Article circulation method and device of intelligent cabinet, computer equipment and storage medium

Abstract

The invention relates to the technical field of logistics, and discloses an article circulation method and device of an intelligent cabinet, computer equipment and a storage medium. According to the article circulation method of the intelligent cabinet, a target intelligent cabinet and a target unmanned aerial vehicle are determined according to a received article circulation request, and a take-off instruction is sent to the target unmanned aerial vehicle; when it is confirmed that the target unmanned aerial vehicle reaches the preset waiting position of the target intelligent cabinet, a landing positioning request is sent to the target intelligent cabinet; after landing positioning completion information sent by the target intelligent cabinet is received, a landing instruction is generated, and the target unmanned aerial vehicle lands on a parking platform of the target intelligent cabinet according to the landing instruction; and sending a secondary positioning request to the target intelligent cabinet, and sending an article circulation instruction corresponding to the article circulation request to the target unmanned aerial vehicle when the secondary positioning result is confirmed to be successful in secondary positioning, so that the target unmanned aerial vehicle completes article circulation with the target intelligent cabinet. The efficiency and accuracy of delivery and collection of the intelligent cabinet are improved by using the unmanned aerial vehicle.

Description

Technical Field

[0001] The present invention relates to the field of logistics technology, and in particular to an article circulation method, device, computer equipment and storage medium of a smart cabinet. Background Art

[0002] Smart lockers provide a convenient logistics and distribution solution, which improves the flexibility of recipients in picking up items and the flexibility of senders in sending items. In order to complete the closed loop of logistics and distribution, there is also a need for a delivery link before pickup and a collection link after delivery between the smart lockers and the logistics distribution points. In the prior art, the delivery and collection links completely rely on manual delivery methods. When delivering items, couriers need to go to each smart locker location to scan the waybills one by one and put the items into the locker. When collecting items, couriers need to go to each smart locker location to enter information and take out the items. This wastes time and labor costs, reduces the efficiency of delivery and collection, and affects the utilization rate of the flow of items in the smart lockers. At the same time, the manual delivery method is prone to errors, which affects the user experience of the pickup and delivery process. Summary of the invention

[0003] Based on this, it is necessary to provide a method, device, computer equipment and storage medium for the circulation of items in a smart cabinet to address the above-mentioned technical problems, so as to solve the problem that the existing manual delivery method for dispatching and collecting items in smart cabinets is inefficient and prone to errors.

[0004] A method for transferring items in a smart cabinet, comprising: Receive an item transfer request, determine a target smart cabinet and a target drone according to the item transfer request, and send a take-off instruction to the target drone; When confirming that the target UAV has arrived at the preset waiting position of the target smart cabinet, sending a landing positioning request to the target smart cabinet; After receiving the landing positioning completion information corresponding to the landing positioning request sent by the target smart cabinet, generating a landing instruction according to the landing positioning completion information and sending the landing instruction to the target UAV, so that the target UAV lands on the parking platform of the target smart cabinet according to the landing instruction; Sending a secondary positioning request to the target smart cabinet, and upon receiving a secondary positioning result corresponding to the secondary positioning request sent by the target smart cabinet, determining whether the secondary positioning result is a secondary positioning success; When it is confirmed that the secondary positioning result is successful, an item transfer instruction corresponding to the item transfer request is sent to the target drone, so that the target drone completes the item transfer between the target smart cabinet.

[0005] An article circulation device for a smart cabinet, comprising: A drone takeoff module is used to receive an item transfer request, determine a target smart cabinet and a target drone according to the item transfer request, and send a takeoff instruction to the target drone; A landing positioning module, configured to send a landing positioning request to the target smart cabinet when confirming that the target drone has arrived at the preset waiting position of the target smart cabinet; A drone landing module is used to generate a landing instruction according to the landing positioning completion information and send the landing instruction to the target drone after receiving the landing positioning completion information corresponding to the landing positioning request sent by the target smart cabinet, so that the target drone lands on the parking platform of the target smart cabinet according to the landing instruction; A secondary positioning module, used to send a secondary positioning request to the target smart cabinet, and upon receiving a secondary positioning result corresponding to the secondary positioning request sent by the target smart cabinet, determine whether the secondary positioning result is a successful secondary positioning; The item circulation module is used to send an item circulation instruction corresponding to the item circulation request to the target drone when confirming that the secondary positioning result is successful, so that the target drone completes the item circulation between the target smart cabinet.

[0006] A computer device includes a memory, a processor, and computer-readable instructions stored in the memory and executable on the processor. When the processor executes the computer-readable instructions, the above-mentioned smart cabinet item circulation method is implemented.

[0007] A computer-readable storage medium stores computer-readable instructions. When the computer-readable instructions are executed by one or more processors, the one or more processors execute the item circulation method of the smart cabinet as described above.

[0008] In the above-mentioned smart cabinet item circulation method, device, computer equipment and storage medium, the smart cabinet item circulation method receives an item circulation request, determines the target smart cabinet and the target drone according to the item circulation request, and sends a take-off instruction to the target drone; when confirming that the target drone has arrived at the preset waiting position of the target smart cabinet, sends a landing positioning request to the target smart cabinet; after receiving the landing positioning completion information corresponding to the landing positioning request sent by the target smart cabinet, generates a landing instruction according to the landing positioning completion information and sends the landing instruction to the target drone, so that the target drone lands on the parking platform of the target smart cabinet according to the landing instruction; sends a secondary positioning request to the target smart cabinet, and when receiving the secondary positioning result corresponding to the secondary positioning request sent by the target smart cabinet, determines whether the secondary positioning result is a successful secondary positioning; when confirming that the secondary positioning result is a successful secondary positioning, sends an item circulation instruction corresponding to the item circulation request to the target drone, so that the target drone completes the item circulation between the target smart cabinet and the target smart cabinet. The present invention uses the interaction between the drone and the smart cabinet to achieve automatic delivery and collection, avoiding the waste of time and labor costs, improving the efficiency of delivery and collection, and ensuring the utilization rate of the smart cabinet during the circulation of goods. At the same time, during the circulation of goods between the drone and the smart cabinet, the accuracy of delivery and collection is also guaranteed based on landing positioning and secondary positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0010] Figure 1 It is a flow chart of a method for transferring items in a smart cabinet in one embodiment of the present invention; Figure 2 It is a structural schematic diagram of an article circulation device of a smart cabinet in one embodiment of the present invention; Figure 3 is a schematic diagram of a computer device in one embodiment of the present invention. DETAILED DESCRIPTION

[0011] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0012] The method for the circulation of items in the smart cabinet provided in this embodiment can be applied to the application scenario of using drones to realize automatic delivery and automatic collection in smart cabinets. Among them, the server communicates with the drone device end and the smart cabinet machine end at the same time to facilitate the circulation of items in the delivery link and the collection link. In the delivery link, the drone device end delivers items to the smart cabinet machine end, and in the collection link, the drone device end collects items from the smart cabinet machine end. The communication method can choose the MQTT protocol method or the HTPP protocol method, and the MQTT protocol method is preferred. The server can be a server shared by a drone and a smart cabinet, or it can be a server system composed of a drone server and a smart cabinet server. The drone server in the server system establishes a communication connection with the drone device end, the smart cabinet server in the server platform establishes a communication connection with the smart cabinet machine end, and the drone server and the smart cabinet server establish a communication connection. The server can be implemented with an independent server or a server cluster composed of multiple servers.

[0013] In one embodiment, if Figure 1 As shown, a method for transferring items in a smart cabinet is provided, comprising the following steps S10-S50: S10: receiving an item transfer request, determining a target smart cabinet and a target drone according to the item transfer request, and sending a take-off instruction to the target drone.

[0014] Understandably, after receiving the item transfer request, the server can determine the target smart cabinet and the target drone according to the order information in the item transfer request. The item transfer request refers to the request information that requires the transfer of items through drones and smart cabinets, including item delivery requests and item collection requests. The item delivery request refers to the request to deliver items to the smart cabinet machine end through the drone device end, so that the subsequent recipient can pick up the items from the cabinet end. The item collection request refers to the request to collect items from the smart cabinet machine end through the drone device end, so as to transport the items deposited by the sender in the cabinet end. The server can communicate with multiple smart cabinet machine ends and multiple drone device ends at the same time, but only one smart cabinet machine end and one drone device end can respond one-to-one to one item transfer request. The target smart cabinet and the target drone are the smart cabinet machine end and the drone device end used to respond to the item transfer request. After determining the target drone, the server needs to send a take-off command to the target drone so that the target drone flies to the target smart cabinet. The take-off command is a control command used to control the drone device to fly to the smart cabinet terminal along a specific route.

[0015] In one embodiment, the item transfer request includes an item delivery request; in step S10, that is, receiving the item transfer request, determining a target smart cabinet and a target drone according to the item transfer request, and sending a take-off instruction to the target drone, including: S101, receiving an item delivery request, and determining a drone carrying a delivery logistics box containing items to be delivered as a target drone; S102, determining a candidate smart cabinet according to the delivery order information in the item delivery request, and querying the candidate cabinet status of the candidate smart cabinet; S103: When confirming that the candidate cabinet state is a cabinet available state, sending a cabinet occupation request to the candidate smart cabinet; S104: upon receiving the cabinet occupation result corresponding to the cabinet occupation request sent by the candidate smart cabinet and confirming that the cabinet occupation result is successful cabinet occupation, determining the candidate smart cabinet as the target smart cabinet, and updating the target smart cabinet from the cabinet available state to the cabinet occupied state; S105, obtaining flight route information corresponding to the target smart cabinet, generating a take-off instruction according to the flight route information and sending the take-off instruction to the target UAV, so that the target UAV executes the take-off instruction to arrive at a preset waiting position of the target smart cabinet.

[0016] Understandably, when the item flow request is an item delivery request, the operator at the logistics distribution point will pre-load the items to be delivered into a delivery logistics box, and load the loaded delivery logistics box onto a drone. A logistics box is a container for holding items that can be detachably connected to a drone, including but not limited to boxes, baskets, and boxes. Items to be delivered refer to items that need to be delivered, and a delivery logistics box refers to a logistics box used to complete the delivery process. Therefore, when the server receives an item delivery request, it directly identifies the drone carrying the delivery logistics box containing the items to be delivered as the target drone.

[0017] The item delivery request includes the delivery order information, which refers to the logistics information corresponding to the item to be delivered, such as the waybill number, the consignee, the consignee address, and the order logistics status. The server determines the candidate smart cabinet based on the consignee address information in the delivery order information. The candidate smart cabinet refers to the smart cabinet whose cabinet service range matches the consignee address information. After each smart cabinet terminal is placed at a specific location, it will correspond to a cabinet service range. For example, the cabinet service range of the smart cabinet terminal placed at the entrance of Community A is the entire Community A. When the consignee address information is Community A, the smart cabinet terminal is a candidate smart cabinet. There may be only one candidate smart cabinet or multiple candidate smart cabinets. The server needs to query the cabinet status of each candidate smart cabinet to determine whether the candidate smart cabinet is available. The candidate cabinet status refers to the cabinet status used to characterize whether the candidate smart cabinet is occupied. The cabinet status may include cabinet available, cabinet occupied, cabinet failure, etc. The cabinet available status indicates that the online communication connection of the smart cabinet cabinet terminal is normal and is not bound to other drone device terminals through the server. The cabinet occupancy status indicates that the smart cabinet has been bound to other drone devices through the server.

[0018] For candidate smart cabinets whose cabinet status is cabinet available, the server sends cabinet occupation requests to these candidate smart cabinets to try to occupy the smart cabinet end for subsequent item flow operations. The cabinet occupation request is a request message sent by the server to the smart cabinet end to bind the smart cabinet end with the drone device end. The server will receive the cabinet occupation result corresponding to the cabinet occupation request sent by the candidate smart cabinet. The cabinet occupation result is the information sent by the smart cabinet end to the server to characterize whether the smart cabinet end and the drone device end are successfully bound. Since an item flow request can only be responded to one-to-one by one smart cabinet end and one drone device end, the server will determine the candidate smart cabinet that first returns the cabinet occupation result and the result is that the cabinet is successfully occupied as the target smart cabinet, and update the cabinet status from the cabinet available state to the cabinet occupied state to prevent other drone device ends from being repeatedly bound to the smart cabinet end of the target smart cabinet.

[0019] After determining the target UAV and the target smart cabinet, the server queries the flight route information according to the locations of the target UAV and the target smart cabinet, generates a take-off command according to the flight route information, and sends the take-off command to the target UAV, so that the target UAV executes the take-off command to reach the preset waiting position of the target smart cabinet. Flight route information refers to the flight cabinet planning information of the UAV, including the location of the take-off point, the flight path, the location of the destination, etc. In addition to the flight route information, the take-off command also includes flight parameter information, such as flight altitude, flight speed, etc. The target UAV does not land directly on the parking platform of the target smart cabinet, but first reaches the preset waiting position of the target smart cabinet and hovers. The preset waiting position is a pre-set hovering waiting position located above the smart cabinet terminal, and each smart cabinet terminal corresponds to a preset waiting position.

[0020] In this embodiment, when the item circulation request is an item delivery request, the binding occupancy between the target smart cabinet and the target drone in the delivery link is realized, which can ensure that the target drone can arrive at the preset waiting position of the target smart cabinet in a timely and accurate manner, and help to efficiently process the subsequent item delivery request.

[0021] In one embodiment, the item transfer request includes an item pickup request; in step S10, that is, receiving the item transfer request, determining a target smart cabinet and a target drone according to the item transfer request, and sending a take-off instruction to the target drone, includes: S106, receiving an item pickup request, and determining any idle drone as a target drone; S107, determining a target smart cabinet according to the pickup order information in the item pickup request, and querying the target cabinet status of the target smart cabinet; S108. When confirming that the target cabinet state is a cabinet available state, updating the target smart cabinet from a cabinet available state to a cabinet occupied state; S109, obtaining flight route information corresponding to the target smart cabinet, generating a take-off instruction according to the flight route information and sending the take-off instruction to the target UAV, so that the target UAV executes the take-off instruction to arrive at a preset waiting position of the target smart cabinet.

[0022] Understandably, when the item circulation request is an item collection request, it is necessary to first generate an item collection request through the mailing process. In the mailing process, the sender can fill in the mailing information through the mailing applet or application client and send the mailing request to the server. After receiving the mailing request, the server determines the target smart cabinet according to the mailing address information in the mailing request. For example, according to the mailing address information, the use of the logistics box of the nearest smart cabinet is queried to determine whether there is an idle logistics box. If there is an idle logistics box, the nearest smart cabinet is determined as the target smart cabinet. The smart cabinet terminal will be pre-installed with multiple logistics boxes (such as 5). When there are items in the logistics box, it is a non-idle logistics box, and when there are no items in the logistics box, it is an idle logistics box. The server generates a mailing notification message containing a mailing code based on the mailing information filled in by the sender and sends it to the sender. At the same time, the target smart cabinet will lock an idle logistics box as the logistics box corresponding to the mailing code.

[0023] After receiving the shipping notification information, the sender goes to the target smart cabinet to send the item according to the shipping code. The target smart cabinet moves the logistics box corresponding to the shipping code to the shipping window. The sender can put the items to be sent into the logistics box corresponding to the shipping code through the shipping window to complete the shipment. The server converts the shipping notification information into collection order information and generates an item collection request based on the collection order information. At this time, the logistics box corresponding to the shipping code is determined as the collection logistics box, and the items in the collection logistics box are the items to be collected. The collection order information is used to record the logistics information of the items to be collected, such as the sender information, the recipient information and the collection location (such as the cabinet number or location coordinates of the target smart cabinet).

[0024] In one embodiment, after receiving the item collection request, the service end determines any idle drone as the target drone, and the idle drone refers to the drone device end that is not bound to any smart cabinet. Then, the target smart cabinet is determined according to the collection order information in the item collection request, and the target cabinet state of the target smart cabinet is queried. The target cabinet state refers to the cabinet state used to characterize whether the target smart cabinet is occupied. When the target cabinet state is the cabinet available state, it indicates that the online communication connection of the smart cabinet cabinet end is normal and is not bound to other drone device ends through the service end. The service end can send a cabinet occupation request to the target smart cabinet, and when receiving the cabinet occupation result corresponding to the cabinet occupation request sent by the target smart cabinet, and confirming that the cabinet occupation result is successful cabinet occupation, the target smart cabinet is updated from the cabinet available state to the cabinet occupied state. Further, the flight route information corresponding to the target smart cabinet is obtained, and a take-off instruction is generated according to the flight route information and the take-off instruction is sent to the target drone, so that the target drone executes the take-off instruction to reach the preset waiting position of the target smart cabinet.

[0025] In this embodiment, when the item circulation request is an item pickup request, the pickup link realizes the binding occupancy between the target smart cabinet and the target drone, which can ensure that the target drone can arrive at the preset waiting position of the target smart cabinet in a timely and accurate manner, and helps to efficiently process the subsequent item pickup request.

[0026] S20: When confirming that the target drone has arrived at the preset waiting position of the target smart cabinet, send a landing positioning request to the target smart cabinet.

[0027] Understandably, the target drone does not directly land on the parking platform of the target smart cabinet, but first reaches the preset waiting position of the target smart cabinet and hovers. When the server confirms that the target drone has arrived at the preset waiting position of the target smart cabinet, it sends a landing positioning request to the target smart cabinet. The landing positioning request is a request information based on the parking platform alignment calibration triggered before the drone device lands on the smart cabinet.

[0028] S30. After receiving the landing positioning completion information corresponding to the landing positioning request sent by the target smart cabinet, generate a landing instruction according to the landing positioning completion information and send the landing instruction to the target UAV, so that the target UAV lands on the parking platform of the target smart cabinet according to the landing instruction.

[0029] Understandably, each smart cabinet machine end corresponds to a parking platform, which is a platform space set up by the smart cabinet machine end to provide a landing and parking space for the drone equipment end. The parking platform is also equipped with an outer cover, which is closed by default. After the target smart cabinet receives the landing positioning request, it opens the outer cover to open the parking platform for use. At this time, the target drone can identify the positioning mark on the parking platform to determine whether the alignment is accurate. The positioning mark is a specific pattern mark on the surface of the parking platform, such as a positioning code, a cross pattern, etc. The target drone sends the identified real-time positioning mark to the target smart cabinet through the server. When the target smart cabinet confirms that the real-time positioning mark is complete, it indicates that the target drone is located directly above the parking platform, and then sends the landing positioning completion information corresponding to the landing positioning request to the server. The landing positioning completion information is used to characterize the accurate alignment between the target drone and the parking platform of the target smart cabinet.

[0030] After receiving the landing positioning completion information sent by the target smart cabinet, the server generates a landing command based on the landing positioning completion information and sends the landing command to the target drone, so that the target drone lands on the parking platform of the target smart cabinet according to the landing command. The landing command is a control command used to control the drone to perform the landing operation, including the landing speed, landing angle, landing position coordinates and other landing parameters that the drone needs to follow, to ensure that the drone can land safely and accurately on the parking platform of the target smart cabinet.

[0031] S40, sending a secondary positioning request to the target smart cabinet, and upon receiving a secondary positioning result corresponding to the secondary positioning request sent by the target smart cabinet, determining whether the secondary positioning result is a secondary positioning success.

[0032] In one embodiment, in step S40, that is, sending a secondary positioning request to the target smart cabinet, includes: S401. Send a secondary positioning request to the target smart cabinet, so that after receiving the secondary positioning request, the target smart cabinet adjusts the position of the target drone at the initial landing position, and determines whether the position of the target drone after the position adjustment matches the cabinet flow window of the target smart cabinet; when the position matches, the secondary positioning result corresponding to the secondary positioning request is determined as a secondary positioning success; and when the position does not match, the secondary positioning result corresponding to the secondary positioning request is determined as a secondary positioning failure.

[0033] Understandably, in order to ensure the smooth flow of items between the drone and the smart cabinet, the service end sends a secondary positioning request to the target smart cabinet. The secondary positioning request is a request information based on the cabinet circulation window alignment calibration triggered after the drone device end lands on the smart cabinet machine end. The smart cabinet machine end is provided with a drone position adjustment mechanism (such as a mechanical arm), which can clamp the drone device end and adjust the horizontal and vertical position to achieve the translation of the drone device end in all directions. At the same time, if the target drone is equipped with a logistics box, the target drone and the logistics box it carries are adjusted together. The smart cabinet machine end is also provided with a cabinet circulation window. The cabinet circulation window is a specific area or opening for receiving, storing or delivering items. The cabinet circulation window plays a key role in the circulation of items and can realize the access operation in an automated or intelligent manner. The initial landing position refers to the position where the target drone lands on the parking platform. After receiving the secondary positioning request, the target smart cabinet adjusts the position of the target drone in the initial landing position, and determines whether the position of the target drone after the position adjustment matches the cabinet circulation window of the target smart cabinet. For example, the target smart cabinet uses built-in sensors to detect whether the positional relationship between the target drone and the cabinet transfer window meets the preset alignment accuracy requirements. When the positions match, the secondary positioning result corresponding to the secondary positioning request is determined as a secondary positioning success, indicating that the target drone and the target smart cabinet can accurately and efficiently exchange items. When the positions do not match, the secondary positioning result corresponding to the secondary positioning request is determined as a secondary positioning failure. In this case, the server can resend the secondary positioning request to the target smart cabinet until the secondary positioning is successful.

[0034] This embodiment ensures that items can be exchanged accurately and efficiently between the target drone and the target smart cabinet through position adjustment and matching judgment of secondary positioning.

[0035] S50: When it is confirmed that the secondary positioning result is successful, an item transfer instruction corresponding to the item transfer request is sent to the target drone, so that the target drone completes the item transfer between the target smart cabinet and the drone.

[0036] Understandably, the item flow instructions include logistics box release instructions and logistics box grabbing instructions. The logistics box release instruction is an instruction for controlling the drone device to put down the carried logistics box, which can correspond to the item delivery request, so as to throw the item to the smart cabinet machine. The logistics box grabbing instruction is an instruction for controlling the drone device to carry a new logistics box, which can correspond to the item pickup request, so as to take the item away from the smart cabinet machine.

[0037] This embodiment receives an item transfer request, determines the target smart cabinet and the target drone according to the item transfer request, and sends a take-off instruction to the target drone; when confirming that the target drone has arrived at the preset waiting position of the target smart cabinet, sends a landing positioning request to the target smart cabinet; after receiving the landing positioning completion information corresponding to the landing positioning request sent by the target smart cabinet, generates a landing instruction according to the landing positioning completion information and sends the landing instruction to the target drone, so that the target drone lands on the parking platform of the target smart cabinet according to the landing instruction; sends a secondary positioning request to the target smart cabinet, and when receiving the secondary positioning result corresponding to the secondary positioning request sent by the target smart cabinet, determines whether the secondary positioning result is a secondary positioning success; when confirming that the secondary positioning result is a secondary positioning success, sends an item transfer instruction corresponding to the item transfer request to the target drone, so that the target drone completes the item transfer between the target smart cabinet and the target drone. This embodiment uses the interaction between the drone and the smart cabinet to realize automatic delivery and automatic collection, avoids the waste of time and labor costs, improves the efficiency of delivery and collection, and ensures the utilization rate of the smart cabinet during the item flow process. At the same time, during the flow of items between drones and smart cabinets, the accuracy of delivery and collection is guaranteed based on landing positioning and secondary positioning.

[0038] In one embodiment, in step S50, that is, sending an item transfer instruction corresponding to the item transfer request to the target drone so that the target drone completes the item transfer between the target smart cabinet, includes: S501, sending a first logistics box release instruction corresponding to the item delivery request to the target drone, and upon receiving the first logistics box release completion information corresponding to the first logistics box release instruction sent by the target drone, confirming that the target drone delivers the delivery logistics box to the target smart cabinet through the cabinet transfer window according to the first logistics box release instruction; S502, sending a slot allocation request corresponding to the item to be delivered to the target smart cabinet, and upon receiving the slot allocation information corresponding to the slot allocation request sent by the target smart cabinet, confirming that the target smart cabinet transfers the item to be delivered from the delivery logistics box to the target slot corresponding to the slot allocation information according to the slot allocation request; S503: Generate pickup notification information according to the slot allocation information, send a return instruction to the target drone, and update the target smart cabinet from a cabinet occupied state to a cabinet available state.

[0039] Understandably, when the item circulation request is an item delivery request, a first logistics box release instruction corresponding to the item delivery request is sent to the target drone. The first logistics box release instruction refers to an instruction used to control the drone device end to put down the delivery logistics box carried in the delivery link. When the server receives the first logistics box release completion information corresponding to the first logistics box release instruction sent by the target drone, it confirms that the target drone will deliver the delivery logistics box to the target smart cabinet through the cabinet circulation window according to the first logistics box release instruction. The first logistics box release completion information is information used to characterize that the drone device end has completed the action of releasing the logistics box in the delivery link, such as loosening the cargo clamp used to physically connect the logistics box to the drone device end.

[0040] After receiving the first logistics box release completion information corresponding to the first logistics box release instruction sent by the target drone, the server sends a slot allocation request corresponding to the item to be delivered to the target smart cabinet. The slot allocation request is a request information to allocate a cabinet slot among all the free slots on the cabinet end of the smart cabinet for storing the item to be delivered. When the server receives the slot allocation information corresponding to the slot allocation request sent by the target smart cabinet, it confirms that the target smart cabinet transfers the item to be delivered from the delivery logistics box to the target slot corresponding to the slot allocation information according to the slot allocation request. The slot allocation information refers to the information used to record the slot location information (such as the slot code) allocated by the target smart cabinet for storing the item to be delivered, and the target slot refers to the cabinet slot in the target smart cabinet for storing the item to be delivered.

[0041] After receiving the slot allocation information corresponding to the slot allocation request sent by the target smart cabinet, the server generates pickup notification information based on the slot allocation information and sends the pickup notification information to the recipient. The pickup notification information is used to prompt the recipient to go to the target smart cabinet to pick up the items to be delivered, including information such as the location of the target smart cabinet and the logistics status of the order. At the same time, a return instruction is sent to the target drone. The return instruction is a control instruction used to control the drone device to fly back to the logistics distribution point along a specific route. In addition, the target smart cabinet is updated from the cabinet occupied state to the cabinet available state, so that the target smart cabinet can perform subsequent delivery or collection tasks.

[0042] This embodiment utilizes the interaction between the service end, the drone, and the smart cabinet to place the items to be delivered into the cabinet, thereby realizing automatic delivery, avoiding the waste of time and labor costs, and improving delivery efficiency.

[0043] In one embodiment, in step S50, that is, sending an item transfer instruction corresponding to the item transfer request to the target drone so that the target drone completes the item transfer between the target smart cabinet, includes: S504, determining whether the target drone is equipped with an idle logistics box; S505: If it is confirmed that the target drone does not carry an idle logistics box, the pickup order information is sent to the target smart cabinet, so that the target smart cabinet transfers the pickup logistics box containing the items to be picked up corresponding to the pickup order information to the cabinet transfer window, and generates a logistics box grabbing request; S506: upon receiving the logistics box grabbing request sent by the target smart cabinet, sending a logistics box grabbing instruction corresponding to the logistics box grabbing request to the target drone, so that the target drone takes out the parcel logistics box from the target smart cabinet through the cabinet transfer window according to the logistics box grabbing instruction; S507. When receiving the logistics box grabbing completion information corresponding to the logistics box grabbing instruction sent by the target drone, generate the package pickup notification information according to the logistics box grabbing completion information, send a return instruction to the target drone, and update the target smart cabinet from the cabinet occupied state to the cabinet available state.

[0044] Understandably, in the pickup link, the drone device side needs to take away the logistics box containing the items to be picked up from the smart cabinet machine side. In order to avoid insufficient logistics boxes in the smart cabinet machine side, the operator at the logistics distribution point can carry the target drone in the pickup link with an idle logistics box to fly to the target smart cabinet as needed, or directly let the target drone in the pickup link fly empty to the target smart cabinet. Therefore, the service side needs to determine whether the target drone is carrying an idle logistics box, such as querying the carrying status information of the target drone. When the carrying status is an empty state, the pickup order information is sent to the target smart cabinet. The carrying status of the drone includes an empty state and an empty box state. The empty state means that the drone device side does not carry a logistics box, and the empty box state means that the drone device side carries a logistics box without items.

[0045] When the loading status is empty, the server sends the pickup order information to the target smart cabinet. The pickup order information is used to record the logistics information of the items to be picked up, such as the shipping order number (or shipping code), sender information, recipient information and pickup location, etc. Each pickup logistics box in the target smart cabinet corresponds to a shipping order number (or shipping code). According to the shipping order number (or shipping code) in the pickup order information, the pickup logistics box containing the items to be picked up corresponding to the pickup order information can be found, and the found pickup logistics box is transferred to the cabinet circulation window, and then a logistics box grabbing request is sent to the server. The logistics box grabbing request is a request information for the drone device to grab the logistics box through the cabinet circulation window.

[0046] When the server receives the logistics box grabbing request sent by the target smart cabinet, it sends the logistics box grabbing instruction corresponding to the logistics box grabbing request to the target drone. The logistics box grabbing instruction is a control instruction used to control the target drone to take out the logistics box from the target smart cabinet through the cabinet transfer window. When the logistics box grabbing completion information corresponding to the logistics box grabbing instruction sent by the target drone is received, the collection notification information is generated according to the logistics box grabbing completion information. The collection notification information is used to indicate that the collection of the items to be collected has been completed. Furthermore, the server can update the order status of the parcel order corresponding to the items to be collected to the collected status according to the collection notification information. At the same time, a return instruction is sent to the target drone, and the target smart cabinet is updated from the cabinet occupied state to the cabinet available state. The logistics box grabbing completion information is information used to indicate that the drone equipment end has completed the action of carrying the collection logistics box in the collection link.

[0047] When it is determined that the target drone does not carry an idle logistics box, this embodiment utilizes the interaction between the service end, the drone, and the smart cabinet to enable the items to be collected to leave the cabinet, thereby realizing automatic collection, avoiding the waste of time and labor costs, and improving the collection efficiency.

[0048] In one embodiment, in step S50, that is, before sending the pickup order information to the target smart cabinet, the step further includes: S508: If the target drone carries an idle logistics box, a second logistics box release instruction is sent to the target drone, so that the target drone delivers the idle logistics box to the target smart cabinet through the cabinet transfer window according to the second logistics box release instruction; S509: Upon receiving the second logistics box release completion information corresponding to the second logistics box release instruction sent by the target drone, confirm that the target drone does not carry an idle logistics box.

[0049] Understandably, when the target drone is carrying an idle logistics box, the service end sends a second logistics box release instruction to the target drone, so that the target drone places the idle logistics box into the target smart cabinet through the cabinet transfer window according to the second logistics box release instruction. The second logistics box release instruction refers to an instruction used to control the drone device end to put down the idle logistics box it carries in the collection link. When the service end receives the second logistics box release completion information corresponding to the second logistics box release instruction sent by the target drone, it confirms that the target drone does not carry an idle logistics box. The second logistics box release completion information is information used to characterize that the drone device end has completed the action of releasing the idle logistics box in the collection link.

[0050] In another embodiment, the target drone can carry not only an idle logistics box but also a delivery logistics box. At this time, the drone's carrying status includes not only an empty state and an empty box state, but also a full box state. The full box state indicates that the drone device is carrying a logistics box containing items. That is, the target drone and the target smart cabinet are consistent for the item delivery request and the item pickup request. The target drone can complete the task of first delivering and then picking up items in one flight and return. The specific process will not be repeated.

[0051] In this embodiment, when the target drone is equipped with an idle logistics box in the collection stage, the idle logistics box is first placed in the target smart cabinet, and the status of the drone is updated in real time, which helps to subsequently execute the action of grabbing the logistics box containing the items to be collected and improves the collection efficiency.

[0052] It should be understood that the order of execution of the steps in the above embodiment does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0053] In one embodiment, a smart cabinet article circulation device is provided, and the smart cabinet article circulation device corresponds to the smart cabinet article circulation method in the above embodiment. Figure 2As shown, the article circulation device of the smart cabinet includes a drone take-off module 10, a landing positioning module 20, a drone landing module 30, a secondary positioning module 40 and an article circulation module 50. The functional modules are described in detail as follows: The drone take-off module 10 is used to receive an item transfer request, determine a target smart cabinet and a target drone according to the item transfer request, and send a take-off instruction to the target drone; A landing positioning module 20 is used to send a landing positioning request to the target smart cabinet when confirming that the target drone has arrived at the preset waiting position of the target smart cabinet; The drone landing module 30 is used to generate a landing instruction according to the landing positioning completion information and send the landing instruction to the target drone after receiving the landing positioning completion information corresponding to the landing positioning request sent by the target smart cabinet, so that the target drone lands on the parking platform of the target smart cabinet according to the landing instruction; The secondary positioning module 40 is used to send a secondary positioning request to the target smart cabinet, and upon receiving a secondary positioning result corresponding to the secondary positioning request sent by the target smart cabinet, determine whether the secondary positioning result is a secondary positioning success; The item circulation module 50 is used to send an item circulation instruction corresponding to the item circulation request to the target drone when confirming that the secondary positioning result is successful, so that the target drone completes the item circulation between the target smart cabinet.

[0054] In one embodiment, the drone takeoff module 10 includes: A delivery drone determination unit, configured to receive an item delivery request and determine a drone carrying a delivery logistics box containing items to be delivered as a target drone; A candidate cabinet status query unit, configured to determine a candidate smart cabinet according to the delivery order information in the item delivery request, and query the candidate cabinet status of the candidate smart cabinet; A cabinet occupation unit, configured to send a cabinet occupation request to the candidate smart cabinet when confirming that the candidate cabinet state is a cabinet available state; The dispatch smart cabinet determining unit is used to determine the candidate smart cabinet as the target smart cabinet and update the target smart cabinet from the cabinet available state to the cabinet occupied state when receiving the cabinet occupancy result corresponding to the cabinet occupancy request sent by the candidate smart cabinet and confirming that the cabinet occupancy result is cabinet occupancy success; The delivery drone take-off unit is used to obtain the flight route information corresponding to the target smart cabinet, generate a take-off instruction according to the flight route information and send the take-off instruction to the target drone, so that the target drone executes the take-off instruction to reach the preset waiting position of the target smart cabinet.

[0055] In one embodiment, the secondary positioning module 40 includes: A secondary positioning result generating unit is used to send a secondary positioning request to the target smart cabinet, so that after receiving the secondary positioning request, the target smart cabinet adjusts the position of the target drone at the initial landing position, and determines whether the position of the target drone after the position adjustment matches the cabinet flow window of the target smart cabinet; when the position matches, the secondary positioning result corresponding to the secondary positioning request is determined as a secondary positioning success; and when the position does not match, the secondary positioning result corresponding to the secondary positioning request is determined as a secondary positioning failure.

[0056] In one embodiment, the item circulation module 50 includes: The first logistics box release unit is used to send a first logistics box release instruction corresponding to the item delivery request to the target drone, and upon receiving the first logistics box release completion information corresponding to the first logistics box release instruction sent by the target drone, confirm that the target drone delivers the delivery logistics box to the target smart cabinet through the cabinet transfer window according to the first logistics box release instruction; The smart cabinet dispatch unit is used to send a slot allocation request corresponding to the item to be dispatched to the target smart cabinet, and upon receiving the slot allocation information corresponding to the slot allocation request sent by the target smart cabinet, confirm that the target smart cabinet transfers the item to be dispatched from the dispatch logistics box to the target slot corresponding to the slot allocation information according to the slot allocation request; The delivery drone return unit is used to generate pickup notification information according to the slot allocation information, send a return instruction to the target drone, and update the target smart cabinet from a cabinet occupied state to a cabinet available state.

[0057] In one embodiment, the drone takeoff module 10 further includes: A pickup drone determination unit is used to receive a request for picking up an item and determine any idle drone as a target drone; A target cabinet state query unit, configured to determine a target smart cabinet according to the pickup order information in the item pickup request, and query the target cabinet state of the target smart cabinet; A cabinet state updating unit, configured to update the target smart cabinet from the cabinet available state to the cabinet occupied state when confirming that the target cabinet state is the cabinet available state; The package collection drone takeoff unit is used to obtain the flight route information corresponding to the target smart cabinet, generate a takeoff instruction according to the flight route information and send the takeoff instruction to the target drone, so that the target drone executes the takeoff instruction and arrives at the preset waiting position of the target smart cabinet.

[0058] In one embodiment, the item circulation module 50 further includes: The cargo drone carrying determination unit is used to determine whether the target drone is carrying an idle logistics box; The logistics box grabbing request unit is used to send the pickup order information to the target smart cabinet if it is confirmed that the target drone does not carry an idle logistics box, so that the target smart cabinet transfers the pickup logistics box containing the items to be picked up corresponding to the pickup order information to the cabinet transfer window, and generates a logistics box grabbing request; The drone pick-up unit is used to send a logistics box grabbing instruction corresponding to the logistics box grabbing request to the target drone upon receiving the logistics box grabbing request sent by the target smart cabinet, so that the target drone can take out the pick-up logistics box from the target smart cabinet through the cabinet transfer window according to the logistics box grabbing instruction; The pickup drone return unit is used to generate pickup notification information according to the logistics box grabbing completion information when receiving the logistics box grabbing completion information corresponding to the logistics box grabbing instruction sent by the target drone, and send a return instruction to the target drone, and update the target smart cabinet from the cabinet occupied state to the cabinet available state.

[0059] In one embodiment, the item circulation module 50 further includes: A second logistics box release unit is used to send a second logistics box release instruction to the target drone if the target drone is equipped with an idle logistics box, so that the target drone can deliver the idle logistics box to the target smart cabinet through the cabinet transfer window according to the second logistics box release instruction; The empty-load determination unit of the pickup drone is used to confirm that the target drone does not carry an idle logistics box when receiving the second logistics box release completion information corresponding to the second logistics box release instruction sent by the target drone.

[0060] For the specific definition of the item circulation device of the smart cabinet, please refer to the definition of the item circulation method of the smart cabinet above, which will not be repeated here. Each module in the above-mentioned item circulation device of the smart cabinet can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0061] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 3 As shown. The computer device includes a processor, a memory, a network interface and a database connected via a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a readable storage medium and an internal memory. The readable storage medium stores an operating system, computer-readable instructions and a database. The internal memory provides an environment for the operation of the operating system and computer-readable instructions in the readable storage medium. The database of the computer device is used to store data involved in the method for circulating items in the smart cabinet. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer-readable instructions are executed by the processor, a method for circulating items in a smart cabinet is implemented. The readable storage medium provided in this embodiment includes a non-volatile readable storage medium and a volatile readable storage medium.

[0062] In one embodiment, a computer device is provided, including a memory, a processor, and computer-readable instructions stored in the memory and executable on the processor, wherein the processor executes the computer-readable instructions to implement the following steps: Receive an item transfer request, determine a target smart cabinet and a target drone according to the item transfer request, and send a take-off instruction to the target drone; When confirming that the target UAV has arrived at the preset waiting position of the target smart cabinet, sending a landing positioning request to the target smart cabinet; After receiving the landing positioning completion information corresponding to the landing positioning request sent by the target smart cabinet, generating a landing instruction according to the landing positioning completion information and sending the landing instruction to the target UAV, so that the target UAV lands on the parking platform of the target smart cabinet according to the landing instruction; Sending a secondary positioning request to the target smart cabinet, and upon receiving a secondary positioning result corresponding to the secondary positioning request sent by the target smart cabinet, determining whether the secondary positioning result is a secondary positioning success; When it is confirmed that the secondary positioning result is successful, an item transfer instruction corresponding to the item transfer request is sent to the target drone, so that the target drone completes the item transfer between the target smart cabinet.

[0063] In one embodiment, one or more computer-readable storage media storing computer-readable instructions are provided. The readable storage media provided in this embodiment include non-volatile readable storage media and volatile readable storage media. The readable storage media store computer-readable instructions, and when the computer-readable instructions are executed by one or more processors, the following steps are implemented: Receive an item transfer request, determine a target smart cabinet and a target drone according to the item transfer request, and send a take-off instruction to the target drone; When confirming that the target UAV has arrived at the preset waiting position of the target smart cabinet, sending a landing positioning request to the target smart cabinet; After receiving the landing positioning completion information corresponding to the landing positioning request sent by the target smart cabinet, generating a landing instruction according to the landing positioning completion information and sending the landing instruction to the target UAV, so that the target UAV lands on the parking platform of the target smart cabinet according to the landing instruction; Sending a secondary positioning request to the target smart cabinet, and upon receiving a secondary positioning result corresponding to the secondary positioning request sent by the target smart cabinet, determining whether the secondary positioning result is a secondary positioning success; When it is confirmed that the secondary positioning result is successful, an item transfer instruction corresponding to the item transfer request is sent to the target drone, so that the target drone completes the item transfer between the target smart cabinet.

[0064] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through computer-readable instructions. The computer-readable instructions can be stored in a non-volatile readable storage medium or a volatile readable storage medium. When the computer-readable instructions are executed, they can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided by the present invention may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0065] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0066] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A method for transferring items in a smart cabinet, characterized in that: include: Receive an item transfer request, determine a target smart cabinet and a target drone according to the item transfer request, and send a take-off instruction to the target drone; When confirming that the target UAV has arrived at the preset waiting position of the target smart cabinet, sending a landing positioning request to the target smart cabinet; After receiving the landing positioning completion information corresponding to the landing positioning request sent by the target smart cabinet, generating a landing instruction according to the landing positioning completion information and sending the landing instruction to the target UAV, so that the target UAV lands on the parking platform of the target smart cabinet according to the landing instruction; Sending a secondary positioning request to the target smart cabinet, and upon receiving a secondary positioning result corresponding to the secondary positioning request sent by the target smart cabinet, determining whether the secondary positioning result is a secondary positioning success; When it is confirmed that the secondary positioning result is successful, an item transfer instruction corresponding to the item transfer request is sent to the target drone, so that the target drone completes the item transfer between the target smart cabinet.

2. The method for transferring items in a smart cabinet according to claim 1, characterized in that: The item circulation request includes an item dispatch request; The receiving the item transfer request, determining the target smart cabinet and the target drone according to the item transfer request, and sending a take-off instruction to the target drone, includes: Receive an item delivery request, and determine a drone carrying a delivery logistics box containing items to be delivered as a target drone; Determine a candidate smart cabinet according to the delivery order information in the item delivery request, and query the candidate cabinet status of the candidate smart cabinet; When confirming that the candidate cabinet state is a cabinet available state, sending a cabinet occupation request to the candidate smart cabinet; Upon receiving the cabinet occupancy result corresponding to the cabinet occupancy request sent by the candidate smart cabinet and confirming that the cabinet occupancy result is successful cabinet occupancy, the candidate smart cabinet is determined as the target smart cabinet, and the target smart cabinet is updated from the cabinet available state to the cabinet occupied state; The flight route information corresponding to the target smart cabinet is obtained, a take-off instruction is generated according to the flight route information, and the take-off instruction is sent to the target UAV, so that the target UAV executes the take-off instruction and arrives at a preset waiting position of the target smart cabinet.

3. The method for transferring items in a smart cabinet according to claim 2, characterized in that: The sending a secondary positioning request to the target smart cabinet includes: A secondary positioning request is sent to the target smart cabinet, so that after receiving the secondary positioning request, the target smart cabinet adjusts the position of the target drone at the initial landing position, and determines whether the position of the target drone after the position adjustment matches the cabinet flow window of the target smart cabinet; when the position matches, the secondary positioning result corresponding to the secondary positioning request is determined as a secondary positioning success; and when the position does not match, the secondary positioning result corresponding to the secondary positioning request is determined as a secondary positioning failure.

4. The method for transferring items in a smart cabinet according to claim 2, characterized in that: The sending of the item transfer instruction corresponding to the item transfer request to the target drone, so that the target drone completes the item transfer between the target smart cabinet and the target drone, includes: Sending a first logistics box release instruction corresponding to the item delivery request to the target drone, and upon receiving first logistics box release completion information corresponding to the first logistics box release instruction sent by the target drone, confirming that the target drone delivers the delivery logistics box to the target smart cabinet through the cabinet machine transfer window according to the first logistics box release instruction; Sending a slot allocation request corresponding to the item to be delivered to the target smart cabinet, and upon receiving the slot allocation information corresponding to the slot allocation request sent by the target smart cabinet, confirming that the target smart cabinet transfers the item to be delivered from the delivery logistics box to the target slot corresponding to the slot allocation information according to the slot allocation request; Generate pickup notification information according to the slot allocation information, send a return instruction to the target drone, and update the target smart cabinet from a cabinet occupied state to a cabinet available state.

5. The method for transferring items in a smart cabinet according to claim 1, characterized in that: The item transfer request includes an item pickup request; The receiving the item transfer request, determining the target smart cabinet and the target drone according to the item transfer request, and sending a take-off instruction to the target drone, includes: Receive a request to pick up an item and identify any idle drone as a target drone; Determine a target smart cabinet according to the pickup order information in the item pickup request, and query the target cabinet status of the target smart cabinet; When confirming that the target cabinet state is a cabinet available state, updating the target smart cabinet from the cabinet available state to the cabinet occupied state; The flight route information corresponding to the target smart cabinet is obtained, a take-off instruction is generated according to the flight route information, and the take-off instruction is sent to the target UAV, so that the target UAV executes the take-off instruction to arrive at a preset waiting position of the target smart cabinet.

6. The method for transferring items in a smart cabinet according to claim 5, characterized in that: The sending of the item transfer instruction corresponding to the item transfer request to the target drone, so that the target drone completes the item transfer between the target smart cabinet and the target drone, includes: Determining whether the target drone has an idle logistics box on board; If it is confirmed that the target drone does not carry an idle logistics box, the pickup order information is sent to the target smart cabinet, so that the target smart cabinet transfers the pickup logistics box containing the items to be picked up corresponding to the pickup order information to the cabinet transfer window, and generates a logistics box grabbing request; Upon receiving the logistics box grabbing request sent by the target smart cabinet, sending a logistics box grabbing instruction corresponding to the logistics box grabbing request to the target drone, so that the target drone takes out the parcel logistics box from the target smart cabinet through the cabinet transfer window according to the logistics box grabbing instruction; When the logistics box grabbing completion information corresponding to the logistics box grabbing instruction is received from the target drone, the pick-up notification information is generated according to the logistics box grabbing completion information, and a return instruction is sent to the target drone, and the target smart cabinet is updated from the cabinet occupied state to the cabinet available state.

7. The method for transferring items in a smart cabinet according to claim 6, characterized in that: Before sending the pickup order information to the target smart cabinet, the method further includes: If the target drone carries an idle logistics box, a second logistics box release instruction is sent to the target drone, so that the target drone delivers the idle logistics box to the target smart cabinet through the cabinet transfer window according to the second logistics box release instruction; When the second logistics box release completion information corresponding to the second logistics box release instruction sent by the target drone is received, it is confirmed that the target drone does not carry an idle logistics box.

8. An article circulation device for a smart cabinet, characterized in that: include: A drone takeoff module is used to receive an item transfer request, determine a target smart cabinet and a target drone according to the item transfer request, and send a takeoff instruction to the target drone; A landing positioning module, configured to send a landing positioning request to the target smart cabinet when confirming that the target drone has arrived at the preset waiting position of the target smart cabinet; A drone landing module is used to generate a landing instruction according to the landing positioning completion information and send the landing instruction to the target drone after receiving the landing positioning completion information corresponding to the landing positioning request sent by the target smart cabinet, so that the target drone lands on the parking platform of the target smart cabinet according to the landing instruction; A secondary positioning module, used to send a secondary positioning request to the target smart cabinet, and upon receiving a secondary positioning result corresponding to the secondary positioning request sent by the target smart cabinet, determine whether the secondary positioning result is a successful secondary positioning; The item circulation module is used to send an item circulation instruction corresponding to the item circulation request to the target drone when confirming that the secondary positioning result is successful, so that the target drone completes the item circulation between the target smart cabinet.

9. A computer device comprising a memory, a processor, and computer-readable instructions stored in the memory and executable on the processor, characterized in that: When the processor executes the computer-readable instructions, the item circulation method of the smart cabinet as described in any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium storing computer-readable instructions, characterized in that: When the computer-readable instructions are executed by one or more processors, the one or more processors execute the item circulation method of the smart cabinet as described in any one of claims 1 to 7.

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