Goods taking and delivering method and device based on two-dimensional code, equipment and storage medium

Abstract

The invention discloses a goods taking and delivering method and device based on a two-dimensional code, equipment and a storage medium. The method comprises the steps that at least three two-dimensional codes are arranged on the ground or the wall face of a preset area in advance; according to the received task information and the real-time position information of the transfer trolley, a goods taking and delivering route is generated; the transfer trolley moves according to the goods taking and delivering route and verifies whether the two-dimensional code is matched with the goods taking and delivering route or not according to the two-dimensional code shot in real time; and when the transfer trolley arrives at the goods taking and delivering place in the goods taking and delivering route and the two-dimensional code verification is passed, goods taking and delivering operation is carried out. According to the technical scheme, the two-dimensional code is arranged at the key position, the transfer trolley can navigate autonomously and verify the path, and dependence on manual forklift operation is reduced. And moreover, the pick-up and delivery route planning is optimized, the high efficiency and accuracy of the logistics process are ensured, and the logistics efficiency is remarkably improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of logistics management, and in particular to a pick-up and delivery method, device and equipment based on a two-dimensional code and a storage medium. BACKGROUND

[0002] In modern manufacturing, the efficient operation of production lines is crucial. Traditionally, factories often rely on forklifts to transfer goods after the production line is fully loaded. This method not only requires the provision of professional forklift operators, but also involves high equipment investment and maintenance costs. In addition, the efficiency of manual operation is relatively limited, which may cause bottlenecks in the production process and affect the overall production efficiency. How to properly solve the above problems has become an urgent task in the industry. SUMMARY

[0003] The present application provides a pick-up and delivery method, device and equipment based on a two-dimensional code and a storage medium, which realizes the automation of the pick-up and delivery process by arranging two-dimensional codes in a predetermined area, combined with real-time positioning and path verification of the transfer vehicle, reduces manual intervention, and improves logistics efficiency.

[0004] According to a first aspect of the present application, a pick-up and delivery method based on a two-dimensional code is provided, which comprises:

[0005] At least three two-dimensional codes are arranged in advance on the ground or wall surface of a predetermined area, and the two-dimensional codes have position information and executable action information;

[0006] According to the received task information and the real-time position information of the transfer vehicle, a pick-up and delivery route is generated;

[0007] The transfer vehicle moves according to the pick-up and delivery route, and verifies whether it matches the pick-up and delivery route according to the real-time shooting of the two-dimensional code;

[0008] When the transfer vehicle reaches the pick-up and delivery location in the pick-up and delivery route and the two-dimensional code verification is passed, the pick-up and delivery operation is performed.

[0009] In one embodiment, the at least three two-dimensional codes arranged in advance on the ground or wall surface of a predetermined area comprise:

[0010] According to the inflection points of the drivable road, the pick-up and delivery locations and the important position points of the predetermined area, at least three two-dimensional codes are arranged in advance;

[0011] The scanning device of the transfer vehicle can obtain the position information and executable action information of the two-dimensional code.

[0012] In one embodiment, according to the received task information and the real-time position information of the transfer vehicle, a pick-up and delivery route is generated, which comprises:

[0013] Generate a pickup route based on the pickup location in the task information and the real-time location information of the transfer vehicle;

[0014] Generate a delivery route based on the delivery location and pickup location in the task information;

[0015] The pickup and delivery route includes a pickup route and a delivery route, and the pickup and delivery route includes the sequence information of the necessary QR codes and the distance information between each QR code.

[0016] In one embodiment, the transfer vehicle moves according to the pick-up and delivery route, and verifies whether the QR code matches the pick-up and delivery route based on real-time capture, including:

[0017] The transfer vehicle moves according to the pickup and delivery route and takes a photo of the QR code in real time;

[0018] When the QR code captured in real time matches the QR code in the delivery route, the vehicle continues to move;

[0019] When the QR code captured in real time does not match the QR code in the delivery route, the transfer vehicle will suspend operation and send relevant information about the mismatch to a preset route repair system.

[0020] In one embodiment, it further includes:

[0021] If the transfer vehicle receives the next task information before completing the current task information, and if the pick-up and delivery route of the current task information overlaps with the pick-up and delivery route of the next task information, the pick-up and delivery route of the current task information is modified to complete the part of the next task information in advance;

[0022] If the transfer vehicle does not receive the next task information within the preset waiting time after completing the current task information, it returns to the default docking position according to the preset default docking position information.

[0023] In one embodiment, it further includes:

[0024] The obstacle avoidance sensor installed on the transfer vehicle is used to detect in real time whether there are obstacles on the path;

[0025] When an obstacle is detected, the transfer vehicle is controlled to stop running and an alarm signal is issued.

[0026] According to a second aspect of the present invention, a QR code-based delivery device is provided, comprising:

[0027] A preset module is used to pre-arrange at least three QR codes on the ground or wall of a preset area. The QR codes have location information and executable action information.

[0028] generating a pick-up and delivery route according to the received task information and real-time position information of the transfer vehicle;

[0029] verifying whether the transfer vehicle matches the pick-up and delivery route according to the real-time captured two-dimensional code;

[0030] operating the transfer vehicle to perform pick-up and delivery operation when the transfer vehicle reaches the pick-up and delivery location in the pick-up and delivery route and the two-dimensional code verification is passed.

[0031] According to a third aspect of the present application, an electronic device is provided, which comprises a communication interface, a processor, and a memory.

[0032] The memory is configured to store program instructions, which, when executed by the processor in communication connection with the memory through the communication interface, implement any of the above-mentioned two-dimensional code-based pick-up and delivery methods.

[0033] According to a fourth aspect of the present application, a computer-readable storage medium is provided, which stores computer program instructions, which, when executed by a computer (e.g., a processor in the computer), implement any of the above-mentioned two-dimensional code-based pick-up and delivery methods.

[0034] To sum up, the present application provides a two-dimensional code-based pick-up and delivery method and device, which comprises the following steps: arranging at least three two-dimensional codes on the ground or wall surface of a preset area, the two-dimensional codes having position information and executable action information; generating a pick-up and delivery route according to the received task information and real-time position information of the transfer vehicle; moving the transfer vehicle according to the pick-up and delivery route and verifying whether the transfer vehicle matches the pick-up and delivery route according to the real-time captured two-dimensional code; and operating the transfer vehicle to perform pick-up and delivery operation when the transfer vehicle reaches the pick-up and delivery location in the pick-up and delivery route and the two-dimensional code verification is passed. The technical solution of the present application arranges two-dimensional codes at key positions, so that the transfer vehicle can autonomously navigate and verify the path, reducing the dependence on manual forklift operation. Moreover, the pick-up and delivery route is optimized, ensuring the efficiency and accuracy of the logistics process. The two-dimensional code-based pick-up and delivery method effectively reduces labor costs, shortens operation time, and significantly improves logistics efficiency.

[0035] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent to those skilled in the art from the description, or can be learned by practice of the present application. The objects and other advantages of the present application can be achieved and obtained by means of the structures particularly pointed out in the written description and the accompanying drawings.

[0036] The technical solution of the present application will be further described in detail below with reference to the accompanying drawings and examples. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0038] Figure 1 A flowchart of a QR code-based delivery method provided by an embodiment of the present invention;

[0039] Figure 2 A schematic diagram of a QR code layout for a QR code-based delivery method provided in an embodiment of the present invention;

[0040] Figure 3 A structural diagram of a QR code-based delivery device provided by an embodiment of the present invention;

[0041] Figure 4 A structural diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0042] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is merely to provide a better understanding of the present application by illustrating the examples of the present application.

[0043] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, the elements defined by the phrase "comprising..." do not exclude the presence of other identical elements in the process, method, article, or device comprising the elements.

[0044] likeFigure 1 As shown, the present application provides a two-dimensional code-based delivery method, which comprises:

[0045] In step S11, at least three two-dimensional codes are pre-arranged on the ground or wall surface of the preset area, and each two-dimensional code has position information and executable action information.

[0046] In step S12, a delivery route is generated according to the received task information and the real-time position information of the transfer vehicle.

[0047] In step S13, the transfer vehicle moves according to the delivery route and verifies whether it matches the delivery route according to the real-time shooting of the two-dimensional code.

[0048] In step S14, when the transfer vehicle reaches the delivery location in the delivery route and the two-dimensional code verification is passed, the delivery operation is performed.

[0049] In one embodiment, with the rapid development of automation technology, the logistics field is undergoing profound changes. The introduction of automation technology makes the logistics process more efficient, accurate and controllable. Without human intervention, an automated system can complete tasks such as loading, unloading, transporting and storing goods. This change not only shortens the operation time and reduces the labor cost, but also improves the turnover speed and processing capacity of goods, significantly optimizing the logistics link of the production line.

[0050] The two-dimensional code-based delivery method is an innovative method for automatic transfer of goods using two-dimensional code technology. At least three two-dimensional codes are arranged on the ground or wall surface of the preset area, and each two-dimensional code has position information and executable action information. The transfer vehicle generates a delivery route according to the received task information and its real-time position information, and moves along the route. During the movement, the transfer vehicle verifies whether it matches the delivery route by real-time shooting of the two-dimensional code to ensure the accuracy of the movement. When the transfer vehicle reaches the delivery location in the delivery route and the two-dimensional code verification is passed, the corresponding delivery operation is performed.

[0051] At least three two-dimensional codes are arranged in advance on the ground or wall surface of the preset area, and the position information and executable action information of the two-dimensional codes are the basis of the entire technical solution. The position information of the two-dimensional codes is used to determine the specific position of the transfer vehicle in the preset area, and the executable action information guides the operation that the transfer vehicle should perform at a specific position, such as picking up and delivering goods. By arranging two-dimensional codes at the turning points of the drivable road in the preset area, the pickup and delivery locations, and important position points, it can be ensured that the transfer vehicle can accurately obtain the information of the key positions during the travel process, thereby realizing accurate path planning and operation execution. The scanning device of the transfer vehicle is a key component for obtaining two-dimensional code information, and its performance directly affects the accuracy and efficiency of two-dimensional code recognition. The scanning device needs to have fast and accurate two-dimensional code recognition capability, and can capture and parse two-dimensional code information in real time during the movement of the transfer vehicle, providing real-time position and operation instructions for the PLC controller.

[0052] According to the received task information and the real-time position information of the transfer vehicle, the task information usually contains key data such as pickup and delivery locations, and the real-time position information of the transfer vehicle is obtained through its own positioning system. According to these information, the PLC controller uses a path planning algorithm to calculate the optimal route from the current position of the transfer vehicle to the pickup location, and then from the pickup location to the delivery location. The generated pickup and delivery route not only includes the pickup route and the delivery route, but also contains the sequence information of the two-dimensional codes that must be passed through and the distance information between each two-dimensional code, providing clear guidance for the travel of the transfer vehicle and ensuring that it can accurately reach each pickup and delivery location according to the preset path to complete the transfer task of the goods. The transfer vehicle moves according to the pickup and delivery route, and verifies whether it matches the pickup and delivery route according to the two-dimensional code captured in real time. During the travel process, the transfer vehicle continuously captures the two-dimensional codes around it through the scanning device, and compares the obtained two-dimensional code information with the pickup and delivery route information stored in the PLC controller. When the two-dimensional code captured in real time matches the two-dimensional code in the pickup and delivery route, it means that the transfer vehicle is traveling on the correct path and can continue to move forward. Conversely, when there is a mismatch, it may be caused by the two-dimensional code being blocked, damaged, or the transfer vehicle deviating from the preset route. At this time, the transfer vehicle should pause and send the mismatched information to the preset route repair system for timely adjustment and repair to ensure the smooth progress of the transfer task.

[0053] When the transfer vehicle reaches the pick-up / delivery location in the pick-up / delivery route and the two-dimensional code verification is passed, the pick-up / delivery operation is performed. The PLC controller controls the mechanical device of the transfer vehicle to complete the pick-up or delivery action according to the executable action information in the two-dimensional code. For example, when picking up, the mechanical arm of the transfer vehicle will extend to the designated position according to the instruction, grab the goods and place them in the transfer vehicle; when delivering, the goods will be taken out from the transfer vehicle and placed at the designated delivery location. The entire pick-up / delivery operation process needs to be precisely controlled to ensure the safety and integrity of the goods, while also considering the efficiency of the operation to improve the performance of the entire transfer system.

[0054] Before the transfer vehicle executes the current task information, if the next task information is received, the system will determine whether the pick-up / delivery route of the current task information overlaps with the pick-up / delivery route of the next task information. If there is an overlapping part, in order to improve efficiency, the system will modify the pick-up / delivery route of the current task information so that it can complete part of the work of the next task information in advance, thereby reducing unnecessary travel and operation, saving time and resources. In addition, if the transfer vehicle does not receive the next task information within the preset waiting time after completing the current task information, it will return to the default parking location according to the preset default parking location information. This can avoid the transfer vehicle moving randomly when there is no task, reduce energy consumption and equipment wear and tear, and also facilitate the centralized management and scheduling of the transfer vehicle.

[0055] In order to ensure the safety of the transfer process, an obstacle avoidance sensor installed on the transfer vehicle is used to detect whether there are obstacles on the path in real time. When an obstacle is detected, the PLC controller will immediately control the transfer vehicle to pause operation and send an alarm signal to remind relevant personnel to handle it. This can effectively prevent the transfer vehicle from colliding with obstacles, protecting the safety of equipment and goods, and also helping to protect the safety of personnel, especially in the case of human factors interference, such as workers mistakenly entering the travel area of the transfer vehicle.

[0056] The pick-up and delivery of goods are achieved in an automated manner, reducing the time and error rate of manual operation and greatly improving the efficiency of goods transfer. There is no need to equip a large number of forklifts and professional forklift personnel, reducing labor costs and equipment procurement costs. The two-dimensional code and pick-up / delivery route can be flexibly arranged according to different preset areas and task requirements, with strong adaptability. The system has safety mechanisms such as route matching verification and obstacle avoidance detection, effectively ensuring the safety of the transfer process.

[0057] For example, Figure 2As shown, the production line is east-west symmetrical layout, mark 1 for the west side of the two-dimensional code landmark number, the number corresponds to the data stored in the two-dimensional code. The encoding of the cargo storage area is 10, 11...17, 20, 21...27, 30, 31...37, 40, 41...47, 50, 51...57; The encoding of the walking area is 60, 61...65; The encoding of the handling and stacking area is 70, 71, 72, 80, 81, 82, 130, 131, 132. The small square of mark 2 represents the two-dimensional code on the west side of the ground, which can be flexibly pasted according to the actual site situation. Mark 3 indicates the stacking location, and a total of 36 locations are provided on the east and west sides in the figure. Mark 4 is the default parking standby position of the automatic transfer trolley, and the corresponding internal data of the two-dimensional code is 00. The east side has the same layout as the west side.

[0058] When any of the west or east side pallets is completed to be stacked, the pallet will send a full stack signal to the PLC. For example, if the No. 5 pallet is completed to be stacked, the PLC will call the route program from the transfer vehicle parking position 00 to the No. 106 two-dimensional code landmark at the No. 5 pallet after receiving the full stack signal of the No. 5 pallet. The route program is 00--60--61--62--63--64--100--101--106, wherein each data point contains the walking mode of the transfer vehicle from the corresponding position to the next position. Specifically, the transfer vehicle advances straight at the 00 position, and after reaching the two-dimensional code landmark 60, the data of 60 is acquired by scanning, based on which the PLC controls the transfer vehicle to turn right and advance straight. Subsequently, the transfer vehicle continues to travel along the preset route, and the two-dimensional code landmarks 61, 62 and 63 are scanned in sequence, and the PLC continuously controls the advance thereof according to the acquired data. When reaching the two-dimensional code landmark 64 and acquiring the data of 64 by scanning, the PLC instructs the transfer vehicle to turn right again and advance straight. Then, the transfer vehicle continues to advance to the No. 115 position, and when reaching the No. 116 two-dimensional code landmark, the PLC controls the transfer vehicle to turn left and advance straight until reaching the No. 121 position. At this position, the transfer vehicle scans the two-dimensional code landmark, and the PLC judges that the No. 5 pallet has been reached, and then controls the transfer vehicle to perform a goods carrying operation. After the carrying task is completed, the PLC further controls the transfer vehicle to go to the No. 17 position of the goods storage area, and calls the corresponding route program 121--116--115--64--63--62--61--60--50--40--30--20--10--11--...--16--17. After the transfer vehicle reaches the No. 17 two-dimensional code landmark position, the goods storage operation is performed, and at the same time, the PLC records the information that the No. 17 position has been stored. Finally, the transfer vehicle calls the program for returning to the standby position 00, and is ready to wait for the next full stack signal. In order to further improve the safety of the system, the actual distances between all two-dimensional code landmarks are measured in advance and stored. In the process of the transfer vehicle moving from one position to the next position according to the walking program, the system will compare the actual walking distance with the preset measured distance in real time. If the actual walking distance exceeds the measured distance, and the transfer vehicle still does not detect the expected two-dimensional code landmark, the transfer vehicle will automatically stop and trigger the alarm mechanism. In addition, the transfer vehicle is equipped with an anti-collision sensor, and once an obstacle or a person is detected on the path, the transfer vehicle will immediately stop running and send an alarm signal, so as to ensure the safety of the transfer process.

[0059] The technical solution in the embodiment realizes accurate taking and delivering of goods by arranging two-dimensional codes in a preset area, combining a PLC controller and a scanning device and a mechanical device of a transfer vehicle, etc. By arranging two-dimensional codes at key positions, the transfer vehicle can autonomously navigate and verify a path, reducing the dependence on manual forklift operation. Moreover, the taking and delivering route is optimized, ensuring the efficiency and accuracy of the logistics process. The taking and delivering method based on two-dimensional codes effectively reduces labor costs, shortens operation time, and significantly improves the logistics efficiency of the factory production line.

[0060] In one embodiment, Figure 3 is a taking and delivering device based on two-dimensional codes according to an exemplary embodiment. As Figure 3 shown, the taking and delivering device based on two-dimensional codes includes a preset module 31, a generation module 32, a verification module 33, and an operation module 34.

[0061] The preset module 31 is configured to pre-arrange at least three two-dimensional codes on the ground or wall surface of a preset area, wherein the two-dimensional codes have position information and executable action information

[0062] The generation module 32 is configured to generate a taking and delivering route according to received task information and real-time position information of the transfer vehicle.

[0063] The verification module 33 is configured to move the transfer vehicle according to the taking and delivering route, and verify whether the real-time photographed two-dimensional code matches the taking and delivering route.

[0064] The operation module 34 is configured to perform taking and delivering operation when the transfer vehicle reaches a taking and delivering location in the taking and delivering route and the two-dimensional code verification is passed.

[0065] The preset module 31, the generation module 32, the verification module 33, and the operation module 34 of the taking and delivering device based on two-dimensional codes are controlled to perform the taking and delivering method based on two-dimensional codes described in any of the above embodiments.

[0066] As Figure 4 shown, the present application provides an electronic device 400, which includes a communication interface, a processor 401, and a memory 402.

[0067] The memory 402 is configured to store program instructions, and the program instructions, when executed by the processor 401 in communication with the memory 402, pre-arrange at least three two-dimensional codes on the ground or wall surface of a preset area, the two-dimensional codes have position information and executable action information; generate a pick-up and delivery route according to received task information and real-time position information of a transfer vehicle; the transfer vehicle moves according to the pick-up and delivery route, and verifies whether the two-dimensional code matches the pick-up and delivery route according to the real-time shooting of the two-dimensional code; when the transfer vehicle reaches a pick-up and delivery location in the pick-up and delivery route and the two-dimensional code verification is passed, a pick-up and delivery operation is performed.

[0068] The application provides a computer readable storage medium, and computer program instructions are stored on the computer readable storage medium, and the computer program instructions, when executed by a processor, pre-arrange at least three two-dimensional codes on the ground or wall surface of a preset area, the two-dimensional codes have position information and executable action information; generate a pick-up and delivery route according to received task information and real-time position information of a transfer vehicle; the transfer vehicle moves according to the pick-up and delivery route, and verifies whether the two-dimensional code matches the pick-up and delivery route according to the real-time shooting of the two-dimensional code; when the transfer vehicle reaches a pick-up and delivery location in the pick-up and delivery route and the two-dimensional code verification is passed, a pick-up and delivery operation is performed.

[0069] It should be understood that the specific features, operations and details described above with respect to the method of the application can be similarly applied to the device and system of the application, or vice versa. In addition, each step of the method of the application described above can be performed by the corresponding component or unit of the device or system of the application.

[0070] It should be understood that each module / unit of the device of the application can be realized by software, hardware, firmware or a combination thereof, in whole or in part. Each module / unit can be embedded in a processor of a computer device in hardware or firmware form, or independent of the processor, or in software form stored in a memory of the computer device for calling by the processor to perform the operation of each module / unit. Each module / unit can be realized as an independent component or module, or two or more modules / units can be realized as a single component or module.

[0071] In one embodiment, a computer device is provided, which includes a memory and a processor, the memory having stored thereon computer instructions executable by the processor, the computer instructions, when executed by the processor, instructing the processor to perform steps of the method of an embodiment of the present application. The computer device can be broadly a server, a terminal, or any other electronic device with necessary computing and / or processing capability. In one embodiment, the computer device can include a processor, a memory, a network interface, a communication interface, etc. connected by a system bus. The processor of the computer device can be configured to provide necessary computing, processing and / or control capability. The memory of the computer device can include a non-volatile storage medium and an internal memory. The non-volatile storage medium can have stored therein or thereon an operating system, a computer program, etc. The internal memory can provide an environment for running of the operating system and the computer program in the non-volatile storage medium. The network interface and the communication interface of the computer device can be configured to connect and communicate with external devices through a network. The computer program, when executed by the processor, performs steps of the method of the present application.

[0072] The present application can be implemented as a computer readable storage medium having stored thereon a computer program, which, when executed by a processor, causes steps of the method of an embodiment of the present application to be performed. In one embodiment, the computer program is distributed over a plurality of computer devices or processors coupled to a network, such that the computer program is stored, accessed and executed in a distributed manner by one or more computer devices or processors. A single method step / operation, or two or more method steps / operations, can be performed by a single computer device or processor, or by two or more computer devices or processors. One or more method steps / operations can be performed by one or more computer devices or processors, and one or more other method steps / operations can be performed by one or more other computer devices or processors. One or more computer devices or processors can perform a single method step / operation, or perform two or more method steps / operations.

[0073] As will be appreciated by one of ordinary skill in the art, the steps of the methods of the present application can be directed to relevant hardware, such as computer devices or processors, by way of computer program instructions. Computer program instructions can be stored in non-transitory computer-readable storage media, which cause the steps of the present application to be performed when the computer program instructions are executed. Any reference to memory, storage, a database, or other medium can include non-volatile and / or volatile storage. Examples of non-volatile storage include read-only memory (ROM), programmable ROM (PROM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory, magnetic tape, floppy disks, magnetic strips, magneto-optical data storage, optical data storage, hard disks, solid-state drives, or any other suitable non-volatile storage mediums. Examples of volatile storage include random access memory (RAM), external cache memory, or others.

[0074] The technical features described above can be combined in any way. Although not all possible combinations of the technical features are described, any combination of the technical features should be considered as being covered by the present specification, as long as such a combination does not result in a contradiction.

[0075] Finally, it should be noted that the above-described embodiments are merely intended to illustrate the technical solutions of the present application, not to limit the scope of the present application; although the present application has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that they can still make modifications to the technical solutions recorded in the above embodiments, or make equivalent replacements to some or all of the technical features; and such modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A QR code-based delivery method, characterized in that: include: At least three QR codes are pre-arranged on the ground or wall of a preset area, wherein the QR codes have location information and executable action information; Generate pick-up and delivery routes based on the received task information and the real-time location information of the transfer vehicle; The transfer vehicle moves according to the pick-up and delivery route, and verifies whether it matches the pick-up and delivery route based on the real-time capture of the QR code; When the transfer vehicle arrives at the pick-up and delivery location in the pick-up and delivery route and the QR code verification is passed, the pick-up and delivery operation is performed.

2. The QR code-based delivery method according to claim 1, characterized in that: The at least three QR codes are pre-arranged on the ground or wall of the preset area, including: At least three QR codes are pre-arranged according to the turning points of the traversable roads, pick-up and delivery locations, and important locations in the preset area; The scanning device of the transfer vehicle can obtain the location information and executable action information of the QR code.

3. The QR code-based delivery method according to claim 1, wherein: Generate a delivery route based on the received task information and the real-time location information of the transfer vehicle, including: Generate a pickup route based on the pickup location in the task information and the real-time location information of the transfer vehicle; Generate a delivery route based on the delivery location and pickup location in the task information; The pickup and delivery route includes a pickup route and a delivery route, and the pickup and delivery route includes the sequence information of the necessary QR codes and the distance information between each QR code.

4. The method for picking up and delivering goods based on a QR code according to claim 1, wherein: The transfer vehicle moves according to the delivery route and verifies whether it matches the delivery route based on the real-time capture of the QR code, including: The transfer vehicle moves according to the pickup and delivery route and takes a photo of the QR code in real time; When the QR code captured in real time matches the QR code in the delivery route, the vehicle continues to move; When the QR code captured in real time does not match the QR code in the delivery route, the transfer vehicle will suspend operation and send relevant information about the mismatch to a preset route repair system.

5. The method for picking up and delivering goods based on a QR code according to claim 1, wherein: Also includes: If the transfer vehicle receives the next task information before completing the current task information, and if the pick-up and delivery route of the current task information overlaps with the pick-up and delivery route of the next task information, the pick-up and delivery route of the current task information is modified to complete the part of the next task information in advance; If the transfer vehicle does not receive the next task information within the preset waiting time after completing the current task information, it returns to the default docking position according to the preset default docking position information.

6. The method for picking up and delivering goods based on a QR code according to claim 1, wherein: Also includes: The obstacle avoidance sensor installed on the transfer vehicle is used to detect in real time whether there are obstacles on the path; When an obstacle is detected, the transfer vehicle is controlled to stop running and an alarm signal is issued.

7. A QR code-based delivery device, characterized in that: include: A preset module is used to pre-arrange at least three QR codes on the ground or wall of a preset area. The QR codes have location information and executable action information. A generation module is used to generate a pick-up and delivery route based on the received task information and the real-time location information of the transfer vehicle; A verification module is used for the transfer vehicle to move according to the pick-up and delivery route, and to verify whether the QR code captured in real time matches the pick-up and delivery route; The operation module is used to perform the pick-up and delivery operation when the transfer vehicle arrives at the pick-up and delivery location in the pick-up and delivery route and the QR code verification is passed.

8. The QR code-based delivery device according to claim 7, characterized in that: The preset module, the generation module, the verification module and the operation module are controlled to execute the QR code-based delivery method described in any one of claims 1-6.

9. An electronic device, characterized in that: include: Communication interface, processor, memory; Wherein, the memory is used to store program instructions, and when the program instructions are executed by the processor that is communicatively connected to the memory through the communication interface, the electronic device implements the QR code-based delivery method described in any one of claims 1 to 6.

10. A computer-readable storage medium having program instructions stored thereon, characterized in that: When the program instructions are executed by a computer, the computer implements the QR code-based delivery method described in any one of claims 1 to 6.

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