Multi-temperature cold chain automatic distribution system and distribution method

Abstract

The invention relates to a multi-temperature cold chain automatic distribution system and a distribution method. The invention relates to a multi-temperature cold chain automatic distribution method. The method comprises the following steps: S1, loading goods; s2, automatic delivery: carrying out path planning according to the goods information and automatically delivering the goods to a target goods taking place; s3, automatically taking the goods, notifying the client and automatically taking the goods for the client; and S4, traversing all the distribution points and then returning to the distribution station. According to the multi-temperature cold chain automatic distribution method, the goods are sub-packaged in the multiple goods box bodies, and when goods are taken every time, the goods box bodies where the goods are to be taken automatically rotate to the rear portion of the goods taking door, so that automatic goods taking is achieved; only one pick-up door needs to be opened for pick-up each time, loss of a large amount of cold air caused by frequent pick-up in the delivery process can be effectively avoided, fluctuation of the temperature in the box can be reduced, and the energy utilization rate can be increased; meanwhile, an automatic navigation mechanism is carried, full-automatic goods distribution can be achieved, manpower is saved, and the distribution cost is reduced.

Description

Technical Field

[0001] This invention relates to the field of cold chain logistics, and in particular to a multi-temperature cold chain automated delivery system and delivery method. Background Technology

[0002] With societal development, more and more consumers are choosing fresh food delivery, necessitating cold chain logistics to ensure the freshness of ingredients. Cold chain delivery serves customers within a specific area, delivering a diverse range of goods, each requiring different refrigeration temperatures. However, current cold chain delivery boxes have a limited number of refrigerated compartments, resulting in different types of goods being stored at a single temperature. Single-box designs, or simply dividing the same refrigerated compartment into multiple storage spaces, cannot meet the demands of diverse goods. Furthermore, frequent opening and closing of the box doors during delivery leads to significant cold air loss, causing large temperature fluctuations and low energy efficiency. Additionally, storing different types of goods together poses a risk of cross-contamination, potentially compromising quality and safety. Moreover, failure to maintain optimal refrigeration temperatures for specific goods can lead to spoilage, deterioration, or loss of nutritional components, affecting their quality and freshness.

[0003] Moreover, most cold chain delivery vehicles currently lack autonomous navigation capabilities, still requiring a large number of delivery personnel for delivery operations. Furthermore, in the pickup process after the cold chain goods are delivered, manual opening of the cargo box is still required to retrieve the goods, resulting in low convenience of goods retrieval, incomplete automation, high delivery costs, and impact on the quality of cold chain goods. Summary of the Invention

[0004] Based on this, one of the objectives of the present invention is to provide a multi-temperature cold chain automated delivery system, which can divide goods into several boxes. When picking up goods, the box to be picked up automatically rotates to the back of the picking door. Only one picking door needs to be opened each time, which can effectively avoid the loss of a large amount of cold air caused by frequent picking during the delivery process, reduce the temperature fluctuation inside the box and improve energy utilization. At the same time, it is equipped with an automatic navigation mechanism, which can realize fully automated delivery of goods, save manpower and reduce delivery costs.

[0005] Another objective of this invention is to provide a multi-temperature cold chain automated delivery method, which employs a multi-temperature cold chain automated delivery system with autonomous navigation and automatic pickup functions to meet the delivery and storage needs of various types of cold chain goods.

[0006] A multi-temperature cold chain automated delivery system includes:

[0007] The pickup module is used to input goods information and set the corresponding storage temperature according to the goods information. At the same time, it is used to automatically retrieve the target goods according to the customer's pickup information.

[0008] The navigation module is used to automatically plan routes and adjust them in real time to deliver goods to the target pickup location;

[0009] The transportation module is used to control the delivery system to safely and smoothly transport goods to the target pickup location according to the walking path provided by the navigation module;

[0010] Furthermore, the picking module is equipped with a multi-temperature cold chain delivery box, which contains a lifting frame, a fixed frame, and several cargo boxes. In operation, the cargo boxes rotate horizontally within the closed loop formed by the lifting frame and the fixed frame, or the cargo boxes move up and down within the lifting frame. Each cargo box is equipped with a temperature controller to regulate the amount of cold air entering the cargo box.

[0011] Furthermore, the multi-temperature cold chain delivery box also has at least one retrieval port on its side wall, which is positioned directly opposite the lifting frame.

[0012] Furthermore, the transportation module is equipped with a drive mechanism to provide power to the multi-temperature cold chain distribution system; the drive mechanism is a four-wheel drive mechanism or a tracked wheel drive mechanism.

[0013] Furthermore, the navigation module is equipped with a lidar for scene perception during autonomous navigation;

[0014] Stereo vision cameras are used to perceive the environment and changes along the driving path;

[0015] At least one set of satellite signal receivers for satellite signal positioning;

[0016] The satellite signal receiver and the lidar are fixed on the top of the multi-temperature cold chain delivery box; the stereo vision camera is mounted on the multi-temperature cold chain delivery box and is positioned facing the direction of travel of the drive mechanism.

[0017] A multi-temperature cold chain automated delivery method includes the following steps:

[0018] S1: Loading goods, loading various goods into multi-temperature cold chain delivery boxes according to the goods information;

[0019] S2: Automated delivery, which plans the route based on the cargo information and automatically delivers the goods to the target pickup location;

[0020] S3: Automatic pickup, notifies the customer and automatically picks up the goods for the customer;

[0021] S4: After traversing all delivery points, return to the delivery station.

[0022] Furthermore, in step S1, different goods are loaded into different cargo boxes, and the goods information and customer information are entered into the picking module. The temperature controller adjusts the amount of cold air inside the cargo box according to the optimal storage temperature of the goods.

[0023] Furthermore, the specific method for step S2 is as follows:

[0024] S21, Read / match pre-stored high-precision maps;

[0025] S22, system positioning, obtaining the optimal delivery order, and planning the global route;

[0026] S23, departing for delivery, perceives the surrounding environment in real time, identifies obstacles and plans local avoidance paths to avoid obstacles, and at the same time identifies and responds to traffic lights;

[0027] S24, deliver goods to the target pickup point.

[0028] Furthermore, the obstacle avoidance in step S23 includes static obstacle avoidance and dynamic obstacle avoidance;

[0029] Static obstacle avoidance involves sensing real-time environmental information using LiDAR and matching it with a pre-stored high-precision map to identify newly added static obstacles. It then determines whether the size of the newly added static obstacle exceeds the system's set threshold. If so, a local avoidance path is planned to avoid it; otherwise, the system proceeds along the global path.

[0030] Dynamic obstacle avoidance involves detecting dynamic obstacles using a stereo vision camera, identifying them through a target detection algorithm, generating point cloud data to describe the 3D position of the dynamic obstacles, and tracking the dynamic obstacles; then, a local path planning algorithm is used to generate a local avoidance path.

[0031] The traffic light recognition and response in step S23 involves using a stereo vision camera to identify the traffic light, determine whether passage is permitted, and then control the drive mechanism to respond to the traffic light.

[0032] Furthermore, in step S3, after the target goods arrive at the target pickup location, the cargo box carrying the target goods rotates horizontally in the closed loop enclosed by the lifting frame and the fixed frame. After rotating into the lifting frame, it stops rotating horizontally. The lifting frame carries the cargo box up or down to the rear of the pickup opening, and then the door of the cargo box opens automatically for the customer to pick up the goods.

[0033] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0034] (1) By setting up an autonomous navigation function, the delivery system can stably and reliably complete continuous cold chain delivery operations without worrying about the limitations of manual operation, thus significantly improving the efficiency of end-of-line cold chain delivery.

[0035] (2) By placing goods with different storage temperatures into different cargo boxes and setting different refrigeration temperatures for different goods, the problem of product diversity can be effectively solved, and the quality and freshness of refrigerated goods can be highly guaranteed.

[0036] (3) By setting up multiple cargo boxes as independent storage spaces, different types of goods can be stored separately according to their categories, effectively avoiding the risk of cross-contamination between different cold chain goods;

[0037] (4) The opening and closing cargo box door with motor-controlled door shaft rotation can improve the convenience of picking up goods;

[0038] (5) By setting a locking mechanism, the cargo box is locked to the fixed frame when not picking up the item, so as to avoid the cargo box being unstable when the vehicle body is on an uneven road surface, which may cause the goods to be damaged due to shaking during delivery.

[0039] To better understand and implement this invention, the following detailed description is provided in conjunction with the accompanying drawings. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of the delivery system with a four-wheel drive mechanism provided in Example 1;

[0041] Figure 2 This is a schematic diagram of the delivery system with a tracked wheel drive mechanism provided in Embodiment 1;

[0042] Figure 3 This is a schematic diagram of the external structure of a multi-temperature cold chain delivery box provided in Example 1. Figure 1 ;

[0043] Figure 4 This is a schematic diagram of the internal structure of a multi-temperature cold chain delivery box.

[0044] Figure 5 for Figure 4 Enlarged view of a portion (I);

[0045] Figure 6 This is a structural schematic diagram of the lifting frame;

[0046] Figure 7 Schematic diagram of cargo box structure Figure 1 ;

[0047] Figure 8 Schematic diagram of cargo box structure Figure 2 ;

[0048] Figure 9 A cross-section of a multi-temperature cold chain delivery box Figure 1 ;

[0049] Figure 10 A cross-section of a multi-temperature cold chain delivery box Figure 2 ;

[0050] Figure 11 for Figure 10 Enlarged view II;

[0051] Figure 12 for Figure 10 Enlarged view of a portion III;

[0052] Figure 13 for Figure 10 Partial magnified view IV;

[0053] Figure 14 This is a schematic diagram of the locking mechanism;

[0054] Figure 15 A flowchart of the multi-temperature cold chain automated delivery method provided in Example 2;

[0055] Figure 16 Here is a flowchart illustrating the specific implementation of step S2;

[0056] Figure 17 Here is a flowchart illustrating the specific implementation of step S22;

[0057] Figure 18 This is a flowchart illustrating the specific implementation of step S23.

[0058] In the diagram: 10-Shell; 11-Loading door; 20-Cargo box rack; 21-Lifting frame; 211-Modible connecting frame; 212-Lifting assembly; 2121-Lifting motor; 2122-Traction component; 2123-Pulley; 2124-Spring limit block; 2125-Spring; 213-Long shaft; 22-Fixed frame; 221-Upper shelf; 2211-First slide rail; 222-Lower shelf; 2221-Second slide rail; 2222-Second slide rail; 30-Cargo box body; 31-Air inlet; 32-Air inlet; 33-Temperature controller 34-Moving component; 341-Translation motor; 342-Moving wheel; 35-Roller; 36-Cargo box door; 37-Limiting groove; 40-Refrigeration mechanism; 50-Locking mechanism; 51-Locking motor; 52-First gear assembly; 53-Second gear assembly; 54-Limiting rod; 100-Multi-temperature cold chain delivery box; 200-Chassis; 2011-Four-wheel drive mechanism; 2012-Track wheel drive mechanism; 400-Navigation mechanism; 401-Satellite signal receiver; 402-LiDAR; 403-Stereo vision camera. Detailed Implementation

[0059] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0060] In the description of this invention, it should be noted that the terms "vertical direction," "up," "down," and "horizontal," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, "first," "second," "third," and "fourth" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0061] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or a connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0062] Example 1

[0063] Please see Figure 1 and Figure 2 This application provides a multi-temperature cold chain automated delivery system, including a pickup module, a navigation module, and a transportation module. The pickup module is equipped with a multi-temperature cold chain delivery box 100 for loading goods and maintaining them at a constant temperature according to the specific goods until customer pickup. The multi-temperature cold chain delivery box 100 also automatically retrieves the target goods based on customer pickup information. The navigation module is equipped with a navigation mechanism 400, which is mounted on the multi-temperature cold chain delivery box 100. This mechanism senses real-time geographical location and operating environment, automatically plans and adjusts routes in real time, and transports the goods to the target pickup location. The transportation module is equipped with a chassis 200, which is located below the multi-temperature cold chain delivery box 100 and safely and smoothly transports the goods to the target pickup location according to the path provided by the navigation module.

[0064] A drive mechanism is installed at the bottom of the chassis 200 to provide power for the delivery system. It is understood that the drive mechanism is used to propel the delivery system carrying the multi-temperature cold chain delivery boxes 100 for mobile delivery. The specific configuration of the drive mechanism can be adjusted appropriately according to the delivery environment. For example, in some embodiments, the drive mechanism can be a four-wheel drive mechanism 2011, ensuring the delivery system moves smoothly and quickly on standard roads. In other embodiments, the drive mechanism can be a tracked wheel drive mechanism 2012, avoiding uneven road surfaces on non-standard roads. Ordinary wheeled delivery vehicles often have insufficient chassis stability, leading to unstable stacking of refrigerated boxes during delivery and potential damage due to shaking.

[0065] Furthermore, in some embodiments, the navigation mechanism 400 is fixed to the body of the multi-temperature cold chain delivery box 100, and includes: a lidar 402, a stereo vision camera 403, and at least one set of satellite signal receivers 401. In this embodiment, the satellite signal receiver 401 is an RTK signal receiver, used to realize GPS high-precision positioning function, which can locate the real-time position of the delivery system; the stereo vision camera 403 is a depth camera 403; the lidar 402 and the depth camera 403 are used to realize scene perception and intelligent path planning functions during autonomous navigation. Preferably, the satellite signal receivers 401 and the lidar 402 are fixed to the top of the multi-temperature cold chain delivery box 100 and protrude from the body of the multi-temperature cold chain delivery box 100; there are two satellite signal receivers 401, which are respectively arranged on both sides of the lidar 402 for differential positioning.

[0066] Please see Figure 3-6 A multi-temperature cold chain delivery box 100 includes: a shell 10, a box rack 20, several boxes 30, and a refrigeration mechanism 40. The shell 10 is divided into an inner heat insulation plate and an outer shell. The box rack 20 is located inside the shell 10 and has several storage spaces for accommodating the boxes 30. The refrigeration mechanism 40 is located inside the shell 10 and provides cold air to the boxes 30. The shell 10 has at least one retrieval opening on its side wall, and a retrieval door 11 that can be opened and closed is located directly opposite the retrieval opening. The several boxes 30 can move within the box rack 20. When a box 30 to be retrieved moves to the rear of the retrieval opening, the retrieval door 11 opens, allowing goods to be retrieved from the box 30.

[0067] This multi-temperature cold chain delivery box divides goods into several boxes 30. Each time goods are retrieved, the box 30 to be retrieved is simply rotated inside the box rack 20 to the rear of the retrieval door 11, and the corresponding retrieval door 11 is opened to take the goods. This method, requiring only one retrieval door 11 to be opened each time, effectively avoids the significant loss of cold air caused by frequent retrieval during delivery, reduces temperature fluctuations inside the box, and effectively improves energy efficiency.

[0068] Please see Figure 7 and Figure 8 In some embodiments, the cargo box 30 has an air inlet 31 through which cold air from inside the shell 10 enters the cargo box 30 for freezing or refrigeration of goods. Simultaneously, the cargo box 30 is also equipped with an air inlet 32 ​​and a temperature controller 33 electrically connected. The air inlet 32 ​​is positioned opposite the air inlet 31 and fixed to the outer wall of the cargo box 30, used to draw cold air from inside the shell 10 into the cargo box 30. The temperature controller 33 is located outside the cargo box 30 and is used to regulate the amount of cold air drawn into the cargo box 30 through the air inlet 32. In this way, goods requiring different storage temperatures can be housed in different cargo boxes 30, and different refrigeration temperatures can be set for different goods, effectively solving the problem of product diversity and avoiding the reduction in freshness caused by storing all goods at a single storage temperature.

[0069] Furthermore, the cargo box 30 is also equipped with an openable and closable cargo door 36. When the cargo box 30 is rotated to the retrieval position, the cargo door 36 is directly opposite the retrieval door 11. It is understood that the cargo door 36 and the retrieval door 11 can be configured to open and close via a hinged mechanism, or they can be configured to open and close via a push-button mechanism with a rebound mechanism; they are not limited to these methods. In this embodiment, the retrieval door 11 is designed with a push-button opening and closing mechanism, and the cargo door 36 is designed with an automatic opening and closing mechanism driven by a motor-driven hinge, enabling automatic opening and closing of the cargo box to improve the convenience of retrieval.

[0070] Please see Figure 3-6 In some embodiments, the cargo box rack 20 includes a lifting frame 21 positioned opposite the retrieval opening and a fixed frame 22 surrounding the inner wall of the housing 10. In operation, the cargo box 30 rotates horizontally within the closed loop formed by the lifting frame 21 and the fixed frame 22, or the cargo box 30 moves vertically within the lifting frame 21. Specifically, the cargo box 30 to be retrieved rotates horizontally within the fixed frame 22 to the lifting frame 21, and then moves vertically within the lifting frame 21 to the area directly behind the retrieval door 11 for retrieval.

[0071] It is understood that the fixed frame 22 can be an integral frame or a combination of multiple frames. The first and last ends of the fixed frame 22 are connected to the lifting frame 21 respectively, forming a closed loop that allows the cargo box 30 to move horizontally.

[0072] Furthermore, the lifting frame 21 is provided with multiple long shafts 213, which are vertically fixed to the upper and lower ends of the housing 10, forming an active space defined as the lifting compartment. The lifting frame 21 is also provided with several lifting components 212 and at least one set of movable connecting frames 211. The movable connecting frame 211 is movably disposed inside the lifting compartment for loading the cargo box 30. The lifting components 212 are provided with a fixed end and a movable end. The fixed end is fixed to the housing 10, and the movable end is connected to the movable connecting frame 211, driving the movable connecting frame 211 to move upward or downward, thereby transporting the cargo box 30 to be retrieved upward or downward to the rear of the retrieval door 11 for easy retrieval. Preferably, the end of the movable connecting frame 211 is sleeved on several long shafts 213 and moves up and down along the long shafts 213, thereby preventing horizontal swaying of the movable connecting frame 211 during its up and down movement within the lifting compartment and ensuring smooth movement of the movable connecting frame 211.

[0073] It should be noted that the fixed end of the lifting component 212 can be fixed to the top or bottom of the housing 10, or to the top or bottom of the lifting frame 21, or fixed to other positions of the housing 10. Its purpose is to control its movable end to drive the movable connecting frame 211 to move up and down.

[0074] In this embodiment, there is one movable connecting frame 211. It is understood that in other embodiments, the number of movable connecting frames 211 can be set according to the number of layers of the cargo box frame 20. When there are many layers, in order to reduce the travel of the movable connection, two or more can also be set, and it is not limited to this.

[0075] Please see Figure 5 and Figure 6 In some embodiments, the lifting assembly 212 includes a lifting motor 2121 and a traction member 2122; one end of the traction member 2122 is connected to the lifting motor 2121 and the other end is connected to the movable connecting frame 211. The lifting motor 2121 controls the raising and lowering of the traction member 2122, thereby driving the movable connecting member to move up and down.

[0076] In this embodiment, the traction member 2122 is a traction rope, and the lifting assembly 212 is also provided with a pulley 2123 for receiving the traction rope. The lifting motor 2121 drives the traction rope to retract or extend, thereby moving the movable connecting frame 211 up and down. It is understood that in some other embodiments, the traction member 2122 may also be a folding frame that can be retracted and unfolded, and the movement of the folding frame drives the movable connecting frame 211 up and down. In other embodiments, the traction member 2122 may also be a lead screw or other component that can drive the movable connecting frame to move up and down; these will not be detailed here.

[0077] Furthermore, in this embodiment, the lifting assembly 212 is also provided with a spring 2125 and a spring 2125 limiting block 2124. The spring 2125 limiting block 2124 is located at the upper end of the long shaft 213. The spring 2125 is sleeved on the outside of the long shaft 213, with one end abutting against the spring 2125 limiting block 2124 and the other end abutting against the movable connecting frame 211. This is used to dampen the movement of the movable connecting frame 211, ensuring that the movable connecting frame 211 slides smoothly along the long shaft 213, and further ensuring the safety of the goods.

[0078] Please see Figure 9-13 In some embodiments, the fixed frame 22 is divided into several shelves, and the cargo box 30 is disposed within the shelves. Each shelf is provided with an upper shelf 221 and a lower shelf 222, and the upper shelf 221 and / or the lower shelf 222 are provided with sliding grooves. During the loading process, the cargo box 30 slides horizontally along the sliding grooves. As a complement, the top surface and / or bottom surface of the movable connecting frame 211 are provided with transverse through-cuts, which are horizontally connected to the first and last ends of the sliding grooves to form a closed annular loop, and the cargo box 30 is displaced horizontally along the annular loop.

[0079] In this embodiment, the upper plate 221 has a first groove 2211, and the lower plate 222 has a second groove 2221. The movable connecting frame 211 has cutouts at both the top and bottom to connect with the first groove 2211 and the second groove 2221 respectively, forming two annular loops. As a complement, the top and bottom of the cargo box 30 are provided with rollers 35, and the central axes of the two rollers 35 are vertically clamped in the annular loop and move along the annular loop.

[0080] Please see Figure 7 , Figure 8 and Figure 13 Furthermore, the cargo box 30 is also provided with several moving components 34, each including a moving wheel 342 and a translation motor 341 that drives the moving wheel 342 to rotate. The translation motor 341 is fixed to the cargo box 30, and the moving wheel 342 is connected to the output end of the translation motor 341. In the working state, the moving wheel 342 rotates on the cargo box frame 20, driving the cargo box 30 to move horizontally.

[0081] Specifically, in this embodiment, several movable components 34 are disposed at the bottom of the cargo box 30, and are located on both sides of the cargo box 30. As a complement, third sliding grooves 2222 are provided on both sides of the lower plate 222 where they are rolled into contact with the movable wheels 342. Simultaneously, a cut is provided at the bottom of the movable connecting frame 211 to connect with the third sliding grooves 2222. The movable wheels 342 are engaged within the third sliding grooves 2222 and slide within them.

[0082] Please see Figure 14 In some embodiments, the multi-temperature cold chain delivery box 100 is further provided with several locking mechanisms 50. The fixed end of the locking mechanism 50 is fixed to the frame of the fixing frame 22, and its movable end is movably fastened to the box body 30. In the working state, the box body 30 moves within the box frame 20. When the box body 30 rotates to the target position, the translation motor 341 stops working, and the box body 30 stops. At this time, the movable end of the locking mechanism 50 is fastened to the box body 30, preventing the box body 30 from shaking within the box frame 20 and enhancing the stability of the delivery box.

[0083] Specifically, in this embodiment, the locking mechanism 50 includes a locking motor 51, a first gear mechanism connected to the output end of the locking motor 51, a second gear mechanism connected to the output end of the first gear mechanism, and a limiting rod 54 fixed to the output end of the second gear mechanism. As a complement, the cargo box 30 is provided with a limiting groove 37 at a position directly opposite the locking mechanism 50. When the cargo box 30 stops moving at a designated position, the locking motor 51 operates, driving the limiting rod 54 to engage in the limiting groove 37 via the first and second gear mechanisms, thus fixing the cargo box 30 to the cargo box frame 20. When it is necessary to retrieve an item, the limiting rod 54 disengages from the limiting groove 37, the translation motor 341 operates, and the moving wheel 342 drives the cargo box 30 to translate along a circular loop.

[0084] Example 2

[0085] Please see Figure 15 Based on the multi-temperature cold chain automated delivery system provided in Embodiment 1, this embodiment provides a multi-temperature cold chain automated delivery method, including the following steps:

[0086] S1: Loading goods, loading various goods into multi-temperature cold chain delivery boxes according to customer information and goods information;

[0087] S2: Automated delivery, which plans the route based on the cargo information and automatically delivers the goods to the target pickup location;

[0088] S3: Automatic pickup, notifies the customer and automatically picks up the goods for the customer;

[0089] S4: After traversing all delivery points, return to the delivery station.

[0090] Furthermore, in step S1, different goods are loaded into different cargo boxes, and the goods information is entered into the retrieval module. This goods information includes the type of goods, the optimal storage temperature, and delivery information such as customer contact information and delivery address. The temperature controller adjusts the amount of cold air drawn into the cargo box through the air intake according to the entered optimal storage temperature, thereby achieving multi-temperature storage for various goods and ensuring their freshness.

[0091] Please see Figure 16 Furthermore, in step S2, the specific implementation method is as follows: S21, read / match the pre-stored high-precision map; S22, system positioning, obtain the optimal delivery order, and plan the global path; S23, start delivery, perceive the surrounding environment in real time, identify obstacles and plan local avoidance paths, avoid obstacles, and at the same time identify and respond to traffic lights; S24, deliver the goods to the target pickup point.

[0092] Please see Figure 17 Specifically, in step S22, firstly, satellite signals are received through a satellite signal receiver, and positioning errors are eliminated using base station information to accurately calculate the real-time location of the delivery system, achieving high-precision positioning. Next, a pre-stored high-precision map is read and matched. For multiple delivery points, an ant colony algorithm based on multi-objective point optimization is used to obtain cargo delivery information, which is then encoded to obtain the encoded cargo delivery information result. Combining the energy consumption loss of different cold chain cargo preservation methods and the efficiency of the delivery route, a multi-objective function for cargo delivery is established, and a multi-delivery point traversal sequence is planned to calculate the optimal delivery sequence. Then, the location information of special obstacles such as steps and shoulders that can be passed in the block is obtained, and it is determined whether the obstacle size exceeds the system's set threshold. Based on the optimal delivery sequence, a global path planning algorithm is used to plan the global path.

[0093] It should be noted that before delivering blocks, the delivery system described in this invention needs to drive through the scene's roads under manual remote control to establish a point cloud map of the area. Specifically, this delivery system uses a visual SLAM algorithm, combined with LiDAR's perception information of the surrounding environment, to build a map in real time during the journey. Unlike existing delivery systems, in large-area task scenarios, the delivery system described in this invention does not limit itself to using a single visual SLAM algorithm to build a point cloud map, but rather integrates LiDAR perception information to complete the point cloud map construction.

[0094] Furthermore, the completed point cloud map cannot be used directly; it needs to undergo semantic segmentation to be converted into a usable high-precision map. This high-precision map can be used to input a series of delivery-related information, such as the coordinates of users in the block, user buildings, map roads, community infrastructure, and pickup location coordinates. After all information has been entered into the high-precision map, it is imported into the delivery system. The delivery system reads the high-precision map, obtains the optimal delivery order, performs global route planning, and then begins the delivery operation.

[0095] Please see Figure 18 Specifically, in step S23, based on the optimal delivery order and global path obtained in step S22, the delivery system begins autonomous navigation for delivery. During the delivery process, the LiDAR and stereo vision camera work together to continuously perceive the surrounding environment. The LiDAR scans the environment around the delivery system, acquiring precise location and distance information of roads and obstacles. It matches the actual perceived data with a pre-stored high-precision map and combines it with precise positioning data from a satellite signal receiver, enabling the delivery system to further determine its position in the current environment.

[0096] Obstacle avoidance includes static obstacle avoidance and dynamic obstacle avoidance.

[0097] Specifically, during the delivery process, LiDAR and stereo vision cameras scan to acquire precise location and distance information of roads and obstacles around the delivery system. This real-world data is then matched with pre-stored high-precision maps to identify newly added static obstacles. Next, combined with precise positioning data from satellite signal receivers, the system further pinpoints its own location and performs local path planning. Once obstacle avoidance is complete, the delivery system returns to its global path and continues moving towards the next delivery point.

[0098] Specifically, during the delivery process, LiDAR scans for dynamic obstacles on the driving path, such as pedestrians and vehicles. These are then detected by a stereo vision camera, and a target detection algorithm identifies the obstacles, generating point cloud data to describe their 3D positions. The delivery system tracks these obstacles based on the point cloud data and predicts their trajectories, constructing an uncertainty model. Next, a local path planning algorithm is used to generate a safe local avoidance path, continuously monitoring pedestrians and vehicles to adjust the path and achieve obstacle avoidance. Once avoidance is complete, the delivery system returns to the global path and continues moving towards the next delivery point.

[0099] Furthermore, during the delivery process, the delivery system travels along a global path, identifies traffic lights using a stereo vision camera, determines whether passage is permitted, and then controls the drive mechanism to respond to the traffic lights.

[0100] It should be noted that, unlike existing delivery systems that rely solely on stereo vision cameras to identify dynamic obstacles, the delivery system described in this invention, when faced with dynamic obstacles, uses a stereo vision camera and a target detection algorithm, combined with LiDAR perception information, to further obtain the position and movement information of the dynamic obstacles. Subsequently, a local path planning algorithm is used to avoid the dynamic obstacles.

[0101] Furthermore, after the delivery system arrives at the current target delivery point, it sends an SMS notification to the customer to pick up the goods. The customer identifies the cargo container containing the goods and selects that target container. Then, the lifting motor operates, using a traction mechanism to raise or lower the movable connecting frame within the lifting chamber to the level where the target cargo container is located, forming a circular loop with the level of the fixed frame. Subsequently, all locking mechanisms at that target level unlock, and the cargo container within that level moves horizontally along the circular loop until the target cargo container is moved into the movable connecting frame. Next, the lifting motor operates again, using a traction mechanism to raise or lower the movable connecting frame within the lifting chamber to directly behind the pickup opening. The lifting motor then stops, the pickup door opens, and the cargo container door automatically opens for the customer to retrieve the goods. After the customer finishes retrieving the goods, the cargo container door automatically closes, completing the automatic pickup process.

[0102] Furthermore, after the self-delivery and pickup at the current target delivery point is completed, the delivery system calculates whether the delivery system has traversed all delivery points. If not, it continues to the next delivery point until all delivery points have been traversed and then returns to the delivery station; if so, it returns directly to the delivery station.

[0103] Compared with the prior art, the beneficial effects of this application are as follows:

[0104] (1) By setting up an autonomous navigation function, the delivery system can stably and reliably complete continuous cold chain delivery operations without worrying about the limitations of manual operation, thus significantly improving the efficiency of end-of-line cold chain delivery.

[0105] (2) By placing goods with different storage temperatures into different cargo boxes and setting different refrigeration temperatures for different goods, the problem of product diversity can be effectively solved, and the quality and freshness of refrigerated goods can be highly guaranteed.

[0106] (3) By setting up multiple cargo boxes as independent storage spaces, different types of goods can be stored separately according to their categories, effectively avoiding the risk of cross-contamination between different cold chain goods;

[0107] (4) The opening and closing cargo box door with motor-controlled door shaft rotation can improve the convenience of picking up goods;

[0108] (5) By setting a locking mechanism, the cargo box is locked to the fixed frame when not picking up the item, so as to avoid the cargo box being unstable when the vehicle body is on an uneven road surface, which may cause the goods to be damaged due to shaking during delivery.

[0109] The embodiments described above are merely examples of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and the present invention also intends to include these modifications and variations.

Claims

1. A multi-temperature cold chain automated delivery system, characterized in that, include: The pickup module is used to input goods information and set the corresponding storage temperature according to the goods information. At the same time, it is used to automatically retrieve the target goods according to the customer's pickup information. The navigation module is used to automatically plan routes and adjust them in real time to deliver goods to the target pickup location; The transportation module controls the delivery system to transport goods safely and smoothly to the target pickup location according to the walking path provided by the navigation module.

2. The multi-temperature cold chain automated delivery system according to claim 1, characterized in that: The picking module is equipped with a multi-temperature cold chain delivery box. The multi-temperature cold chain delivery box is equipped with a lifting frame, a fixed frame and several cargo boxes. In the working state, the cargo boxes rotate horizontally in the closed loop enclosed by the lifting frame and the fixed frame, or the cargo boxes move up and down in the lifting frame. The cargo box is equipped with a thermostat to control the amount of cold air entering the cargo box.

3. The multi-temperature cold chain automated delivery system according to claim 2, characterized in that: The multi-temperature cold chain delivery box also has at least one retrieval port on its side wall, which is positioned directly opposite the lifting frame.

4. The multi-temperature cold chain automated delivery system according to claim 1, characterized in that: The transportation module is equipped with a drive mechanism to provide power to the multi-temperature cold chain distribution system; the drive mechanism is a four-wheel drive mechanism or a tracked wheel drive mechanism.

5. The multi-temperature cold chain automated delivery system according to claim 4, characterized in that: The navigation module is equipped with a lidar for scene perception during autonomous navigation. Stereo vision cameras are used to perceive the environment and changes along the driving path; At least one set of satellite signal receivers for satellite signal positioning; The satellite signal receiver and the lidar are fixed on the top of the multi-temperature cold chain delivery box; the stereo vision camera is mounted on the multi-temperature cold chain delivery box and is positioned facing the direction of travel of the drive mechanism.

6. A multi-temperature cold chain automated delivery method, characterized in that, Includes the following steps: S1: Loading goods, loading various goods into multi-temperature cold chain delivery boxes according to the goods information; S2: Automated delivery, which plans the route based on the cargo information and automatically delivers the goods to the target pickup location; S3: Automatic pickup, notifies the customer and automatically picks up the goods for the customer; S4: After traversing all delivery points, return to the delivery station.

7. The multi-temperature cold chain automated delivery method according to claim 6, characterized in that: In step S1, different goods are loaded into different cargo boxes, and the goods information and customer information are entered into the picking module. The temperature controller adjusts the amount of cold air inside the cargo box according to the optimal storage temperature of the goods.

8. The multi-temperature cold chain automated delivery method according to claim 7, characterized in that, The specific method for step S2 is as follows: S21, Read / match pre-stored high-precision maps; S22, system positioning, obtaining the optimal delivery order, and planning the global route; S23, departing for delivery, perceives the surrounding environment in real time, identifies obstacles and plans local avoidance paths to avoid obstacles, and at the same time identifies and responds to traffic lights; S24, deliver goods to the target pickup point.

9. The multi-temperature cold chain automated delivery method according to claim 8, characterized in that: The obstacle avoidance in step S23 includes static obstacle avoidance and dynamic obstacle avoidance; Static obstacle avoidance involves sensing real-time environmental information using LiDAR and matching it with a pre-stored high-precision map to identify newly added static obstacles, and then using a local path planning algorithm to generate a local avoidance path. Dynamic obstacle avoidance involves detecting dynamic obstacles using a stereo vision camera, identifying them through a target detection algorithm, generating point cloud data to describe the 3D position of the dynamic obstacles, and tracking the dynamic obstacles; then, a local path planning algorithm is used to generate a local avoidance path. The traffic light recognition and response in step S23 involves using a stereo vision camera to identify the traffic light, determine whether passage is permitted, and then control the drive mechanism to respond to the traffic light.

10. The multi-temperature cold chain automated delivery method according to claim 9, characterized in that: In step S3, after the target goods arrive at the target pickup location, the cargo box carrying the target goods rotates horizontally in the closed loop enclosed by the lifting frame and the fixed frame. After rotating into the lifting frame, the horizontal rotation stops. The lifting frame carries the cargo box up or down to the rear of the pickup opening. Then the door of the cargo box opens automatically for the customer to take the goods.

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