cabinet, the item delivery cabinet comprising a first cargo channel and a pickup platform, the first cargo channel being used to store items to be taken out, a pickup mark being provided at a preset position of the cargo channel entrance of the first cargo channel, the pickup platform being used to take out the items stored in the first cargo channel from the cargo channel entrance, the method comprising:

[0007] Determine a first position of the cargo channel entrance, wherein the first position represents a currently recorded position of the cargo channel entrance on the pickup plane;

[0008] Controlling the object-taking platform to move toward the first position;

[0009] Determine a first actual position of the moving picking platform on the picking plane, and a picking position indicated by the picking mark sensed by the moving picking platform;

[0010] Based on the first actual position and the picking position, a second actual position of the cargo channel entrance on the picking plane is determined.

[0011] In a possible implementation, before determining the first position of the cargo passage, the method further includes:

[0012] Obtaining equipment information of the item delivery cabinet;

[0013] Based on the device information, determining whether to locate the cargo channel entrance; and

[0014] Determining the first position of the cargo passage includes:

[0015] When it is determined that the cargo passageway is to be positioned, a first position of the cargo passageway is determined.

[0016] In a possible implementation, the device information includes the last positioning time of the cargo entrance; and

[0017] The determining whether to locate the cargo entrance based on the device information includes:

[0018] Determine the duration between the last positioning time and the current time;

[0019] Based on the duration, determine whether to locate the cargo entrance.

[0020] In a possible implementation manner, the device information includes a maximum vibration amplitude of the item delivery cabinet within a target time period; and

[0021] The determining whether to locate the cargo entrance based on the device information includes:

[0022] Determining whether the maximum vibration amplitude is greater than or equal to a preset vibration amplitude threshold to obtain a first determination result;

[0023] Based on the first determination result, it is determined whether to locate the cargo channel entrance.

[0024] In a possible implementation manner, the device information includes a low-peak time period for picking up items from the item delivery cabinet; and

[0025] The determining whether to locate the cargo entrance based on the device information includes:

[0026] Determine whether the current time belongs to the off-peak period for picking up items, so as to obtain a second determination result;

[0027] Based on the second determination result, it is determined whether to locate the cargo channel entrance.

[0028] In a possible implementation manner, the device information includes identification information; and

[0029] The determining whether to locate the cargo entrance based on the device information includes:

[0030] Based on the determination information, determining whether to locate the cargo channel;

[0031] The identification information includes at least one of the following:

[0032] Whether there is any abnormality in taking items from the item delivery cabinet;

[0033] Whether the first deviation between the third pickup position corresponding to the second cargo lane and the fourth pickup position corresponding to the second cargo lane is less than or equal to a preset deviation threshold; wherein the third pickup position corresponding to the second cargo lane is: the position of the cargo lane entrance of the second cargo lane currently recorded on the pickup plane, or the result of locating the cargo lane entrance of the second cargo lane; the fourth pickup position corresponding to the second cargo lane is: the pickup position indicated by the pickup mark set at the preset position of the cargo lane entrance of the second cargo lane; the second cargo lane is the cargo lane corresponding to the previously located cargo lane entrance of the first cargo lane;

[0034] Whether the second deviation between the fifth pickup position corresponding to the third aisle and the sixth pickup position corresponding to the third aisle is greater than a preset deviation threshold; wherein the fifth pickup position corresponding to the third aisle is: the currently recorded position of the aisle entrance of the third aisle on the pickup plane, or the result of positioning the aisle entrance of the third aisle; the sixth pickup position corresponding to the third aisle is: the pickup position indicated by the pickup mark set at the preset position of the aisle entrance of the third aisle; the third aisle is a preset number of aisles of the first aisle or the item distribution cabinet.

[0035] In a possible implementation, determining the second actual position of the cargo channel entrance on the picking plane based on the first actual position and the picking position includes:

[0036] Determining a third deviation between the first actual position and the object-retrieving position;

[0037] When the third deviation is less than or equal to a preset deviation threshold, the first actual position is determined as the second actual position of the cargo channel entrance on the object-picking plane;

[0038] When the third deviation is greater than the preset deviation threshold, determining a new first position;

[0039] Controlling the object-taking platform to move to the new first position;

[0040] Determine the new first actual position of the picking platform on the picking plane after the picking platform moves to the new first position, and the picking position indicated by the picking mark sensed by the picking platform after the second movement, so as to obtain the second-sensed picking position;

[0041] Based on the new first actual position and the re-sensed object-pickup position, a second actual position of the cargo channel opening on the object-pickup plane is determined.

[0042] In a second aspect, an embodiment of the present application provides an item delivery cabinet, the item delivery cabinet comprising a processing unit, a first cargo channel and an item retrieval platform;

[0043] The first cargo channel is used to store items to be taken out, and a pick-up mark is provided at a preset position of the cargo channel entrance of the first cargo channel;

[0044] The object-taking platform is used to take out the objects stored in the first cargo channel from the cargo channel entrance;

[0045] The processing unit is connected to the object-taking platform;

[0046] The processing unit is used to implement the method of any embodiment of the method for locating the cargo entrance of the article delivery cabinet in the first aspect.

[0047] In a possible implementation, the object-picking platform is provided with a light-emitting diode and a photosensitive receiving tube; the object-picking mark is a grayscale identification bar, the grayscale identification bar includes a plurality of area positions, and the grayscale of the area position is determined based on the distance between the area position and the corresponding object-picking position;

[0048] The light emitting diode is used to emit light to the grayscale identification strip;

[0049] The photosensitive receiving tube is used to receive the reflected light of the grayscale identification strip in response to the emitted light; and

[0050] The processing unit is further used to determine a picking position indicated by the picking mark sensed by the picking platform based on the reflected light.

[0051] In a possible implementation, the item delivery cabinet further includes an acceleration sensor, and the acceleration sensor is connected to the processing unit;

[0052] The acceleration sensor is used to: determine the maximum vibration amplitude of the item delivery cabinet within a target time period; and transmit the maximum vibration amplitude to the processing unit;

[0053] The processing unit is further used to: determine whether the maximum vibration amplitude is greater than or equal to a preset vibration amplitude threshold to obtain a third determination result; and determine whether to locate the cargo channel entrance based on the third determination result.

[0054] In a possible implementation manner, the item delivery cabinet further includes a backup power supply, and the backup power supply is connected to the acceleration sensor;

[0055] The backup power supply is used to supply power to the acceleration sensor when the item delivery cabinet is in a power-off state.

[0056] In a third aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the method of any embodiment of the method for locating the cargo entrance of an item delivery cabinet as described in the first aspect above is implemented.

[0057] In a fourth aspect, an embodiment of the present application provides a computer program product, which includes a computer-readable code. When the computer-readable code is executed on a device, the processor in the device implements a method as described in any embodiment of the method for locating the cargo entrance of an item delivery cabinet according to the first aspect above.

[0058] The present application provides a method for locating the cargo channel of an item distribution cabinet, wherein the item distribution cabinet includes a first cargo channel and a pickup platform, wherein the first cargo channel is used to store items to be taken out, and a pickup mark is set at a preset position of the cargo channel of the first cargo channel, and the pickup platform is used to take out the items stored in the first cargo channel from the cargo channel. The method can determine the first position of the cargo channel, wherein the first position represents the currently recorded position of the cargo channel on the pickup plane, and then the pickup platform is controlled to move to the first position, and then the first actual position of the pickup platform after the movement on the pickup plane and the pickup position indicated by the pickup mark sensed by the pickup platform after the movement are determined, and then, based on the first actual position and the pickup position, the second actual position of the cargo channel on the pickup plane is determined. Thus, the actual position of the cargo channel can be determined by the pickup position indicated by the pickup mark sensed by the pickup platform and the actual position of the pickup platform, so as to achieve cargo channel calibration, so that the efficiency of cargo channel positioning can be improved.

[0059] The article distribution cabinet provided in the embodiment of the present application includes a processing unit, a first cargo lane and a pickup platform; the first cargo lane is used to store articles to be taken out, and a pickup mark is set at a preset position of the cargo lane entrance of the first cargo lane; the pickup platform is used to take out the articles stored in the first cargo lane from the cargo lane entrance; the processing unit is connected to the pickup platform; the processing unit is used to: implement the cargo lane entrance positioning method of the above-mentioned article distribution cabinet. Therefore, the actual position of the cargo lane entrance can be determined by the pickup position indicated by the pickup mark sensed by the pickup platform and the actual position of the pickup platform, so as to realize the calibration of the cargo lane entrance, so that the efficiency of cargo lane entrance positioning can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0061] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0062] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0063] Figure 1 A schematic diagram of a flow chart of a method for locating a cargo channel entrance of an item delivery cabinet provided in an embodiment of the present application;

[0064] Figure 2 A schematic diagram of a flow chart of another method for locating a cargo channel entrance of an item delivery cabinet provided in an embodiment of the present application;

[0065] Figure 3 A schematic diagram of a flow chart of another method for locating a cargo channel entrance of an item delivery cabinet provided in an embodiment of the present application;

[0066] Figure 4 A monitoring schematic diagram of an acceleration sensor for a method for locating a cargo passageway of an item delivery cabinet provided in an embodiment of the present application;

[0067] Figure 5 A schematic diagram of a triggering method for locating a cargo channel entrance of an item delivery cabinet provided in an embodiment of the present application;

[0068] Figure 6 A schematic diagram of a grayscale identification bar for a method for locating a cargo channel entrance of an item delivery cabinet provided in an embodiment of the present application;

[0069] Figure 7 A schematic diagram of the structure of a pickup platform for a method for locating a cargo channel entrance of an item delivery cabinet provided in an embodiment of the present application;

[0070] Figure 8 A schematic diagram of the structure of a cargo aisle of a method for locating a cargo aisle entrance of an item delivery cabinet provided in an embodiment of the present application;

[0071] Fig. 9 A schematic diagram of a flow chart of another method for locating a cargo channel entrance of an item delivery cabinet provided in an embodiment of the present application;

[0072] Fig.10 A schematic diagram of the structure of an item delivery cabinet provided in an embodiment of the present application. DETAILED DESCRIPTION

[0073] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. It should be noted that unless otherwise specifically stated, the relative arrangement of the components and steps, the numerical expressions and the numerical values ​​described in these embodiments do not limit the scope of the present application.

[0074] Those skilled in the art will understand that the terms "first" and "second" in the embodiments of the present application are only used to distinguish between different steps, devices, modules and other objects, and do not represent any specific technical meanings, nor do they indicate the logical order between them.

[0075] It should also be understood that in this embodiment, “plurality” may refer to two or more than two, and “at least one” may refer to one, two or more than two.

[0076] It should also be understood that any component, data or structure mentioned in the embodiments of the present application can generally be understood as one or more, unless explicitly limited or otherwise indicated in the context.

[0077] In addition, the term "and / or" in this application is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this application generally indicates that the associated objects before and after are in an "or" relationship.

[0078] It should also be understood that the description of the various embodiments in this application focuses on the differences between the various embodiments, and the same or similar aspects thereof can be referenced to each other, and for the sake of brevity, they will not be described one by one.

[0079] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present application, its application, or uses.

[0080] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the above-mentioned technologies, methods, and equipment should be considered as part of the specification.

[0081] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0082] It should be noted that, in the absence of conflict, the embodiments in this application and the features in the embodiments can be combined with each other. To facilitate the understanding of the embodiments of the present application, the present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0083] In order to solve the technical problem of how to improve the efficiency of cargo aisle entrance positioning in the prior art, the present application provides a cargo aisle entrance positioning method for an item distribution cabinet, an item distribution cabinet and a storage medium, which can improve the efficiency of cargo aisle entrance positioning.

[0084] Figure 1 A flow chart of a method for locating the cargo entrance of an item delivery cabinet provided in an embodiment of the present application. This method can be applied to one or more electronic devices such as smart phones, laptops, desktop computers, portable computers, servers, etc. In addition, the execution subject of this method can be hardware or software. When the above-mentioned execution subject is hardware, the execution subject can be one or more of the above-mentioned electronic devices. For example, a single electronic device can execute this method, or multiple electronic devices can cooperate with each other to execute this method. When the above-mentioned execution subject is software, this method can be implemented as multiple software or software modules, or as a single software or software module. No specific limitation is made here.

[0085] In this embodiment, the item delivery cabinet includes a first aisle and a pickup platform. The first aisle is used to store items to be taken out. A pickup mark is set at a preset position of the aisle entrance of the first aisle. The pickup platform is used to take out the items stored in the first aisle from the aisle entrance.

[0086] Among them, the item distribution cabinet may include multiple aisles. Each aisle may correspond to an aisle entrance. Multiple aisle entrances may be arranged according to a certain pattern. For example, multiple aisle entrances may be arranged in a circular pattern, or may be arranged in rows and columns. Each aisle may be used to store items to be taken out, such as meals, beverages, medical supplies, fruits and vegetables, containers, etc.

[0087] The first aisle may be any one or more aisles to be located among the multiple aisles included in the item delivery cabinet.

[0088] The object-taking platform can move on the object-taking plane so as to take out the items stored in any aisle (for example, the first aisle) from the aisle opening of the aisle.

[0089] The above-mentioned picking plane can be the plane where each cargo entrance is located.

[0090] like Figure 1 As shown, the method specifically includes:

[0091] Step 101, determining a first position of the cargo channel entrance, wherein the first position represents a currently recorded position of the cargo channel entrance on a pickup plane.

[0092] In this embodiment, the first position may be the position of the aisle opening on the pickup plane recorded before the aisle opening is located this time. For example, the first position may be an initial position set for the aisle opening manually or with a device that can locate the aisle opening, or may be the position of the aisle opening determined by the aisle opening location method of the item delivery cabinet last executed.

[0093] Step 102, controlling the object-picking platform to move to the first position.

[0094] In this embodiment, after the first position is determined, the object-taking platform can be controlled to move toward the first position.

[0095] Step 103, determining a first actual position of the moved picking platform on the picking plane, and a picking position indicated by the picking mark sensed by the moved picking platform.

[0096] In this embodiment, the first actual position may be the position of the picking platform on the picking plane after the picking platform moves to the first position. Here, since there may be a certain error in controlling the movement of the picking platform, the first position and the first actual position may not necessarily represent the same position.

[0097] The picking platform may be provided with a device for sensing the picking position indicated by the picking mark, for example, an image acquisition unit (such as a camera), a laser sensor, a light-emitting component, a photosensitive receiving tube, etc.

[0098] In the case where the object-picking platform includes an image acquisition unit, the image acquisition unit may be used to acquire an image including the object-picking mark, thereby determining the object-picking position indicated by the object-picking mark.

[0099] In the case where the above-mentioned object-picking platform includes a laser sensor, different positions of the object-picking mark may have different concave-convex structures, thereby sending laser to the object-picking mark through the laser sensor to determine the object-picking position indicated by the object-picking mark.

[0100] When the above-mentioned picking platform includes a light-emitting component and a photosensitive receiving tube, different positions of the picking mark can have different grayscales. Therefore, after the light is emitted by the light-emitting component, the reflected light of the picking mark is received by the photosensitive receiving tube, thereby determining the picking position indicated by the picking mark.

[0101] Step 104: Based on the first actual position and the object-pickup position, determine a second actual position of the cargo channel entrance on the object-pickup plane.

[0102] In this embodiment, the second actual position can be used for the picking platform to pick up items. Specifically, the picking platform can be controlled to move to the second actual position, so that the picking platform can pick up items from the aisle entrance of the first aisle. In other words, the second actual position can be used as the result of this aisle entrance positioning (i.e. calibration).

[0103] In practice, a variety of methods can be used to determine the second actual position of the cargo channel entrance on the picking plane based on the first actual position and the picking position.

[0104] As an example, the middle position between the first actual position and the picking position can be determined as the second actual position of the cargo channel entrance on the picking plane.

[0105] As another example, when the distance between the first actual position and the pickup position is less than or equal to the preset distance, the first actual position can be determined as the second actual position of the cargo channel entrance on the pickup plane. In this case, since the coordinates of the pickup position on the pickup plane cannot be directly determined, the pickup position cannot be used as the second actual position of the cargo channel entrance on the pickup plane.

[0106] In some optional implementations of this embodiment, before determining the first position of the cargo passageway, the following steps may also be performed:

[0107] The first step is to obtain the equipment information of the item distribution cabinet.

[0108] The device information may be information of the item delivery cabinet. As an example, the device information may include at least one of the following: the last positioning time of the cargo entrance, the maximum vibration amplitude of the item delivery cabinet within the target time period, the off-peak time period for picking up items from the item delivery cabinet, identification information, etc.

[0109] The last positioning time may indicate the time when the cargo aisle entrance of the first cargo aisle was last positioned (ie, the second actual position of the cargo aisle entrance on the picking plane was determined).

[0110] The duration of the target time period may be a preset duration, and the end time of the target time period may be the current time.

[0111] The off-peak period for picking up items may be a period of time when the probability of picking up items stored in the aisle of the item delivery cabinet is low (for example, the probability is less than a preset threshold; or the probability with a smaller or minimum value among the probabilities corresponding to each time period).

[0112] The identification information includes at least one of the following:

[0113] The first item is whether there is any abnormality in taking items from the item distribution cabinet.

[0114] For example, the abnormality of picking up items may include whether an item is stuck when the picking up platform is taking out items stored in the first cargo aisle.

[0115] The second item is whether a first deviation between the third pickup position corresponding to the second cargo channel and the fourth pickup position corresponding to the second cargo channel is less than or equal to a preset deviation threshold.

[0116] The fourth pickup position corresponding to the second cargo lane is: the pickup position indicated by the pickup mark set at the preset position of the cargo lane entrance of the second cargo lane. The fourth pickup position corresponding to the second cargo lane is obtained by sensing via the pickup platform.

[0117] The third picking-up position may represent: the currently recorded position of the aisle entrance of the second aisle on the picking-up plane, or the result of positioning the aisle entrance of the second aisle.

[0118] The second cargo lane is a cargo lane corresponding to a previously located cargo lane entrance of the first cargo lane.

[0119] The first deviation may be a deviation between a third pickup position corresponding to the second aisle and a fourth pickup position corresponding to the second aisle. For example, the first deviation may be a distance between a third pickup position corresponding to the second aisle and a fourth pickup position corresponding to the second aisle.

[0120] The third item is whether a second deviation between a fifth pickup position corresponding to the third cargo aisle and a sixth pickup position corresponding to the third cargo aisle is greater than a preset deviation threshold.

[0121] The sixth pickup position corresponding to the third cargo aisle is: the pickup position indicated by the pickup mark set at the preset position of the cargo aisle entrance of the third cargo aisle.

[0122] The third cargo aisle is a preset number of cargo aisles of the first cargo aisle or the item delivery cabinet.

[0123] The fifth picking position may represent: the currently recorded position of the aisle entrance of the third aisle on the picking plane, or the result of positioning the aisle entrance of the third aisle.

[0124] The sixth pickup position corresponding to the third cargo aisle is: the pickup position indicated by the pickup mark set at the preset position of the cargo aisle entrance of the third cargo aisle. The sixth pickup position corresponding to the third cargo aisle is obtained by sensing via the pickup platform.

[0125] The second deviation may be a deviation between a fifth pickup position corresponding to the third aisle and a sixth pickup position corresponding to the third aisle. For example, the second deviation may be a distance between a fifth pickup position corresponding to the third aisle and a sixth pickup position corresponding to the third aisle.

[0126] The second step is to determine whether to locate the cargo entrance based on the device information.

[0127] Specifically, when the device information meets the preset positioning conditions, the cargo entrance can be located; when the device information does not meet the preset positioning conditions, there is no need to locate the cargo entrance.

[0128] The above-mentioned preset positioning conditions can be used to determine whether it is time to locate the cargo aisle entrance, or the above-mentioned preset positioning conditions can be used to determine whether there is a large deviation between the position of the cargo aisle entrance of the currently recorded item delivery cabinet and the actual position of the cargo aisle entrance.

[0129] On this basis, the first position of the cargo channel entrance can be determined in the following manner:

[0130] When it is determined that the cargo passageway is to be positioned, a first position of the cargo passageway is determined.

[0131] It can be understood that in the above-mentioned optional implementation method, the cargo aisle entrance can be located by the above-mentioned cargo aisle entrance positioning method of the item delivery cabinet only when it is necessary to locate the cargo aisle entrance. In this way, frequent positioning of the cargo aisle entrance of the item delivery cabinet can be avoided, and the situation where the item delivery cabinet cannot be used due to positioning the cargo aisle entrance is reduced.

[0132] In some application scenarios of the above optional implementations, the device information includes the last positioning time of the cargo entrance.

[0133] On this basis, the following method can be used to determine whether to locate the cargo entrance based on the device information:

[0134] The first step is to determine the time between the last positioning time and the current time.

[0135] The second step is to determine whether to locate the cargo entrance based on the duration.

[0136] For example, when the above-mentioned time length is greater than or equal to the preset time length, the cargo channel entrance can be located; when the above-mentioned time length is less than the preset time length, there is no need to locate the cargo channel entrance.

[0137] In addition, other methods may be used to determine whether to locate the cargo channel entrance based on the device information. For example, it may be determined whether to locate the cargo channel entrance based on the duration, the maximum vibration amplitude of the item delivery cabinet within the target time period, the off-peak time period for picking up items from the item delivery cabinet, and at least one of the above-mentioned determination information.

[0138] Here, the same concepts as those mentioned in the above optional implementation methods may have the same meanings and will not be repeated here.

[0139] It is understood that in the above application scenario, whether to locate the cargo channel can be determined by the time between the last positioning time and the current time. In this way, frequent positioning of the cargo channel of the item delivery cabinet can be avoided, and the situation where the item delivery cabinet cannot be used due to positioning of the cargo channel can be reduced.

[0140] In some application scenarios of the above optional implementations, the device information includes the maximum vibration amplitude of the item delivery cabinet within a target time period.

[0141] On this basis, the following method can be used to determine whether to locate the cargo entrance based on the device information:

[0142] The first step is to determine whether the maximum vibration amplitude is greater than or equal to a preset vibration amplitude threshold to obtain a first determination result.

[0143] The first determination result may indicate whether the maximum vibration amplitude is greater than or equal to a preset vibration amplitude threshold.

[0144] The second step is to determine whether to locate the cargo entrance based on the first determination result.

[0145] For example, when the first determination result indicates that the maximum vibration amplitude is greater than or equal to the preset vibration amplitude threshold, it can be determined that the cargo channel entrance is located; when the first determination result indicates that the maximum vibration amplitude is less than the preset vibration amplitude threshold, there is no need to locate the cargo channel entrance.

[0146] In addition, whether to locate the cargo entrance can be determined based on the first determination result, the time between the last positioning time and the current time, the off-peak time for picking up items from the item distribution cabinet, and at least one of the above-mentioned judgment information.

[0147] Here, the same concepts as those mentioned in the above optional implementation methods may have the same meanings and will not be repeated here.

[0148] It can be understood that in the above application scenario, whether to locate the cargo aisle opening can be determined by whether the maximum vibration amplitude of the item delivery cabinet in the target time period is too large. Since the actual position of the cargo aisle opening on the pickup plane will be affected only when the vibration amplitude is large, frequent positioning of the cargo aisle opening of the item delivery cabinet can be avoided, reducing the situation where the item delivery cabinet cannot be used due to positioning of the cargo aisle opening.

[0149] In some application scenarios of the above optional implementations, the device information includes a low-peak time period for picking up items from the item delivery cabinet.

[0150] On this basis, the following method can be used to determine whether to locate the cargo entrance based on the device information:

[0151] The first step is to determine whether the current time belongs to the off-peak period for picking up items, so as to obtain the second determination result.

[0152] The second determination result indicates whether the current moment belongs to the off-peak period for picking up items.

[0153] The second step is to determine whether to locate the cargo entrance based on the second determination result.

[0154] For example, when the second determination result indicates that the current moment belongs to the off-peak period for picking up items, it can be determined that the cargo entrance is located; when the first determination result indicates that the current moment does not belong to the off-peak period for picking up items, it is not necessary to locate the cargo entrance.

[0155] In addition, whether to locate the cargo entrance can be determined based on the second determination result, the time between the last positioning time and the current time, whether the maximum vibration amplitude is greater than or equal to the preset vibration amplitude threshold, and at least one of the above-mentioned judgment information.

[0156] Here, the same concepts as those mentioned in the above optional implementation methods may have the same meanings and will not be repeated here.

[0157] It can be understood that in the above application scenario, whether to locate the cargo entrance can be determined by whether the current moment belongs to the off-peak period for picking up items. In this way, whether the current moment belongs to the off-peak period for picking up items can be used as a consideration factor for whether to locate the cargo entrance, thereby reducing or even avoiding the location of the cargo entrance of the item delivery cabinet during the peak period for picking up items, reducing the situation where the item delivery cabinet cannot be used due to the location of the cargo entrance.

[0158] In some application scenarios of the above optional implementations, the device information includes identification information.

[0159] On this basis, the following method can be adopted to determine whether to locate the cargo entrance based on the device information: based on the discrimination information, determine whether to locate the cargo entrance.

[0160] The identification information includes at least one of the following:

[0161] The first item is whether there is any abnormality in taking items from the item distribution cabinet.

[0162] Here, every time an abnormality occurs in taking items from the item distribution cabinet, or the cumulative number of abnormalities in taking items reaches a preset number, it can be determined to locate the cargo aisle entrance; if no abnormality occurs in taking items from the item distribution cabinet, or the cumulative number of abnormalities in taking items does not reach a preset number, there is no need to locate the cargo aisle entrance.

[0163] Therefore, whether there is any abnormality in picking up items from the item delivery cabinet can be used as a consideration for whether to locate the cargo aisle entrance, thereby reducing or even avoiding frequent positioning of the cargo aisle entrance of the item delivery cabinet when items can be picked up normally.

[0164] The second item is whether a first deviation between the third pickup position corresponding to the second cargo channel and the fourth pickup position corresponding to the second cargo channel is less than or equal to a preset deviation threshold.

[0165] The third pickup position corresponding to the second cargo aisle is: the currently recorded position of the cargo aisle entrance of the second cargo aisle on the pickup plane, or the result of locating the cargo aisle entrance of the second cargo aisle. The fourth pickup position corresponding to the second cargo aisle is: the pickup position indicated by the pickup mark set at the preset position of the cargo aisle entrance of the second cargo aisle.

[0166] The second cargo lane is a cargo lane corresponding to a previously located cargo lane entrance of the first cargo lane.

[0167] Here, when the first deviation between the third pick-up position corresponding to the second aisle and the fourth pick-up position corresponding to the second aisle is less than or equal to a preset deviation threshold, the aisle entrance of the first aisle can be located; when the first deviation between the third pick-up position corresponding to the second aisle and the fourth pick-up position corresponding to the second aisle is greater than the preset deviation threshold, there is no need to locate the aisle entrance of the first aisle. Further, in this case, the aisle entrance of the second aisle can be relocated.

[0168] Therefore, the next aisle entrance can be positioned only when the deviation between the third pickup position of the pickup platform corresponding to the previous aisle and the pickup position corresponding to the aisle is small. As a result, the aisle entrances of the item distribution cabinets can be positioned one by one with a certain degree of accuracy, thereby improving the efficiency and accuracy of positioning the aisle entrances of the item distribution cabinets.

[0169] The third item is whether a second deviation between a fifth pickup position corresponding to the third cargo aisle and a sixth pickup position corresponding to the third cargo aisle is greater than a preset deviation threshold.

[0170] The fifth pickup position corresponding to the third aisle is: the currently recorded position of the aisle entrance of the third aisle on the pickup plane, or the result of locating the aisle entrance of the third aisle. The sixth pickup position corresponding to the third aisle is: the pickup position indicated by the pickup mark set at the preset position of the aisle entrance of the third aisle.

[0171] The third cargo aisle is a preset number of cargo aisles of the first cargo aisle or the item delivery cabinet.

[0172] Here, if the second deviation between the fifth pick-up position corresponding to the third aisle and the sixth pick-up position corresponding to the third aisle is greater than a preset deviation threshold, the aisle entrance of the first aisle can be located; if the second deviation between the fifth pick-up position corresponding to the third aisle and the sixth pick-up position corresponding to the third aisle is less than or equal to the preset deviation threshold, there is no need to locate the aisle entrance of the first aisle.

[0173] Therefore, a random inspection method can be adopted to determine whether it is necessary to locate the first aisle entrance through the deviation between the recorded position of the aisle entrance of the item delivery cabinet and the actual position of the aisle entrance. This can reduce or even avoid the frequent positioning of the aisle entrance of the item delivery cabinet when most aisles can pick up items normally.

[0174] In some optional implementations of this embodiment, the item delivery cabinet includes a processing unit, a first cargo channel, and an item retrieval platform;

[0175] The first cargo channel is used to store items to be taken out, and a pick-up mark is provided at a preset position of the cargo channel entrance of the first cargo channel;

[0176] The object-taking platform is used to take out the objects stored in the first cargo channel from the cargo channel entrance;

[0177] The processing unit is connected to the object-taking platform;

[0178] The processing unit is used to implement the method for locating the cargo channel entrance of the item delivery cabinet described in any of the above embodiments.

[0179] In some application scenarios of the above optional implementations, the object-picking platform is provided with a light-emitting diode and a photosensitive receiving tube; the object-picking mark is a grayscale identification bar, the grayscale identification bar includes a plurality of area positions, and the grayscale of the area position is determined based on the distance between the area position and the corresponding object-picking position;

[0180] The light emitting diode is used to emit light to the grayscale identification strip;

[0181] The photosensitive receiving tube is used to receive the reflected light of the grayscale identification strip in response to the emitted light; and

[0182] The processing unit is further used to determine a picking position indicated by the picking mark sensed by the picking platform based on the reflected light.

[0183] In some application scenarios of the above optional implementations, the item delivery cabinet further includes an acceleration sensor, and the acceleration sensor is connected to the processing unit;

[0184] The acceleration sensor is used to: determine the maximum vibration amplitude of the item delivery cabinet within a target time period; and transmit the maximum vibration amplitude to the processing unit;

[0185] The processing unit is further used to: determine whether the maximum vibration amplitude is greater than or equal to a preset vibration amplitude threshold to obtain a third determination result; and determine whether to locate the cargo channel entrance based on the third determination result.

[0186] In some examples of the above application scenarios, the item delivery cabinet further includes a backup power supply, and the backup power supply is connected to the acceleration sensor;

[0187] The backup power supply is used to supply power to the acceleration sensor when the item delivery cabinet is in a power-off state.

[0188] It should be noted that the specific structure of the item distribution cabinet is described below and will not be elaborated here.

[0189] In the method for locating the cargo channel of the goods distribution cabinet provided in the embodiment of the present application, the goods distribution cabinet includes a first cargo channel and a picking platform, the first cargo channel is used to store the goods to be taken out, the preset position of the cargo channel entrance of the first cargo channel is provided with a picking mark, the picking platform is used to take out the goods stored in the first cargo channel from the cargo channel entrance, the method can determine the first position of the cargo channel entrance, wherein the first position represents the currently recorded position of the cargo channel entrance on the picking plane, then control the picking platform to move to the first position, then determine the first actual position of the picking platform after the movement on the picking plane, and the picking position indicated by the picking mark sensed by the picking platform after the movement, and then, based on the first actual position and the picking position, determine the second actual position of the cargo channel entrance on the picking plane. Thus, the actual position of the cargo channel entrance can be determined by the picking position indicated by the picking mark sensed by the picking platform, and the actual position of the picking platform, so as to realize the calibration of the cargo channel entrance, thus improving the efficiency of cargo channel entrance positioning.

[0190] Figure 2 A flow chart of another method for locating the cargo channel entrance of an item delivery cabinet provided in an embodiment of the present application. Figure 2 As shown, the method specifically includes:

[0191] Step 201, determine the first position of the cargo channel entrance, wherein the first position represents the currently recorded position of the cargo channel entrance on the pickup plane.

[0192] In this embodiment, step 201 and Figure 1 Step 101 in the corresponding embodiment is basically the same and will not be described again here.

[0193] Step 202, controlling the object-picking platform to move to the first position.

[0194] In this embodiment, step 202 and Figure 1 Step 102 in the corresponding embodiment is basically the same and will not be described again here.

[0195] Step 203, determining a first actual position of the moved picking platform on the picking plane, and a picking position indicated by the picking mark sensed by the moved picking platform.

[0196] In this embodiment, step 203 and Figure 1 Step 103 in the corresponding embodiment is basically the same and will not be described again here.

[0197] Step 204: determine a third deviation between the first actual position and the object-picking position.

[0198] In this embodiment, the third deviation may be a deviation between the first actual position and the object-picking position. For example, the third deviation may be a distance between the first actual position and the object-picking position.

[0199] Step 205: When the third deviation is less than or equal to a preset deviation threshold, the first actual position is determined as the second actual position of the cargo channel entrance on the object picking plane.

[0200] Step 206: When the third deviation is greater than the preset deviation threshold, determine a new first position.

[0201] In this embodiment, the new first position may be any one or more positions on a circle formed with the first distance as the radius and the first position obtained in step 201 as the center.

[0202] Step 207, controlling the object-picking platform to move to the new first position.

[0203] In this embodiment, after the new first position is determined, the object-taking platform can be controlled to move toward the new first position.

[0204] Step 208, determining the new first actual position of the picking platform on the picking plane after the picking platform moves to the new first position, and the picking position indicated by the picking mark sensed by the picking platform after moving again, to obtain the picked position sensed again.

[0205] In this embodiment, the new first actual position may be the position of the picking platform on the picking plane after the picking platform moves to the new first position. Here, since there may be a certain error in controlling the movement of the picking platform, the new first position and the new first actual position may not necessarily represent the same position.

[0206] Step 209: Determine the second actual position of the cargo channel entrance on the picking plane based on the new first actual position and the re-sensed picking position.

[0207] In this embodiment, a variety of methods can be used to determine the second actual position of the cargo channel entrance on the picking plane based on the new first actual position and the re-sensed picking position.

[0208] As an example, the middle position between the new first actual position and the re-sensed object-pickup position may be determined as the second actual position of the cargo channel entrance on the object-pickup plane.

[0209] As another example, when the distance between the new first actual position and the re-sensed object pickup position is less than or equal to the preset distance, the new first actual position can be determined as the second actual position of the cargo channel entrance on the object pickup plane. In this case, since the coordinates of the re-sensed object pickup position on the object pickup plane cannot be directly determined (can only be sensed), the re-sensed object pickup position cannot be used as the second actual position of the cargo channel entrance on the object pickup plane.

[0210] It should be noted that, in addition to the above contents, this embodiment may also include Figure 1 The corresponding technical features described in the corresponding embodiments are realized Figure 1 The technical effect of the cargo channel positioning method of the goods distribution cabinet shown in the figure is shown in the figure. Figure 1 For the sake of brevity, the relevant description is not repeated here.

[0211] The method for locating the cargo channel opening of the goods delivery cabinet provided in the embodiment of the present application can obtain the second actual position of the cargo channel opening on the object picking plane when the third deviation is less than or equal to the preset deviation threshold; when the third deviation is greater than the preset deviation threshold, the object picking platform is moved again until the third deviation is less than or equal to the preset deviation threshold. Thus, the accuracy of the cargo channel opening positioning can be improved.

[0212] The following is an example of an item delivery cabinet being a meal delivery cabinet to illustrate an embodiment of the present application. However, it should be noted that the embodiment of the present application may have the features described below, but the following description does not constitute a limitation on the scope of protection of the embodiment of the present application.

[0213] A meal delivery cabinet is an automatic device that supplies meals (i.e., the above-mentioned items) in an unmanned manner. It is divided into cooling and heating types according to different needs. It is generally placed in office buildings, factories, schools, shopping centers, etc. to provide dining services for people. The meal delivery cabinet is equipped with multi-layered aisles (such as the first aisle mentioned above) to meet people's demand for the richness of dishes (i.e., the above-mentioned items), and a meal pickup platform is provided to take out the meals in the aisles.

[0214] However, when installing existing meal delivery cabinets, the meal pickup platform needs to be manually calibrated at the delivery channel entrance one by one (that is, to determine the second actual position of the delivery channel entrance on the pickup plane). This method is not only time-consuming and labor-intensive, but also prone to errors, affecting delivery efficiency. In addition, during transportation, the vibration of the unit will also cause the delivery channel to move to the final layout location, which requires recalibration.

[0215] The main peripherals of the meal delivery cabinet provided by this solution are grayscale image recognition hardware such as light-emitting diodes, photosensitive receiving tubes, acceleration sensors, backup power supplies, and supporting control circuits. By using light-emitting diodes and photosensitive receiving tubes in conjunction with pre-attached grayscale recognition strips at the target position (corresponding to the pickup position), and cooperating with corresponding algorithms, the automatic calibration of the meal delivery cabinet is achieved while ensuring speed accuracy and reliability. It also automatically calibrates during the off-peak purchase period based on sales information, and has the ability to continuously detect and record the vibration of the unit after power failure, and provides the function of automatic recalibration after vibration displacement, so as to solve the problems of time-consuming and labor-intensive installation, large errors, the need for manual calibration again after transportation, and the gradual accumulation of errors as the use time increases in the prior art. The application of this solution will promote technological progress in the field of meal delivery cabinets and intelligent logistics, provide technical support for the intelligent and automated transformation of related industries, and is of great significance to the overall upgrading of the industry.

[0216] This solution can solve the problem that meal delivery cabinets require manual calibration after installation and transportation; solve the problem that meal delivery cabinets cannot detect unit vibration during daily use and power outages to determine whether the unit may be misaligned; solve the problem that manual calibration of meal delivery cabinets takes a long time and has low precision; solve the problem that meal delivery cabinets gradually accumulate errors over time when used and cause inaccuracy; solve the problem that meal delivery cabinets are difficult to install, maintain and calibrate and rely on manual operation, thereby reducing the difficulty of operation for installation and maintenance personnel; solve the problem that meal delivery cabinets require frequent calibration and require irregular negotiation with manufacturers for calibration; solve the problem that the original meal delivery cabinet cannot be moved after installation and calibration to avoid inaccuracy affecting sales.

[0217] See also Figure 3 , Figure 3 A flow chart of another method for locating the cargo channel entrance of an item delivery cabinet provided in an embodiment of the present application. Figure 3 As shown, the process of this program is as follows:

[0218] System initialization: Perform a self-check at startup to ensure that all peripherals, including light-emitting diodes, photosensitive receiving tubes, accelerometers and other hardware are working properly, and initialize the corresponding control circuits and intelligent algorithms to prepare for the automatic calibration process.

[0219] Accelerometer monitoring: There is a backup power supply that will continue to power the acceleration detection module to record vibration information, so that it can detect even if the power is off. The acceleration sensor continuously detects the movement and vibration of the distribution cabinet. When it detects that the distribution cabinet is moved or subjected to external vibration and causes position displacement (that is, the above-mentioned maximum vibration amplitude is greater than or equal to the preset vibration amplitude threshold), the sensor will immediately send a signal to the system to trigger the automatic calibration process.

[0220] Automatic calibration algorithm triggering: When the system receives a signal from the acceleration sensor or during the calculated low-peak purchasing period, the intelligent algorithm automatically triggers the calibration procedure, and analyzes the deviation between the actual position of the distribution cabinet and the preset position based on the data fed back by the photosensitive receiving tube and grayscale image recognition hardware.

[0221] Grayscale image recognition and position positioning: The system will use light-emitting diodes to emit specific light to the pre-attached grayscale identification strips in the meal delivery cabinet. These grayscale identification strips are placed in different positions and have different grayscale changes. The photosensitive receiving tube receives the reflected light and analyzes these grayscale changes through grayscale image recognition hardware, and then identifies the position of the items in the delivery cabinet and the positioning status of the delivery cabinet itself according to the changes in grayscale values.

[0222] Error calculation and adjustment: The intelligent algorithm calculates the deviation between the actual position and the preset position, and corrects the coordinates of the uncalibrated aisle after calibrating one aisle, so that the food pickup platform can calibrate the remaining aisles more quickly and accurately. In the verification phase, the coordinates of the aisles that exceed the error are re-calibrated until the error is corrected and the predetermined accuracy requirements are met.

[0223] Verification and storage of calibration results, status feedback: Once the calibration is completed, the system will quickly verify the accuracy of the calibration results one by one through grayscale images of all cargo aisles. After confirmation, the calibrated status data will be stored (that is, the second actual position will be recorded) for subsequent use and as a reference for the next calibration. The system will also feedback the execution status of this calibration, the time used, the error data before and after calibration, and other information to the management platform for monitoring and daily maintenance, to ensure the long-term stable operation of the system.

[0224] Long-term error detection and automatic adjustment: During use, the system (that is, the above-mentioned item distribution cabinet) can continuously detect the acceleration sensor data. Once the error accumulation that may occur during long-term use is found, the intelligent algorithm will automatically trigger the calibration process again and perform fine-tuning to ensure the accuracy of long-term operation.

[0225] like Figure 4 As shown, Figure 4 A monitoring schematic diagram of an acceleration sensor for a method for locating a cargo entrance of an item delivery cabinet provided in an embodiment of the present application.

[0226] exist Figure 4 In the machine body (i.e. the above-mentioned goods distribution cabinet), a backup power supply is provided in the machine body (i.e. the above-mentioned goods distribution cabinet). The power supply is charged when the power is on, and the acceleration sensor monitoring module is continuously powered after the machine unit (i.e. the above-mentioned goods distribution cabinet) is powered off to maintain its detection of the vibration of the machine unit. When excessive vibration of the machine unit is detected, it is first determined whether the machine unit is powered off. If the power is off, the calibration requirement is recorded first and the calibration is prompted after the power is on. If there is no power outage, the calibration is prompted directly. If no manual processing is performed for a period of time, automatic calibration will be started.

[0227] like Figure 5 As shown, Figure 5 A schematic diagram of a triggering method for locating the cargo entrance of a goods delivery cabinet provided in an embodiment of the present application. In this scheme, the automatic calibration cycle is first set. After setting, the automatic vending cabinet can select a suitable low-peak purchase period as the calibration time point according to the existing sales information to enter the calibration. If the sales information is not sufficient to support the calculation, the default time point is selected to enter the calibration. After it is determined that the calibration time point has been reached, the unit will enter the calibration.

[0228] Figure 6 A schematic diagram of a grayscale identification bar for a method of locating the aisle entrance of an item delivery cabinet provided in an embodiment of the present application. The grayscale identification bar includes multiple area positions, and the grayscale of the area position is determined based on the distance between the area position and the corresponding pickup position. The identification bar will be fixed on the aisle (the preset position of the aisle entrance) when the aisle is produced for identification and positioning by the pickup platform. The grayscale identification bar uses different grayscale blocks (i.e., the above-mentioned area positions) for identification, so that the pickup platform can accurately know its relative position to the aisle and make adjustments and calibrations.

[0229] Figure 7 A schematic diagram of the structure of a pickup platform for a method for locating a cargo entrance of an item delivery cabinet provided in an embodiment of the present application. Figure 7 Block 10 is the location of the grayscale detection device, which consists of a light-emitting diode and a photosensitive receiving tube. The light from the light-emitting diode shines on the identification bar and reflects the light. The grayscale identification bar absorbs and reflects light with different grayscale information due to different grayscales, and these lights will be recognized by the photosensitive receiving tube to obtain the corresponding grayscale information. The meal-taking platform (that is, the above-mentioned food-taking platform) determines the current position and calculates the calibration scheme through the grayscale information of the identification bar detected by the device. After moving to the calculation location, repeat the above steps to calculate the error. If it is greater than the deviation, move to the new calculation point for calibration again. If the error is within the allowable range, record the coordinates at this time to complete the calibration of the cargo lane.

[0230] Figure 8 This is a schematic diagram of the structure of a cargo aisle of a cargo aisle entrance positioning method for a goods delivery cabinet provided in an embodiment of the present application. This figure shows a schematic diagram of the cargo aisle after the grayscale identification strip is installed, indicating the installation position of the identification strip and showing the overall effect.

[0231] Fig. 9A flow chart of another method for locating the cargo aisle entrance of an item distribution cabinet provided in an embodiment of the present application. When there is a calibration requirement, the unit enters the calibration procedure. The meal pickup platform moves to the position (i.e., the first position) of cargo aisle No. 1 (i.e., the first cargo aisle mentioned above) according to the original coordinate table. After arriving at the position, the grayscale value is detected to see whether the detection point is within the range of the grayscale identification bar. If it is within the range of the grayscale identification bar, the meal pickup platform moves a fixed distance up, down, left, and right with this point as the center to detect the grayscale change during movement. The approximate position of the meal pickup platform on the grayscale bar is calculated based on the grayscale passed on the path, and then slowly approaches the target point (i.e., the pickup position) based on the calculated position and calculates the error and adjustment method with the target point in real time, and finally arrives at the target point to record the coordinates of the target point. If it is not within the range of the grayscale identification bar, the meal pickup platform moves a fixed distance up, down, left, and right with this point as the center to detect the grayscale change during movement, and determines whether the grayscale identification bar is detected in the moving path. If it is not detected, it will prompt that the cargo aisle cannot be detected and the range of mobile detection is expanded until it is detected. If detected, the distance to each grayscale identification bar is calculated and the nearest identification bar is moved to enter the process of identifying the grayscale identification bar. After reaching the target point and recording the coordinates, the original coordinate table is adjusted according to the coordinates and the next aisle is moved for calibration. When all aisles are calibrated, a quick calibration is performed again according to the newly entered coordinate table to calculate whether the error between the two calibration coordinates is within an acceptable range. If the error is too large, the calibration is continued. If it is within an acceptable range, the calibration is terminated.

[0232] In addition to the above contents, the technical features in this solution can also be replaced as follows:

[0233] 1. Grayscale detection and positioning principle and method. You can choose appropriate identification strips and probes according to different functional and performance requirements, or use other sensors that can detect positioning, such as specific light-emitting components and photosensitive receiving tubes, cameras with filters, etc., and use appropriate detection methods, such as grayscale detection, image recognition, etc. After replacing this feature, the impact on the effect is that the accuracy and stability of ambient light intensity detection can be improved, and positioning can be completed more quickly.

[0234] 2. The type and algorithm of the controller. You can choose a suitable controller according to the functions and performance of different meal delivery cabinets, and use a suitable algorithm to calculate the appropriate automatic calibration time and the error calculation and adjustment method for aisle calibration. In addition to the calibration process described in the patent, you can also use sampling aisles to check whether the error is too large. If it is greater than the required error, you can perform a comprehensive calibration to achieve a more optimized and flexible calibration solution. After replacing this feature, the impact on the effect is that it can adapt to the functions and performance of different meal delivery cabinets and improve the accuracy and adaptability of the calibration system.

[0235] The type and quantity of grayscale identification strips can be selected according to the structure and size of different meal delivery cabinets, and the appropriate number of grayscale identification strips can be installed. In addition to the grayscale identification strips described in the patent, other patterns of grayscale identification strips with identification and positioning functions can also be used to achieve more energy-saving and more accurate and faster calibration effects. After replacing this feature, the effect on the effect is that it can adapt to the structure and size of different meal delivery cabinets and improve the calibration effect.

[0236] It should be noted that, in addition to the contents recorded above, this embodiment may also include the technical features described in the above embodiments, so as to achieve the technical effects of the cargo entrance positioning method of the item delivery cabinet shown above. Please refer to the above description for details. For the sake of brevity, it will not be elaborated here.

[0237] This solution can improve efficiency and accuracy through unique design and integration of multiple sensors and algorithms: using light-emitting diodes and photosensitive receiving tubes, combined with grayscale image recognition hardware, it can realize automatic calibration of meal delivery cabinets without manual intervention, thereby greatly improving work efficiency, while ensuring speed accuracy and reducing errors that may be introduced by human operation. In terms of intelligent identification and adjustment: this solution can automatically identify the grayscale identification bar at the target position with intelligent algorithms to achieve accurate positioning and adjustment. This automated process not only reduces labor costs, but also improves the accuracy of calibration, especially during the low-peak purchase period (that is, the above-mentioned low-peak period for picking up items), ensuring that the equipment can be optimized and adjusted during the low-load stage, and using resources more efficiently and reasonably. In terms of automatic correction after adapting to displacement: by integrating acceleration sensors, the system can automatically recalibrate after experiencing transportation vibration or displacement in daily use, solving the problem in the prior art that the equipment needs to be manually recalibrated after moving or being affected by external forces, greatly improving the stability and reliability of the system. In addition, this solution can reduce long-term operating costs: the automatic calibration function can effectively prevent the accumulation of errors in long-term use, ensure the accuracy and stability of the equipment in long-term operation, thereby reducing maintenance costs and extending the service life of the equipment. Moreover, this solution can enhance the user experience: the automatic calibration function makes the calibrated equipment run more smoothly, reduces the user waiting time, and ensures the continuity, timeliness and reliability of the service, thus improving the user experience, enhancing the corporate image and increasing user satisfaction. It can also optimize resource allocation: calibration during off-peak periods can not only reduce the impact on user services during peak periods, but also reasonably arrange the maintenance cycle of the equipment, avoid waste of resources, and achieve more efficient time management. In addition, this solution can promote technological innovation and industrial upgrading: the application of this solution promotes technological progress in the fields of meal delivery cabinets and intelligent logistics, and provides technical support for the intelligent and automated transformation of related industries, which is of great significance to the overall upgrading of the industry.

[0238] Fig.10 The schematic diagram of the structure of an article distribution cabinet provided in an embodiment of the present application is as follows: The article distribution cabinet 500 comprises a processing unit 501 , a first cargo channel 503 and an article collection platform 502 .

[0239] The first cargo lane 503 is used to store items to be taken out, and a pick-up mark is set at a preset position of the cargo lane entrance of the first cargo lane 503.

[0240] The object-taking platform 502 is used to take out the items stored in the first cargo channel 503 from the cargo channel entrance.

[0241] The processing unit 501 is connected to the retrieval platform 502.

[0242] The processing unit 501 is used to implement the method for locating the cargo channel entrance of the article delivery cabinet of any of the above embodiments, for example, including:

[0243] Determine a first position of the cargo channel entrance, wherein the first position represents a currently recorded position of the cargo channel entrance on the pickup plane;

[0244] Controlling the object-taking platform to move toward the first position;

[0245] Determine a first actual position of the moving picking platform on the picking plane, and a picking position indicated by the picking mark sensed by the moving picking platform;

[0246] Based on the first actual position and the picking position, a second actual position of the cargo channel entrance on the picking plane is determined.

[0247] In some optional implementations of this embodiment, the object-retrieving platform 502 is provided with a light-emitting diode and a photosensitive receiving tube. The object-retrieving mark is a grayscale identification bar. The grayscale identification bar includes a plurality of area positions. The grayscale of an area position is determined based on the distance between the area position and the corresponding object-retrieving position.

[0248] The light emitting diode is used for emitting light toward the grayscale identification strip.

[0249] The photosensitive receiving tube is used for receiving the reflected light from the grayscale identification strip in response to the emitted light.

[0250] On this basis, the processing unit 501 is further used to determine the object picking position indicated by the object picking mark sensed by the object picking platform 502 based on the reflected light.

[0251] It can be understood that in the above optional implementation, the accuracy of the pick-up position indicated by the sensed pick-up mark can be improved by setting a light-emitting diode and a photosensitive receiving tube on the pick-up platform, and a grayscale identification bar whose grayscale of the area position is determined based on the distance between the corresponding pick-up positions.

[0252] In some optional implementations of this embodiment, the item delivery cabinet 500 further includes an acceleration sensor, and the acceleration sensor is connected to the processing unit 501;

[0253] The acceleration sensor is used to: determine the maximum vibration amplitude of the item delivery cabinet within a target time period; and transmit the maximum vibration amplitude to the processing unit;

[0254] The processing unit 501 is further configured to: determine whether the maximum vibration amplitude is greater than or equal to a preset vibration amplitude threshold to obtain a third determination result; and determine whether to locate the cargo channel entrance based on the third determination result.

[0255] It can be understood that in the above optional implementation, whether to locate the cargo aisle opening can be determined by whether the maximum vibration amplitude of the item delivery cabinet in the target time period is too large. Since the position of the cargo aisle opening on the pickup plane will be affected only when the vibration amplitude is large, frequent positioning of the cargo aisle opening of the item delivery cabinet can be avoided, reducing the situation where the item delivery cabinet cannot be used due to positioning of the cargo aisle opening.

[0256] In some application scenarios of the above optional implementations, the item delivery cabinet 500 further includes a backup power supply, and the backup power supply is connected to the acceleration sensor;

[0257] The backup power supply is used to supply power to the acceleration sensor when the item delivery cabinet is in a power-off state.

[0258] It can be understood that in the above application scenario, the backup power supply can be used to power the acceleration sensor when the item distribution cabinet is in a power-off state, so as to detect the vibration of the item distribution cabinet when the item distribution cabinet is in a power-off state. Furthermore, the cargo entrance can be located in time when there is a large vibration during the transportation process.

[0259] It should be noted that, in addition to the contents recorded above, this embodiment may also include the corresponding technical features described in the above embodiments, so as to achieve the technical effect of the above-mentioned cargo entrance positioning method of the item delivery cabinet. For details, please refer to the above-mentioned relevant description. For the sake of concise description, it will not be repeated here.

[0260] The article distribution cabinet provided in the embodiment of the present application includes a processing unit, a first cargo lane and a pickup platform; the first cargo lane is used to store articles to be taken out, and a pickup mark is set at a preset position of the cargo lane entrance of the first cargo lane; the pickup platform is used to take out the articles stored in the first cargo lane from the cargo lane entrance; the processing unit is connected to the pickup platform; the processing unit is used to: implement the cargo lane entrance positioning method of the above-mentioned article distribution cabinet. Therefore, the actual position of the cargo lane entrance can be determined by the pickup position indicated by the pickup mark sensed by the pickup platform and the actual position of the pickup platform, so as to realize the calibration of the cargo lane entrance, so that the efficiency of cargo lane entrance positioning can be improved.

[0261] It is understood that the embodiments described herein may be implemented in hardware, software, firmware, middleware, microcode, or a combination thereof. For hardware implementation, the processing unit may be implemented in one or more application specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPDevice, DSPD), programmable logic devices (PLD), field programmable gate arrays (FPGA), general purpose processors, controllers, microcontrollers, microprocessors, other electronic units for performing the above functions of the present application, or a combination thereof.

[0262] For software implementation, the technology described above in this article can be implemented by a unit that performs the functions described above in this article. The software code can be stored in a memory and executed by a processor. The memory can be implemented in the processor or outside the processor.

[0263] The article delivery cabinet provided in this embodiment can be as follows Fig.10 The item delivery cabinet shown in can execute all the steps of the above-mentioned method for locating the cargo aisle entrance of each item delivery cabinet, thereby achieving the technical effect of the above-mentioned method for locating the cargo aisle entrance of each item delivery cabinet. Please refer to the above related description for details. For the sake of brevity, it will not be repeated here.

[0264] The embodiment of the present application also provides a storage medium (computer-readable storage medium). The storage medium here stores one or more programs. The storage medium may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a read-only memory, a flash memory, a hard disk or a solid-state drive; the memory may also include a combination of the above-mentioned types of memory.

[0265] When one or more programs in the storage medium can be executed by one or more processors, the above-mentioned method for locating the cargo entrance of the item distribution cabinet can be implemented.

[0266] The processor is used to execute the cargo channel opening positioning program of the item delivery cabinet stored in the memory to implement the steps of the cargo channel opening positioning method of the item delivery cabinet:

[0267] Determine a first position of the cargo channel entrance, wherein the first position represents a currently recorded position of the cargo channel entrance on the pickup plane;

[0268] Controlling the object-taking platform to move toward the first position;

[0269] Determine a first actual position of the moving picking platform on the picking plane, and a picking position indicated by the picking mark sensed by the moving picking platform;

[0270] Based on the first actual position and the picking position, a second actual position of the cargo channel entrance on the picking plane is determined.

[0271] The professionals should also be further aware that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented with electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0272] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0273] It should be understood that the terms used in the text are only for the purpose of describing specific example embodiments and are not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms "one", "an" and "said" as used in the text may also be meant to include plural forms. The terms "include", "comprise", "contain", and "have" are inclusive, and therefore specify the existence of stated features, steps, operations, elements and / or parts, but do not exclude the existence or addition of one or more other features, steps, operations, elements, parts, and / or combinations thereof. The method steps, processes, and operations described in the text are not interpreted as necessarily requiring them to be performed in the specific order described or illustrated, unless the execution order is clearly indicated. It should also be understood that additional or alternative steps may be used.

[0274] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.

Claims

1. A method for locating a cargo channel entrance of an item delivery cabinet, characterized in that: The article distribution cabinet includes a first cargo channel and a pickup platform, the first cargo channel is used to store articles to be taken out, a preset position of the cargo channel entrance of the first cargo channel is provided with a pickup mark, and the pickup platform is used to take out the articles stored in the first cargo channel from the cargo channel entrance, and the method includes: Determine a first position of the cargo channel entrance, wherein the first position represents a currently recorded position of the cargo channel entrance on the pickup plane; Controlling the object-taking platform to move toward the first position; Determine a first actual position of the moving picking platform on the picking plane, and a picking position indicated by the picking mark sensed by the moving picking platform; Based on the first actual position and the picking position, a second actual position of the cargo channel entrance on the picking plane is determined.

2. The method according to claim 1, characterized in that Before determining the first position of the cargo passage, the method further includes: Obtaining equipment information of the item delivery cabinet; Based on the device information, determining whether to locate the cargo channel entrance; and Determining the first position of the cargo passage includes: When it is determined that the cargo passageway is to be positioned, a first position of the cargo passageway is determined.

3. The method according to claim 2, characterized in that The device information includes the last positioning time of the cargo channel; and The determining whether to locate the cargo entrance based on the device information includes: Determine the duration between the last positioning time and the current time; Based on the duration, determine whether to locate the cargo entrance.

4. The method according to claim 2, characterized in that: The equipment information includes the maximum vibration amplitude of the item delivery cabinet within the target time period; as well as The determining whether to locate the cargo entrance based on the device information includes: Determining whether the maximum vibration amplitude is greater than or equal to a preset vibration amplitude threshold to obtain a first determination result; Based on the first determination result, it is determined whether to locate the cargo channel entrance.

5. The method according to claim 2, characterized in that: The equipment information includes the off-peak time period for picking up items from the item delivery cabinet; as well as The determining whether to locate the cargo entrance based on the device information includes: Determine whether the current time belongs to the off-peak period for picking up items, so as to obtain a second determination result; Based on the second determination result, it is determined whether to locate the cargo channel entrance.

6. The method according to claim 2, characterized in that The device information includes identification information; as well as The determining whether to locate the cargo entrance based on the device information includes: Based on the determination information, determining whether to locate the cargo channel; The identification information includes at least one of the following: Whether there is any abnormality in taking items from the item delivery cabinet; Whether the first deviation between the third pickup position corresponding to the second cargo lane and the fourth pickup position corresponding to the second cargo lane is less than or equal to a preset deviation threshold; wherein the third pickup position corresponding to the second cargo lane is: the position of the cargo lane entrance of the second cargo lane currently recorded on the pickup plane, or the result of locating the cargo lane entrance of the second cargo lane; the fourth pickup position corresponding to the second cargo lane is: the pickup position indicated by the pickup mark set at the preset position of the cargo lane entrance of the second cargo lane; the second cargo lane is the cargo lane corresponding to the previously located cargo lane entrance of the first cargo lane; Whether the second deviation between the fifth pickup position corresponding to the third aisle and the sixth pickup position corresponding to the third aisle is greater than a preset deviation threshold; wherein the fifth pickup position corresponding to the third aisle is: the currently recorded position of the aisle entrance of the third aisle on the pickup plane, or the result of positioning the aisle entrance of the third aisle; the sixth pickup position corresponding to the third aisle is: the pickup position indicated by the pickup mark set at the preset position of the aisle entrance of the third aisle; the third aisle is a preset number of aisles of the first aisle or the item distribution cabinet.

7. The method according to any one of claims 1 to 6, characterized in that: The determining, based on the first actual position and the object-pickup position, a second actual position of the cargo channel entrance on the object-pickup plane comprises: Determining a third deviation between the first actual position and the object-retrieving position; When the third deviation is less than or equal to a preset deviation threshold, the first actual position is determined as the second actual position of the cargo channel entrance on the object-picking plane; When the third deviation is greater than the preset deviation threshold, determining a new first position; Controlling the object-taking platform to move to the new first position; Determine the new first actual position of the picking platform on the picking plane after the picking platform moves to the new first position, and the picking position indicated by the picking mark sensed by the picking platform after the second movement, so as to obtain the second-sensed picking position; Based on the new first actual position and the re-sensed object-pickup position, a second actual position of the cargo channel opening on the object-pickup plane is determined.

8. An article distribution cabinet, characterized in that: The article distribution cabinet comprises a processing unit, a first cargo channel and an article retrieval platform; The first cargo channel is used to store items to be taken out, and a pick-up mark is provided at a preset position of the cargo channel entrance of the first cargo channel; The object-taking platform is used to take out the objects stored in the first cargo channel from the cargo channel entrance; The processing unit is connected to the object-taking platform; The processing unit is used to implement the method for locating the cargo entrance of the item delivery cabinet according to any one of claims 1 to 7.

9. The article delivery cabinet according to claim 8, characterized in that: The object-picking platform is provided with a light-emitting diode and a photosensitive receiving tube; the object-picking mark is a grayscale identification bar, and the grayscale identification bar includes a plurality of area positions, and the grayscale of the area position is determined based on the distance between the area position and the corresponding object-picking position; The light emitting diode is used to emit light to the grayscale identification strip; The photosensitive receiving tube is used to receive the reflected light of the grayscale identification strip in response to the emitted light; and The processing unit is further used to determine a picking position indicated by the picking mark sensed by the picking platform based on the reflected light.

10. The article delivery cabinet according to claim 8, characterized in that: The article distribution cabinet further includes an acceleration sensor, and the acceleration sensor is connected to the processing unit; The acceleration sensor is used to: determine the maximum vibration amplitude of the item delivery cabinet within a target time period; and transmit the maximum vibration amplitude to the processing unit; The processing unit is further used to: determine whether the maximum vibration amplitude is greater than or equal to a preset vibration amplitude threshold to obtain a third determination result; and determine whether to locate the cargo channel entrance based on the third determination result.

11. The article distribution cabinet according to claim 10, characterized in that: The article distribution cabinet further includes a backup power supply, and the backup power supply is connected to the acceleration sensor; The backup power supply is used to supply power to the acceleration sensor when the item delivery cabinet is in a power-off state.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for locating the cargo entrance of the item delivery cabinet according to any one of claims 1 to 7 is implemented.

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