Automatic express delivery control method and automatic logistics cabinet loading control method and system

Abstract

The invention discloses an automatic express delivery control method and an automatic logistics cabinet loading control method and system.The automatic express delivery control method comprises the steps that express delivery is controlled to be correspondingly loaded into logistics cabinets at sorting line grids, and one face or multiple faces of each logistics cabinet are provided with multi-bit integrated codes; after each logistics cabinet completing the express loading task is stored in a specified storage area, a transport capacity request order is generated according to the address code and information in the multi-bit-one code; the mobile carriers responding to the transport capacity request orders are controlled to run to the corresponding boxing waiting areas, and the logistics cabinets are controlled to be loaded to the corresponding mobile carriers; and planning a driving path of the unmanned vehicle according to a first-level address in the address code of each logistics cabinet so as to distribute each logistics cabinet to a target post, and decrypting a second-level address in the address code after the logistics cabinet arrives at the target post so as to obtain a specific address of a recipient. The method has the advantages of simplicity in operation, low implementation cost, high execution efficiency, high intelligent degree and the like.

Description

Technical Field

[0001] The present invention relates to the field of intelligent delivery technology, and in particular to an automatic express delivery control method, an automatic loading control method and a system for logistics cabinets. Background Art

[0002] Logistics cabinets, also known as turnover boxes, can be used in various links of transportation, distribution, storage, circulation and processing in the fields of machinery, automobiles, home appliances, light industry, electronics, etc. By combining them with a variety of logistics containers and work station equipment, they can also realize the universalization of logistics containers and integrated modern logistics management.

[0003] In the prior art, the use of logistics cabinets for express delivery usually adopts a mode in which the express is centrally processed by the site and centrally delivered by the courier. The general process is as follows: after the express is sorted, the courier first scans the express to confirm that the express has been picked up, and then puts it into the storage bag or storage box of the corresponding site. After all the express are distributed, the courier loads the allocated express and delivers it one by one to the corresponding smart express cabinet placement point. After arriving at the smart express cabinet placement point, the courier enters the express information (such as the express order number, the recipient's mobile phone number, etc.), and the storage system automatically pops up the corresponding idle cabinet. The courier puts the express into the cabinet and closes the door to confirm that the delivery is completed. The delivery is completed after the user picks up the package. The overall implementation process of the above-mentioned express delivery method is relatively cumbersome and complicated, and there will be multiple transfer links. Not only does it need to scan the code layer by layer for each transfer link, but it also needs to rely on a large number of manual operations. Not only is the efficiency low and the labor cost high, but it is also prone to problems such as wrong delivery and loss of items and low utilization rate of smart express cabinets.

[0004] At the same time, logistics cabinets are usually only equipped with labels with a single function. For example, either a text label or an electronic label (transponder or smart label). If it is a single text note, it can only be read and identified by people, and intelligent identification cannot be achieved. If an electronic label is used, although specific smart devices can be used for automatic identification, it will require a high degree of reliance on specific smart devices, which limits the applicable scenarios. Moreover, a single electronic label can only read the ID number of the logistics cabinet, and cannot further obtain key information such as the location, posture, and storage information of goods in the logistics cabinet. As a result, on the one hand, it is difficult to accurately locate the specific location of the logistics cabinet, and on the other hand, manual participation is still required in the circulation and distribution of the logistics cabinet. For example, since the location of the logistics cabinet cannot be accurately located, it is still necessary to rely on manual handling and loading of the logistics cabinet, which is not conducive to the realization of highly intelligent express delivery. Summary of the invention

[0005] The technical problem to be solved by the present invention is: in response to the technical problems existing in the prior art, the present invention provides an automatic express delivery control method, a logistics cabinet automatic loading control method and system which are simple to operate, low in implementation cost, high in execution efficiency and intelligence.

[0006] In order to solve the above technical problems, the technical solution proposed by the present invention is:

[0007] A method for controlling automatic delivery of express mail, comprising the steps of:

[0008] Control the loading of each express parcel to be delivered into the logistics cabinet at each sorting line grid. One or more surfaces of the logistics cabinet are provided with a multi-digit integrated code, and the multi-digit integrated code integrates multiple types of information tags, including identification codes, RFID (Radio Frequency Identification) tags and position and posture codes;

[0009] After each logistics cabinet that has completed the express delivery loading task is stored in the designated storage area, the address code of each logistics cabinet is obtained, and a transportation request order is generated and sent according to the address code and the information in the multi-bit code, wherein the address code includes at least two levels of addresses, wherein the first level address corresponds to the address of the destination post station, and the second level address is an encrypted address formed by encrypting the specific address of the recipient of the corresponding express delivery;

[0010] Control the mobile carrier that responds to the transport request order to travel to the corresponding packing waiting area to wait for loading, and control each logistics cabinet to be loaded onto the corresponding mobile carrier;

[0011] After each logistics cabinet is loaded, the driving route of the unmanned vehicle is planned according to the first-level address in the address code of each logistics cabinet to deliver each logistics cabinet to the destination station. After arriving at the destination station, the second-level address in the address code is decrypted to obtain the specific address of the recipient.

[0012] Furthermore, when the control loads the express parcels to be delivered into the logistics cabinets at the grid openings of each sorting line, the multi-digit code on each logistics cabinet is read, and the destination station is allocated to the logistics cabinets at the grid openings of each sorting line according to the probability of the number of express parcels going to each station on the current cross belt. After the express parcels are loaded into the logistics cabinets, it also includes estimating the position of each express parcel in the logistics cabinet and recording it, and generating prompt information to indicate the position of each express parcel in the logistics cabinet.

[0013] Furthermore, generating and sending a transportation request order according to the address code of each logistics cabinet and the information in the multi-digit code includes:

[0014] Obtain the destination post address corresponding to each logistics cabinet according to the first-level address in the address code of each logistics cabinet;

[0015] Acquire the goods information in each logistics cabinet according to the multi-digit code of each logistics cabinet;

[0016] Calculate the delivery cost based on the distance of each logistics cabinet’s destination post address and the product information;

[0017] Generate a transport request order in the form of a task order based on the delivery cost of each logistics cabinet;

[0018] The generated transport capacity request order is initiated to each mobile carrier, so that each mobile carrier responds to the transport capacity request order by means of virtual order grabbing.

[0019] Furthermore, in the process of delivering each logistics cabinet to the destination station, when the mobile carrier arrives at the destination station corresponding to a logistics cabinet, the electric lock on the mobile carrier is controlled to be unlocked, and the logistics cabinet corresponding to the current destination station is controlled to send a prompt message to prompt the logistics cabinet that needs to be removed, and the remaining logistics cabinets continue to be delivered to the corresponding destination stations by the mobile carrier until the delivery of all logistics cabinets is completed.

[0020] Furthermore, when the control responds to the mobile carrier of the transportation request order and drives to the corresponding packing waiting area to wait for loading, it also includes configuring different identification information for different packing waiting areas to prompt the mobile carrier to drive to the corresponding packing waiting area according to the identification information. The logistics cabinet prompts the mobile carrier to load the logistics cabinet into the corresponding packing waiting area by issuing a prompt information corresponding to the identification information of the packing waiting area.

[0021] A logistics cabinet automatic loading control method for the above-mentioned express delivery automatic delivery control method, the steps comprising:

[0022] When it is necessary to control the loading of each logistics cabinet onto the corresponding mobile carrier, obtain the scene map of the location of the target logistics cabinet;

[0023] Control the mobile carrier to plan a path to the location of the target logistics cabinet according to the scenario map;

[0024] Control the mobile carrier to travel along the planned path. When the mobile carrier travels to the coverage area of ​​the RFID tag in the multi-bit code on the target logistics cabinet, control the reading device carried by the mobile carrier to send an activation signal to activate the RFID tag in the multi-bit code on the target logistics cabinet, and receive the electronic information sent by the RFID tag; determine the distance and orientation information of the mobile carrier relative to the target logistics cabinet in real time according to the received electronic information, and track and adjust the movement trajectory of the mobile carrier in real time according to the distance and orientation information determined in real time;

[0025] When the mobile carrier arrives near the location of the target logistics cabinet, it scans the multi-bit code on the target logistics cabinet to obtain information about the goods in the target logistics cabinet from the identification code and obtains the posture of the target logistics cabinet from the position posture code;

[0026] According to the acquired posture of the target logistics cabinet, the robot is controlled to grab the target logistics cabinet and load it onto the mobile carrier.

[0027] Furthermore, the real-time determination of the distance and position information of the mobile carrier relative to the target logistics cabinet according to the received electronic information includes:

[0028] The distance of the mobile carrier relative to the target logistics cabinet is calculated based on the time when the RFID tag sends the electronic information, the time when the reading device receives the electronic information, and the transmission speed of the electronic information;

[0029] The position of the mobile carrier relative to the target logistics cabinet is determined based on the position information sent by the position posture code in the multi-bit code on the target logistics cabinet.

[0030] Furthermore, the real-time tracking and adjustment of the motion trajectory of the mobile carrier according to the distance and orientation information determined in real time includes:

[0031] Track the position of the mobile carrier in real time based on the distance and orientation information of the mobile carrier relative to the target logistics cabinet determined in real time;

[0032] Determine whether the current position of the mobile carrier is on the planned driving path according to the tracking result;

[0033] If it is determined that the current position of the mobile carrier deviates from the planned driving path, the motion trajectory of the mobile carrier is adjusted according to the distance and orientation information of the mobile carrier relative to the target logistics cabinet determined in real time.

[0034] A system for implementing the above-mentioned logistics cabinet automatic loading control method comprises:

[0035] Mobile carrier;

[0036] A reading device, used to read the information in the multi-digit code on the logistics cabinet and output it to the data processing device;

[0037] A data processing device, used to receive and process the information read by the reading device, and calculate the position and posture of the target logistics cabinet;

[0038] The robot arm is mounted on the mobile carrier and is used to grab the target logistics cabinet according to the calculation result obtained by the data processing device and load it onto the mobile carrier.

[0039] An automatic express delivery system includes a mobile carrier and multiple logistics cabinets, one or more surfaces of the logistics cabinets are provided with a multi-digit code, the multi-digit code integrates multiple types of information tags, the information tags include identification codes, RFID tags and position and posture codes, and also includes a control device, the control device includes a processor and a memory, the memory is used to store a computer program, and the processor is used to execute the computer program to perform the above method.

[0040] Compared with the prior art, the advantages of the present invention are:

[0041] 1. The present invention sets a multi-bit integrated code on the logistics cabinet, uses RFID tags to detect whether there is a logistics cabinet within the detection range, and uses the position and posture code to obtain the position and posture information of the logistics cabinet. When the tag is invisible, not only can the position and posture information be obtained, but also the logistics cabinet ID number and product information in the identification code can be obtained at the same time, thereby realizing accurate positioning and management of the logistics cabinet under the joint action of multiple tags.

[0042] 2. The present invention combines multi-digit codes and address codes to automatically identify the express delivery into logistics cabinets, the logistics cabinets into mobile carriers, and the logistics cabinets to the destination stations. It can make full use of multi-digit codes and address codes to efficiently realize the intelligent delivery of express delivery, so that the traditional vertically cut organizational model of terminal delivery mainly based on manual labor can be reconstructed into a flat horizontally cut organizational model, which greatly improves the efficiency and flexibility of delivery, while improving the utilization rate of logistics cabinets and reducing delivery costs.

[0043] 3. The present invention combines a multi-digit code and an address code to realize automatic delivery of express parcels. The address code adopts a method of using at least two levels of addresses to form an accurate address, and realizes a dynamic mapping of the real physical address and the encrypted identifier to the real recipient address, which can form a spatial division, so that it is only necessary to deliver the logistics cabinet to the post station without paying attention to the specific address of the recipient, thereby ensuring the security of user information and improving the convenience of users receiving express parcels. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 It is a structural schematic diagram of a logistics cabinet applicable to this embodiment.

[0045] Figure 2 It is a schematic diagram of the implementation flow of the express delivery automatic delivery control method in Example 1 of the present invention.

[0046] Figure 3 It is a schematic diagram of the effect of realizing intelligent sorting of express parcels to logistics cabinets in Example 1 of the present invention.

[0047] Figure 4 It is a schematic diagram of the effect of realizing unloading of logistics cabinets in Example 1 of the present invention.

[0048] Figure 5 It is a schematic diagram of the implementation process of the automatic loading control method of the logistics cabinet in Example 2 of the present invention.

[0049] Legend: 1. Cabinet bracket; 2. Cover; 3. Travel wheel; 4. First avoidance groove; 5. Second avoidance groove; 6. Label; 7. Position code; 8. Information indicator; 9. Lock; 10. Footrest. DETAILED DESCRIPTION

[0050] The present invention is further described below in conjunction with the accompanying drawings and specific preferred embodiments, but the protection scope of the present invention is not limited thereby.

[0051] Embodiment 1:

[0052] The logistics cabinet applicable to this embodiment is as follows Figure 1 As shown, the cabinet includes a cabinet support 1, a cover 2 and a running wheel 3. The cabinet side is provided with more than one avoidance groove (specifically, a first avoidance groove 4 and a second avoidance groove 5) and a label plate 6. The label plate 6 is a label formed by a multi-digit integrated code. The cabinet support 1 is provided with a position code 7 and an information indicating device 8. The cover 2 is locked and unlocked by a lock buckle 9. In addition, a footrest 10 is provided on one side of the cabinet.

[0053] It is understandable that the above-mentioned logistics cabinet structure is only used as an example. In addition to the above-mentioned structure, other logistics cabinet structures with multi-digit integrated code labels can of course be adopted according to actual needs.

[0054] It is understandable that the label plate 6 can be set on one side of the logistics cabinet, and of course, the label plate 6 formed by a multi-digit integrated code can also be set on two or more sides according to needs.

[0055] In this embodiment, the multi-bit code integrates multiple types of information tags, including identification codes, RFID tags, and position and posture codes, that is, the identification codes, RFID tags, and position and posture codes are combined into one to form a multi-bit code, which can simultaneously provide the information of the logistics cabinet in the identification code, the position and posture information, and the electronic information that can respond to the reader. If a single-function tag code is used, for example, when only RFID tags are used, only the existence detection can be performed by the intelligent reading device, that is, whether there is a logistics cabinet within the detection range, and the specific location of the target logistics cabinet cannot be detected; when only Tigtag is used, the electronic tag needs to be visible to be identified, and when the electronic tag is invisible, its location cannot be found; when only UWB is used, only a small range of angles can be measured. Once this range is exceeded, the angle measurement accuracy will drop sharply, and the specific direction of the target logistics cabinet to be searched cannot be determined.

[0056] This embodiment integrates multiple functions into a comprehensive electronic tag by setting a multi-bit code on one or more surfaces of the logistics cabinet, so as to realize the unique identification of the target logistics cabinet between people, people and machines, and machines and machines. At the same time, by utilizing the spatial positioning technology, the multi-bit code electronic tag can realize the precise positioning and posture of the logistics cabinet, greatly improving the positioning accuracy of the target logistics cabinet and the efficiency of searching the logistics cabinet, while saving the positioning cost. It can also facilitate the determination of key information such as the unique ID and position and posture of the logistics cabinet in different situations such as manual operation, manual operation with intelligent terminals, and automatic operation of robots, thereby improving the flexibility of application. It can also flexibly perform positioning and posture operations indoors and outdoors as needed, thereby enhancing the practicality of positioning.

[0057] Preferably, the multi-digit code may be a four-digit code consisting of text, identification code, RFID tag and Tigtag, wherein:

[0058] The text can be a combination of Chinese characters, letters, English, numbers, symbols, etc. that are easy to remember, so that people can recognize the ID. In a specific application embodiment, the multi-bit code with text can be sprayed or written on the outside of the shell of the target logistics cabinet to facilitate people to recognize and read the ID;

[0059] The identification code can be a barcode, QR code, mini-program code, identifiable code sequence, etc., which needs to be automatically read by an image input device or photoelectric scanning device. The identification code contains the ID number information of the logistics cabinet and the information of the goods in the logistics cabinet. The information of the goods can be the type and weight of the goods. The identification code can be scanned and read by an intelligent terminal (such as a smart phone, tablet computer, etc.), or by a manipulator with an image input device or photoelectric scanning device, and can identify the goods inside the box.

[0060] RFID (Radio Frequency Identification) is a contactless automatic identification technology that automatically identifies target items and obtains relevant data through radio frequency signals. It includes three parts: tags, antennas, and readers. This technology facilitates contactless reading of the ID information of logistics cabinets within a certain distance when the equipment is not visible (obstructed). It can be provided to robots to determine whether the target logistics cabinet is nearby, making it easier for robots to read and achieve automated, contactless management. RFID tags can also facilitate the search for mobile carriers that can be loaded with logistics cabinets within the area, thereby accurately locking the mobile carriers and building a communication link between RFID and mobile carriers, thereby improving the intelligent loading and efficiency of logistics cabinets.

[0061] Tigtag (posture QR code), similar to AprilTag (visual reference system), can be used by a space camera to identify the position (x, y, z) and posture (θ, ω, φ) of a target object. After the space camera identifies the Tigtag on the logistics cabinet, it continuously extracts feature points from each frame of the image, estimates and optimizes the spatial camera posture, and then converts the posture of the spatial camera into the posture of the logistics cabinet to determine the posture of the logistics cabinet. When the RFID tag is activated, it starts to transmit the posture information of the logistics cabinet, so that the mobile carrier can obtain the relative position and posture information while obtaining the logistics cabinet ID. In a specific application embodiment, a multi-bit integrated code can be set on the specified surface (front or back, etc.) of the logistics cabinet, and the position coordinates and posture information of the logistics cabinet can be identified by using the orientation information provided by the Tigtag. The orientation of the logistics cabinet can be determined by using the posture information to determine the position of the front of the logistics cabinet, thereby facilitating the manipulator to correctly grasp the logistics cabinet and complete the loading of the logistics cabinet.

[0062] It is understandable that the multi-bit code can of course also be formed by combining in other ways besides the above according to actual needs, for example, introducing other types of information codes besides text, identification code, RFID tag and Tigtag to form different combinations.

[0063] In a specific application embodiment, a multi-bit code electronic tag can be matched one to one with a logistics cabinet, assisted by an easy-to-see and anti-pollution design. When multiple logistics cabinets have the multi-bit code, the multi-bit code can be uniquely numbered, and different identification codes, RFID and Tigtag can be used to distinguish different logistics cabinets.

[0064] By adopting the above four-in-one code, wireless ID, remote ID, positioning and posture determination, and passive and active combination can be realized, which makes it easy to quickly find the location and posture of the target logistics cabinet, greatly improving the efficiency of finding the target logistics cabinet.

[0065] The traditional method that relies on manual participation not only has high labor costs and a cumbersome implementation process, but also makes it difficult to adapt the final delivery time and space. The delivery personnel and the recipient must complete the final delivery based on the agreed time and space, so the flexibility is poor. In order to improve the intelligence and flexibility of express delivery and reduce labor costs, take the above-mentioned logistics cabinet as an example and use unmanned vehicles as mobile carriers. Figure 2 As shown, the detailed steps of the present invention to realize automatic express delivery control are:

[0066] Step S101, control the loading of each express parcel to be delivered into the logistics cabinet at the grid opening of each sorting line.

[0067] After the sorting center unloads the express onto the automatic sorting line, the express information can be used by the sorting line to automatically sort the express from different stations, and the express is automatically transported to the corresponding sorting line grid through the sorting line. The empty logistics cabinet is placed at the sorting line grid for sorting out the outgoing items in advance, and the cabinet door is opened to wait for the express to be loaded into the logistics cabinet.

[0068] In a specific application embodiment, when controlling the loading of each express mail to be delivered into the logistics cabinet at each sorting line grid, the destination station can be assigned to the logistics cabinet at each sorting line grid according to the probability of the number of express mails going to each station on the current cross belt. For example, the sorting service system can temporarily assign the destination station to the corresponding logistics cabinet according to the number of mails going to which station according to probability on the current cross belt (which target station can be filled first according to probability). Since the probability of which destination stations have a higher volume of express mails in the sorting system that has been running for a period of time is usually determined, the stations with more mails among the remaining unsorted express mails can be assigned as priority grids.

[0069] In a specific application embodiment, Figure 3 As shown, after using the RFID identification module to read the multi-digit code label on the logistics cabinet, the system assigns an optimal station number to the grid and the logistics cabinet according to the task requirements of the sorting line, so that the logistics cabinet can be filled as soon as possible or the express parcels at the station corresponding to the logistics cabinet can be distributed as soon as possible.

[0070] Through the above method, the automatic line grid can be dynamically and flexibly matched in real time to the logistics cabinets going to different stations, so that the automatic line can realize sorting for any express company and any station, support express parcels of multiple express companies to go online at the same time, and express parcels of different express companies can also be assigned to the same logistics cabinet, thus realizing mixed sorting and sorting in a true sense, which can greatly optimize the operating process of the upper-level sorting center of the traditional station, and directly reduce the number of intermediate-layer outlets, and even cancel the intermediate-layer outlets.

[0071] Furthermore, after loading the express into the logistics cabinet, it also includes estimating the position of each express in the logistics cabinet and recording it, and generating prompt information to indicate the position of each express in the logistics cabinet. For example, when the express is placed in the logistics cabinet at the sorting center, the sorting is initially realized, and according to the loading process and after the loading is completed, the relative position of each express in the atomic cabinet can be roughly estimated, recorded and associated, and prompt information that can indicate the relative position of the express in the atomic cabinet is generated.

[0072] Step S102: After each logistics cabinet that has completed the express delivery loading task is stored in the designated storage area, the address code of each logistics cabinet is obtained, and a transportation request order is generated and sent according to the address code and the information in the multi-bit code.

[0073] The address code is a high-precision address that is convenient for both humans and robots to use. It can be automatically generated by the operator collecting address information or the user providing address text and entering it into the system, realizing human-machine sharing and spatial service informatization. The address code can be used as an entry address for obtaining information, determining the precise address location, and serving as a logistics delivery address for use by delivery personnel and unmanned vehicles. The address code includes at least two levels of addresses, where the first level address corresponds to the destination delivery address, and the second level address is an encrypted address formed by encrypting the specific address of the recipient of the express. After the unmanned vehicle delivers each logistics cabinet to the corresponding destination station address according to the first level address according to the planned driving route, it scans the second level encrypted address in the address code and decodes it to obtain the specific address of the recipient.

[0074] The following example uses the address code using large address and small address to form an accurate address representation:

[0075] Big address: It is a unique, accurate real address that can be directly read and identified by the user or delivery person. The address includes the drop-down address and the house number. For example, the drop-down address is the Science and Technology New Town, XX County, XX City, XX Province, and the house number is Ximen AI Station. It can also be a property, duty room, Furong Xingsheng, etc. After the user or delivery person identifies the big address, they can determine where to deliver.

[0076] Small address: It is an encrypted address, which can be realized by using an encrypted identifier and provided to people or robots. Users can scan the encrypted identifier through a handheld terminal to decode it to obtain a memory text, or robots can scan the encrypted identifier to read the recipient's location, user name and mobile phone number. It can be composed of Chinese characters, letters, numbers, etc., either alone or in combination. For example, the address can include a point and a user ID. Taking Building C3 of the Science and Technology New City as an example, the point is the No. 1 workstation on the 4th floor, and the user ID is a custom code, such as the user name + the last four digits of the mobile phone number.

[0077] The address code uses a two-level address, large address and small address, to form a precise address, combining the real physical address with a special and fixed encryption identifier to form a dynamic mapping of the identification symbol and the real receiving address, which can form a spatial division, so that the delivery staff only needs to deliver the items to the post station, without having to pay attention to who the items are delivered to or what the detailed address is, nor does they need to notify or contact the recipient, thus ensuring the security of user information. It can also improve the convenience of users receiving express parcels. Users only need to wait for the transport unit to deliver directly to the precise address ultimately indicated by the address code without having to go to the post station.

[0078] It is understandable that the address code can be any one or more combinations of QR codes, mini-program codes, barcodes, and recognizable code sequences, where QR codes, mini-program codes, barcodes, and recognizable code sequences are a form of information carrying. The server operator can manage the encrypted identifiers in the area, such as pasting QR codes, mini-program codes, barcodes, and recognizable code sequence images at fixed locations for users in the corresponding locations to use. The encrypted identifier serves as the entry point for users to interact with the server. Text information can be obtained by scanning and parsing the encrypted identifier. The encrypted identifier can be generated by pre-collecting address information and user information, or it can be generated after interacting with the user.

[0079] Furthermore, when generating an address code, it can also be configured as follows: after the user scans the code, it is verified whether the user has used it before. If it is the first time to use it, a text address is generated after interacting with the user. If it is the second time or more, the user is asked whether to modify the text information. If not, the previous text address is directly generated to facilitate user copying or memory.

[0080] In a specific application embodiment, the large address can also be an AI post, that is, an intelligent and information-based site, such as the Station smart distribution station developed by YOGO. The small address is a variable, precise spatial point that is maintained and tracked in the system. The encrypted identifier of the small address can be deployed at any point in the area corresponding to the large address, realizing the digitization of the physical space and making the community management grid-based. Users can obtain a text address by scanning the code. The text address contains point information, user-defined ID, etc., which can be copied and filled in on the corresponding ordering platform, or selected The type of service jumps to the corresponding website for filling; the encrypted identifier is automatically generated by the operator after collecting address information or the user provides the address text and enters it into the system. It can be a QR code, or it can be a small program code, a string, etc., which can be decoded by the system.

[0081] After each logistics cabinet completes the loading of express parcels, it will be uniformly stored in the designated storage area. After confirming that the logistics cabinet can be transported, the number of express parcels and product information in each logistics cabinet can be obtained by reading the information in the multi-bit code of each logistics cabinet. The address code of the corresponding logistics cabinet can be generated by scanning the address code set at a designated location (such as a designated workstation). After decoding, the final delivery address text information of the logistics cabinet can be obtained. The delivery cost can be calculated according to the destination post address and product information of each logistics cabinet, and then a transportation request order can be generated. The transportation request can be initiated through the business system to wait for the mobile carrier (using unmanned vehicles as an example) to pack and transport. Each unmanned vehicle can respond to the transportation request order by virtual grabbing. After successfully responding to the transportation request order, the unmanned vehicle automatically plans the driving path to the corresponding unmanned vehicle loading waiting area to automatically drive to the corresponding loading waiting area. The virtual grabbing method is a mode of service request and response on the Internet platform, which can quickly match each logistics cabinet with the unmanned vehicle to achieve optimal allocation.

[0082] In a specific application embodiment, generating a transportation request order according to the destination delivery address of each logistics cabinet and sending the order includes:

[0083] Step S121, obtaining the destination post station address corresponding to each logistics cabinet according to the first-level address in the address code of each logistics cabinet;

[0084] Step S122: obtaining the goods information in each logistics cabinet according to the multi-digit code of each logistics cabinet, the goods information including the type of goods, quantity and quality of express parcels, etc.;

[0085] Step S122, calculating the delivery cost of each logistics cabinet according to the acquired distance to the destination post address of each logistics cabinet and the product information;

[0086] Step S123: Generate a transport request order in the form of a task order according to the delivery cost of each logistics cabinet;

[0087] Step S124: Initiate the generated capacity request order to each unmanned vehicle, so that each unmanned vehicle responds to the capacity request order by virtually grabbing the order.

[0088] In a specific application embodiment, the order grabbing mode can adopt different mode types. For example, the business scheduling of all registered unmanned vehicles under the order grabbing system can be maintained, and orders can be sent to the unmanned vehicles that have been launched. It can also be directly adopted in a similar way to Meituan merchants sending order grabbing orders to Meituan, which can further reduce management costs and labor costs.

[0089] Step S103, control the unmanned vehicle that responds to the transportation request order to drive to the corresponding box waiting area to wait for loading, and then control each logistics cabinet to be loaded into the corresponding unmanned vehicle.

[0090] In order to ensure efficient loading of logistics cabinets onto unmanned vehicles, multiple packing waiting areas are set up near the logistics cabinet storage area. Unmanned vehicles enter different packing waiting areas according to the logistics cabinets that need to be transported, so as to quickly load the logistics cabinets onto the corresponding unmanned vehicles.

[0091] In a specific application embodiment, different identification information can be configured for different unmanned vehicle loading and waiting areas to prompt the unmanned vehicle to drive to the corresponding unmanned vehicle loading and waiting area according to the identification information. The logistics cabinet sends a prompt information corresponding to the identification information of the unmanned vehicle loading and waiting area to prompt the unmanned vehicle in the corresponding unmanned vehicle loading and waiting area, so that the unmanned vehicle and the logistics cabinet can be matched using the identification information, and the loading of the logistics cabinet to the unmanned vehicle can be quickly completed.

[0092] For example, different unmanned vehicle loading waiting areas can be marked with different colors (the marking area can be the entire waiting area or the parking space border, etc.). The unmanned vehicle finds the corresponding waiting area through color prompts, and the logistics cabinet will flash lights of different colors to correspond to each unmanned vehicle loading waiting area, so that the logistics cabinet flashing the corresponding color light can be loaded onto the unmanned vehicle in the corresponding waiting area. It is understandable that in addition to color, other types of identification information, such as different characters, text, etc., can also be used according to actual needs.

[0093] In a specific application embodiment, each unmanned vehicle that responds to the transportation request is controlled to drive to the corresponding packing waiting area to wait for loading. The unmanned vehicle and the matched logistics cabinet can also be controlled to send the same or corresponding prompt information to assist in matching the unmanned vehicle and the logistics cabinet. When the matching is successful, the unmanned vehicle is controlled to synchronously unlock the corresponding electric lock until the loading is completed.

[0094] For example, the flashing color of the breathing light on the top of the unmanned vehicle can be made the same as the color of the matching logistics cabinet, so as to assist the manipulator on the mobile carrier to quickly match the vehicle with the cabinet, and simultaneously unlock the corresponding electric lock on the vehicle body. The manipulator can load the corresponding logistics cabinet onto the vehicle, and lock it independently after loading, so that the express cabinet, unmanned vehicle, and mechanical structure correspond one to one, thereby achieving efficient transportation. It is understandable that in order to achieve rapid matching between unmanned vehicles and logistics cabinets, other types of prompt information can also be used, such as making the same sound, or sticking the same type of label, etc. Of course, manual methods can also be used to replace the manipulator for loading and unloading operations.

[0095] After determining the matching relationship between each logistics cabinet and the unmanned vehicle, each logistics cabinet can be loaded onto the corresponding unmanned vehicle. In a specific application embodiment, several AGVs (carts) equipped with mechanical arms can be used to automatically complete the loading of logistics cabinets. One AGV can simultaneously perform express loading and stacking of multiple logistics cabinets. The AGV can use the multi-bit integrated code on the logistics cabinet to realize the positioning of the logistics cabinet, so as to complete the express loading more accurately and efficiently.

[0096] Step S104: After each logistics cabinet is loaded, the driving route of the unmanned vehicle is planned according to the first-level address in the address code of each logistics cabinet to deliver each logistics cabinet to the destination station. After arriving at the destination station, the second-level address in the address code is decrypted to obtain the specific address of the recipient.

[0097] Under the system's dispatching and management, each unmanned vehicle autonomously goes to the destination station address of each logistics cabinet.

[0098] In a specific application embodiment, during the delivery process of the unmanned vehicle, when the unmanned vehicle arrives at the destination station address corresponding to a logistics cabinet on the vehicle, the electric lock on the unmanned vehicle is controlled to be unlocked, and the logistics cabinet corresponding to the current destination station address is controlled to send a prompt message to prompt the logistics cabinet that needs to be removed. The remaining logistics cabinets are continued to be delivered by the unmanned vehicle to the corresponding destination station address until the delivery of all logistics cabinets is completed.

[0099] For example, when the unmanned vehicle arrives at a destination station of a logistics cabinet, the logistics cabinet with the destination station will flash the corresponding light, and the electric lock will automatically unlock. According to the light indication, the logistics cabinet with the corresponding flashing light can be taken down and moved to the corresponding placement point, and the remaining logistics cabinets will be sent to other stations by the unmanned vehicle. The delivery person or AGV car will then deliver the goods in the logistics cabinet to the final precise address by scanning the encrypted address in the address code.

[0100] It is understandable that in addition to using unmanned vehicles to transport logistics cabinets, manned vehicles can also be used as transportation vehicles, and both unmanned vehicles and manned vehicles can "grab orders". For manned vehicles, after successfully "grabbing orders" through the business management system, the RFID reading device on the vehicle will automatically identify the ID on the information logistics cabinet, determine the delivery destination according to the server task allocation, and then plan the vehicle's task path and send it to the driver's mobile terminal to guide the driver to the destination station, and the driver will complete the cabinet delivery task accordingly.

[0101] In a specific application embodiment, the logistics cabinets arriving at the post station can be stacked into two or more layers at a designated location by the staff using a lifting mechanism and then the side doors can be opened to form shelves for users to pick up express deliveries, such as Figure 4 shown.

[0102] In a specific application embodiment, the express status information can also be pushed in real time through APP, so that users can timely understand the delivery status of the express items. Users can receive information about the express entering the station or arriving at the designated placement point through mobile terminals (mobile phones, etc.), and then can conveniently go to the designated logistics cabinet placement point to pick up the express.

[0103] This embodiment adopts the above method to reconstruct the traditional manual-based terminal delivery vertically cut organizational model into a flat horizontally cut organizational model, fully utilize unmanned vehicles to complete intelligent terminal delivery, and conveniently start scheduling to complete the delivery task from the logistics cabinet to the destination. After arriving at the express cabinet placement point, it can also realize direct delivery of the whole package, which can greatly improve the delivery efficiency, flexibility and convenience, and reduce the delivery cost.

[0104] Through the above method, this embodiment can also associate logistics cabinets with the same or similar expected fulfillment locations to the same batch of delivery or place them in the upper cabin of the same unmanned vehicle equipment as much as possible, which can reduce the time consumed in traversing other delivery locations and waiting. At the same time, it can realize the association of logical space with different unmanned vehicle equipment physical spaces according to the user's expected delivery destination, so that express parcels that are not in the same location can be loaded and delivered according to the destination, and automatic delivery to users in different locations can be completed efficiently within the same time period.

[0105] It is understandable that in addition to using unmanned vehicles, other types of mobile carriers, such as movable vehicles, chassis, etc., can also be used according to actual needs.

[0106] Embodiment 2:

[0107] like Figure 5 As shown, this embodiment is used to realize the automatic loading control of the logistics cabinet in the process of realizing the automatic delivery control of express delivery in Example 1. The steps of the automatic loading control method of the logistics cabinet include:

[0108] Step S201: When it is necessary to control the loading of each logistics cabinet onto the corresponding mobile carrier, a scene map of the location of the target logistics cabinet is obtained.

[0109] When a mobile carrier receives a task that requires automatic loading of a target logistics cabinet, it first obtains a scene map of the location of the target logistics cabinet. The scene map can be provided by the main control center, which stores the location information of all logistics cabinets and the scene map of the area in advance. When loading is required, the main control center sends a loading command to an idle mobile carrier and sends a scene map of the location of the target logistics cabinet. The scene map contains environmental information near the location of the target logistics cabinet.

[0110] The mobile carrier may specifically be an unmanned vehicle, AGV (automatic guided vehicle), or other movable equipment or platform with a load-bearing function.

[0111] Step S202: Control the mobile carrier to plan a path to the location of the target logistics cabinet according to the scene map.

[0112] After the mobile carrier receives the loading command, the scene map can be used to plan the driving path from the current position of the mobile carrier to the target logistics cabinet. The planning method can specifically adopt a path planning algorithm such as the shortest path or heuristic search.

[0113] Step S203, control the mobile carrier to travel along the planned path. When the mobile carrier travels to the coverage area of ​​the RFID tag in the multi-bit code on the target logistics cabinet, control the reading device carried by the mobile carrier to send an activation signal to activate the RFID tag in the multi-bit code on the target logistics cabinet, and receive the electronic information sent by the RFID tag; determine the distance and orientation information of the mobile carrier relative to the target logistics cabinet in real time according to the received electronic information, and track and adjust the movement trajectory of the mobile carrier in real time according to the distance and orientation information determined in real time.

[0114] The coverage area of ​​the RFID tag in the multi-bit code can be a circular area with a specified radius centered on the multi-bit code electronic tag. When the mobile carrier drives into the area according to the planned path, the reading device carried on the mobile carrier starts sending signals to activate the RFID tag in the multi-bit code and receive the electronic information continuously sent by the RFID tag in the multi-bit code, and respond to the electronic information. By processing the electronic information based on the response result, the location of the target logistics cabinet and its distance and direction relative to the mobile carrier can be determined.

[0115] In this embodiment, determining the distance and position information of the mobile carrier relative to the target logistics cabinet in real time according to the received electronic information specifically includes:

[0116] The distance of the mobile carrier relative to the target logistics cabinet is calculated according to the time when the RFID tag sends the electronic information, the time when the reading device receives the electronic information, and the transmission speed of the electronic information. That is, the distance of the mobile carrier relative to the target logistics cabinet can be determined according to the time when the RFID electronic tag sends the electronic information, the transmission time length when the reading device receives the electronic information, and the transmission speed of the electronic information;

[0117] The position of the mobile carrier relative to the target logistics cabinet is determined based on the position information sent by the position posture code in the multi-bit code on the target logistics cabinet.

[0118] In this embodiment, real-time tracking and adjustment of the motion trajectory of the mobile carrier according to the distance and orientation information determined in real time includes:

[0119] Step S231: Track the position of the mobile carrier in real time according to the distance and position information of the mobile carrier relative to the target logistics cabinet determined in real time;

[0120] Step S232: judging whether the current position of the mobile carrier is on the planned driving path according to the tracking result;

[0121] Step S233: If it is determined that the current position of the mobile carrier deviates from the planned driving path, the motion trajectory of the mobile carrier is adjusted according to the real-time determined distance and orientation information of the mobile carrier relative to the target logistics cabinet.

[0122] This embodiment tracks the position of the mobile carrier in real time by utilizing the multi-bit code on the target logistics cabinet, and determines whether the current position of the mobile carrier is on the preset motion trajectory based on the tracking result. This can achieve timely detection of the motion trajectory of the mobile carrier, and can make timely corrections when it deviates from the preset motion trajectory, thereby greatly improving the accuracy of positioning and enhancing the intelligent navigation performance of the mobile carrier's movement.

[0123] Step S204: When the mobile carrier arrives near the location of the target logistics cabinet, it scans the multi-bit code on the target logistics cabinet to obtain information about the goods in the target logistics cabinet from the identification code and obtains the posture of the target logistics cabinet from the position posture code.

[0124] The location near the target logistics cabinet may be a location at a specified distance around the target logistics cabinet, which may be determined based on the distance at which the multi-digit code on the logistics cabinet can be scanned, or may be determined based on the distance at which the logistics cabinet is conveniently loaded. For example, it may be a location at a certain distance from the location of the target logistics cabinet, so that the multi-digit code can be scanned to obtain information about the goods inside the logistics cabinet and the posture information of the logistics cabinet, and it can also facilitate the operation of loading the logistics cabinet.

[0125] Step S205 , controlling the robot arm to grab the target logistics cabinet and load it onto the mobile carrier according to the acquired posture of the target logistics cabinet.

[0126] The posture information read from the multi-bit code can be used to determine the orientation and other postures of the logistics cabinet, so that the robot can accurately grasp the target logistics cabinet and then load it onto the mobile carrier to complete the automatic loading of the logistics cabinet.

[0127] It is understandable that the mobile carrier can also load multiple logistics cabinets at the same time. When the mobile carrier completes the loading of a target logistics cabinet according to the above method, it can further proceed to load the next target logistics cabinet.

[0128] This embodiment also provides an automatic loading control device for a logistics cabinet, wherein a multi-digit integrated code is provided on one or more sides of the logistics cabinet. The device includes a processor and a memory, wherein the memory is used to store a computer program, and the processor is used to execute the computer program to execute the above method.

[0129] This embodiment also provides a logistics cabinet automatic loading control system, where a multi-digit integrated code is set on one or more surfaces of the logistics cabinet, and the system includes:

[0130] Mobile carriers, movable unmanned vehicles or AGVs and other equipment or platforms;

[0131] A reading device, mounted on a mobile carrier, is used to read the information in the multi-bit code on the logistics cabinet within the identification range and output it to the data processing device;

[0132] A data processing device, used to receive and process the information read by the reading device, and calculate the position and posture of the target logistics cabinet;

[0133] The manipulator is mounted on a mobile carrier and is used to grab a target logistics cabinet and load it onto the mobile carrier according to the calculation results obtained by the data processing device.

[0134] Specifically, the reading device can be a device that integrates multiple devices such as a camera, a radar, a receiver, and a positioning unit, mounted on a manipulator or distributed on a chassis mounted on a manipulator and a mobile carrier, to wirelessly communicate with the multi-bit code on the target logistics cabinet and read the information in the multi-bit code. The manipulator can have a multi-angle rotation function to flexibly grab target logistics cabinets at different positions and load them onto the mobile carrier.

[0135] The above system of this embodiment can be applied to places including but not limited to factories, warehouses, docks, shopping malls, etc. The following takes the application in factories, the use of four-digit code electronic tags for positioning, and the use of unmanned vehicles as mobile carriers as an example to further illustrate the above system of the present invention. The detailed steps are as follows:

[0136] Step 1: The unmanned vehicle obtains a scene map of the target logistics cabinet positioning scene, and determines the area where the target logistics cabinet with the four-digit code electronic tag is located based on the scene map;

[0137] Step 2: The unmanned vehicle autonomously drives to the area where the target logistics cabinet is located. The reading device sends a signal to activate the four-digit code electronic tag and receives the electronic information continuously sent by the four-digit code electronic tag, and responds to the electronic information;

[0138] Step 3: The data processing device processes the electronic information based on the response result to determine the location of the target logistics cabinet and the distance and direction relative to the unmanned vehicle, where the distance is determined according to the time when the RFID electronic tag sends the electronic information, the transmission time length of the reading device receiving the electronic information, and the transmission speed of the electronic information, and the direction is determined according to the direction information sent by the Tigtag;

[0139] Step 4: Track the position of the unmanned vehicle in real time based on distance and orientation, and plan and adjust the motion trajectory of the unmanned vehicle based on the tracking results to complete intelligent navigation and positioning;

[0140] Step 5: The unmanned vehicle drives to the vicinity of the target logistics cabinet, the robot extends out and uses the reading device on the robot to scan the four-digit code electronic tag on the target logistics cabinet to obtain information such as the type and weight of the goods in the cabinet and the posture of the target logistics cabinet;

[0141] Step 6: The robot accurately grabs the target logistics cabinet, thus completing the automatic loading of the logistics cabinet.

[0142] The present embodiment also provides an unmanned vehicle-based automatic express delivery system, including an unmanned vehicle and multiple logistics cabinets. A multi-digit code is set on one or more sides of the logistics cabinet, and multiple types of information tags are integrated in the multi-digit code. The information tags include identification codes, RFID tags, and position and posture codes. The control device also includes a processor and a memory. The memory is used to store computer programs, and the processor is used to execute computer programs to execute the above method.

[0143] It is understandable that the above method of this embodiment can be executed by a single device, such as a computer or server, etc., and can also be applied to a distributed scenario and completed by multiple devices in cooperation with each other. In the case of a distributed scenario, one of the multiple devices can only execute one or more steps in the above method of this embodiment, and multiple devices interact to complete the above method. The processor can be implemented in the form of a general-purpose CPU, a microprocessor, an application-specific integrated circuit, or one or more integrated circuits, etc., for executing related programs to implement the above method of this embodiment. The memory can be implemented in the form of a read-only memory ROM, a random access memory RAM, a static storage device, and a dynamic storage device. The memory can store an operating system and other applications. When the above method of this embodiment is implemented by software or firmware, the relevant program code is stored in the memory and called and executed by the processor.

[0144] Those skilled in the art should understand that the above-mentioned embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application can take the form of a computer program product implemented on one or more computer-readable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code. The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the functions in the process. Figure 1 A process or multiple processes and / or boxes Figure 1 These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing device to work in a specific way, so that the instructions stored in the computer-readable memory produce a product including an instruction device, which implements the functions specified in the process. Figure 1 A process or multiple processes and / or boxes Figure 1 These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide for implementing the process in the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0145] The above is only a preferred embodiment of the present invention, and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment, it is not intended to limit the present invention. Therefore, any simple modification, equivalent change and modification made to the above embodiment according to the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the scope of protection of the technical solution of the present invention.

Claims

1. A method for controlling the automatic delivery of express mail, characterized in that the steps include: Control the loading of each express parcel to be delivered into the logistics cabinet at each sorting line grid, wherein one or more surfaces of the logistics cabinet are provided with a multi-digit integrated code, wherein the multi-digit integrated code integrates multiple types of information tags, including identification codes, RFID tags and position and posture codes; After each logistics cabinet that has completed the express delivery loading task is stored in the designated storage area, the address code of each logistics cabinet is obtained, and a transportation request order is generated and sent according to the address code and the information in the multi-bit code. The address code includes at least two levels of addresses, wherein the first level address corresponds to the destination station address of each logistics cabinet, and the second level address is an encrypted address formed by encrypting the specific address of the recipient of the corresponding express delivery; After controlling the mobile carrier that responds to the transport request order to travel to the corresponding container waiting area to wait for loading, control each logistics cabinet to be loaded onto the corresponding mobile carrier; After each logistics cabinet is loaded, the driving route of the unmanned vehicle is planned according to the first-level address in the address code of each logistics cabinet to deliver each logistics cabinet to the destination station. After arriving at the destination station, the second-level address in the address code is decrypted to obtain the specific address of the recipient.

2. The express delivery automatic delivery control method according to claim 1, characterized in that: When the control loads the express parcels to be delivered into the logistics cabinets at the grid openings of each sorting line, it reads the multi-digit code on each logistics cabinet, and allocates the destination station to the logistics cabinets at the grid openings of each sorting line according to the probability of the number of express parcels going to each station on the current cross belt. After the express parcels are loaded into the logistics cabinet, it also includes estimating the position of each express parcel in the logistics cabinet and recording it, and generating prompt information to indicate the position of each express parcel in the logistics cabinet.

3. The express delivery automatic delivery control method according to claim 1, characterized in that: The generating and sending of a transportation request order according to the address code of each logistics cabinet and the information in the multi-digit code includes: Obtain the destination post address corresponding to each logistics cabinet according to the first-level address in the address code of each logistics cabinet; Obtaining information about goods in each logistics cabinet according to the multi-digit code of each logistics cabinet; Calculate the delivery cost of each logistics cabinet based on the distance to the destination post address of each logistics cabinet and the product information; Generate a transport request order in the form of a task order based on the delivery cost of each logistics cabinet; The generated capacity request order is initiated to each mobile carrier, so that each mobile carrier responds to the capacity request order by means of virtual order grabbing.

4. The express delivery automatic delivery control method according to claim 1, 2 or 3, characterized in that: In the process of delivering each logistics cabinet to the destination station, when the mobile carrier arrives at the destination station corresponding to a logistics cabinet, the electric lock on the mobile carrier is controlled to be unlocked, and the logistics cabinet corresponding to the current destination station is controlled to send a prompt message to prompt the logistics cabinet that needs to be removed. The remaining logistics cabinets continue to be delivered to the corresponding destination stations by the mobile carrier until the delivery of all logistics cabinets is completed.

5. The express delivery automatic delivery control method according to claim 1, 2 or 3, characterized in that: When the control responds to the mobile carrier of the transportation request order and drives to the corresponding packing waiting area to wait for loading, it also includes configuring different identification information for different packing waiting areas to prompt the mobile carrier to drive to the corresponding packing waiting area according to the identification information. The logistics cabinet prompts the mobile carrier to load the logistics cabinet into the corresponding packing waiting area by issuing a prompt information corresponding to the identification information of the packing waiting area.

6. A method for controlling the automatic loading of logistics cabinets used in the method for controlling the automatic delivery of express mails as claimed in any one of claims 1 to 5, characterized in that the steps include: When it is necessary to control the loading of each logistics cabinet onto the corresponding mobile carrier, obtain the scene map of the location of the target logistics cabinet; Control the mobile carrier to plan a path to the location of the target logistics cabinet according to the scenario map; Control the mobile carrier to travel along the planned path. When the mobile carrier travels to the coverage area of ​​the RFID tag in the multi-bit code on the target logistics cabinet, control the reading device carried by the mobile carrier to send an activation signal to activate the RFID tag in the multi-bit code on the target logistics cabinet, and receive the electronic information sent by the RFID tag; determine the distance and orientation information of the mobile carrier relative to the target logistics cabinet in real time according to the received electronic information, and track and adjust the movement trajectory of the mobile carrier in real time according to the distance and orientation information determined in real time; When the mobile carrier arrives near the location of the target logistics cabinet, it scans the multi-bit code on the target logistics cabinet to obtain information about the goods in the target logistics cabinet from the identification code and obtains the posture of the target logistics cabinet from the position posture code; According to the acquired posture of the target logistics cabinet, the robot is controlled to grab the target logistics cabinet and load it onto the mobile carrier.

7. The automatic loading control method of the logistics cabinet according to claim 6 is characterized in that: The real-time determination of the distance and position information of the mobile carrier relative to the target logistics cabinet according to the received electronic information includes: The distance of the mobile carrier relative to the target logistics cabinet is calculated based on the time when the RFID tag sends the electronic information, the time when the reading device receives the electronic information, and the transmission speed of the electronic information; The position of the mobile carrier relative to the target logistics cabinet is determined based on the position information sent by the position posture code in the multi-bit code on the target logistics cabinet.

8. The automatic loading control method of the logistics cabinet according to claim 6 or 7, characterized in that: The real-time tracking and adjustment of the motion trajectory of the mobile carrier according to the distance and orientation information determined in real time includes: Track the position of the mobile carrier in real time based on the distance and orientation information of the mobile carrier relative to the target logistics cabinet determined in real time; Determine whether the current position of the mobile carrier is on the planned driving path according to the tracking result; If it is determined that the current position of the mobile carrier deviates from the planned driving path, the motion trajectory of the mobile carrier is adjusted according to the distance and orientation information of the mobile carrier relative to the target logistics cabinet determined in real time.

9. A system for implementing the automatic loading control method of a logistics cabinet according to any one of claims 6 to 8, characterized in that: include: Mobile carrier; A reading device, used to read the information in the multi-digit code on the logistics cabinet and output it to the data processing device; A data processing device, used to receive and process the information read by the reading device, and calculate the position and posture of the target logistics cabinet; The robot arm is mounted on the mobile carrier and is used to grab the target logistics cabinet according to the calculation result obtained by the data processing device and load it onto the mobile carrier.

10. An automatic express delivery system, comprising a mobile carrier and a plurality of logistics cabinets, wherein one or more surfaces of the logistics cabinets are provided with a multi-digit integrated code, wherein the multi-digit integrated code integrates a plurality of types of information tags, wherein the information tags include an identification code, an RFID tag, and a position and posture code, wherein: The method further comprises a control device, wherein the control device comprises a processor and a memory, wherein the memory is used to store a computer program, and the processor is used to execute the computer program to execute the method according to any one of claims 1 to 8.

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