CN111591571B - Distribution box, distribution box shipment control method and unmanned equipment - Google Patents
Distribution box, distribution box shipment control method and unmanned equipment Download PDFInfo
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- CN111591571B CN111591571B CN202010567326.8A CN202010567326A CN111591571B CN 111591571 B CN111591571 B CN 111591571B CN 202010567326 A CN202010567326 A CN 202010567326A CN 111591571 B CN111591571 B CN 111591571B
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 238000001514 detection method Methods 0.000 claims abstract description 85
- 230000004308 accommodation Effects 0.000 abstract description 5
- 238000002604 ultrasonography Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000005192 partition Methods 0.000 description 2
- 235000012054 meals Nutrition 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 235000011888 snacks Nutrition 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D25/00—Details of other kinds or types of rigid or semi-rigid containers
- B65D25/38—Devices for discharging contents
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D25/00—Details of other kinds or types of rigid or semi-rigid containers
- B65D25/02—Internal fittings
- B65D25/04—Partitions
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
- G01V1/001—Acoustic presence detection
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- Acoustics & Sound (AREA)
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- General Life Sciences & Earth Sciences (AREA)
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- Details Of Rigid Or Semi-Rigid Containers (AREA)
Abstract
The invention provides a distribution box, a distribution box shipment control method and unmanned equipment, and relates to the technical field of unmanned equipment. The dispensing box includes a box body, a removal device and an ultrasonic assembly. The inside accommodation space that is provided with the accommodation article of box, and offered the export on the box, the export is used for supplying article to shift out. The moving-out device is movably arranged on the bottom wall of the accommodating space. The ultrasonic assembly is arranged in the accommodating space and used for sending out ultrasonic waves to the interior of the accommodating space so as to detect the quantity of articles and the position of the moving-out device and send out ultrasonic detection signals. The removal device can move relative to the box body according to the ultrasonic detection signal so as to remove the article from the outlet. The delivery control method of the delivery box is applied to the delivery box. The unmanned equipment adopts the distribution box. The distribution box, the distribution box shipment control method and the unmanned equipment can realize automatic shipment so as to solve the problem of inconvenient shipment.
Description
Technical Field
The invention relates to the technical field of unmanned equipment, in particular to a distribution box, a distribution box shipment control method and unmanned equipment.
Background
Along with the development of science and technology and economy, daily life can develop towards a more convenient and efficient direction. For example, in the age when the take-out distribution industry is rapidly developed, more and more merchants are focusing on related devices of unmanned distribution, and the adoption of unmanned distribution devices can not only save a great deal of manpower, but also improve distribution efficiency.
The insulated snack box becomes an important device in the take-away field, and the conventional mode is usually by manual tooling. In the prior art, the meal box only has the functions of placing objects and preserving heat, and cannot be automatically delivered, and the technical problem of inconvenient delivery exists.
Disclosure of Invention
The invention aims to provide a distribution box which can realize automatic shipment of articles so as to solve the technical problem of inconvenient shipment in the prior art.
The invention further provides a delivery box shipment control method, which can realize automatic shipment of articles so as to solve the technical problem of inconvenient shipment in the prior art.
The invention further provides unmanned equipment which can realize automatic shipment of the articles so as to solve the technical problem that the shipment is inconvenient in the prior art.
Embodiments of the invention may be implemented as follows:
embodiments of the present invention provide a dispensing box comprising a box body, a removal device, and an ultrasonic assembly.
The box body is internally provided with a containing space for containing articles, and an outlet is formed in the box body and communicated with the containing space and used for enabling the articles to move out of the containing space.
The moving-out device is movably arranged on the bottom wall of the accommodating space.
The ultrasonic assembly is arranged in the accommodating space, and is used for sending out ultrasonic waves to the interior of the accommodating space so as to detect the quantity of the articles and the position of the moving-out device and send out ultrasonic detection signals.
The removing device is electrically connected with the ultrasonic assembly, and can move relative to the box body according to the ultrasonic detection signal so as to remove the article from the outlet.
Optionally, the ultrasonic assembly is disposed on the bottom wall of the accommodating space and is disposed towards the bottom wall of the accommodating space, so that the ultrasonic assembly can emit ultrasonic waves towards the bottom wall of the accommodating space to detect the number of the articles in the accommodating space and the position of the moving-out device.
Optionally, the accommodating space includes a first accommodating cavity and a second accommodating cavity, and the first accommodating cavity and the second accommodating cavity are used for accommodating the articles respectively.
The outlet comprises a first outlet and a second outlet, the first outlet is communicated with the first containing cavity, and the second outlet is communicated with the second containing cavity.
The removal device is reciprocally movable between the first and second chambers to push the articles in the first chamber from the first outlet or to push the articles in the second chamber from the second outlet.
The ultrasonic assembly includes a first ultrasonic module and a second ultrasonic module.
The first ultrasonic module is arranged on the top wall of the first containing cavity and is used for sending ultrasonic waves towards the bottom wall of the first containing cavity so as to detect the quantity of the objects in the first containing cavity and the position of the moving-out device in the first containing cavity.
The second ultrasonic module is arranged on the top wall of the second containing cavity and is used for sending ultrasonic waves towards the bottom wall of the second containing cavity so as to detect the quantity of the objects in the second containing cavity and the position of the moving-out device in the second containing cavity.
A delivery control method of a delivery box is applied to the delivery box, and the delivery box comprises a box body, a moving-out device and an ultrasonic assembly.
The box body is internally provided with a containing space for containing articles, and an outlet is formed in the box body and communicated with the containing space and used for enabling the articles to move out of the containing space.
The moving-out device is movably arranged on the bottom wall of the accommodating space and can move relative to the box body so as to move out the article from the outlet.
The ultrasonic assembly is arranged in the accommodating space.
The method comprises the following steps:
and receiving an ultrasonic detection signal, wherein the ultrasonic detection signal is obtained by sending out ultrasonic waves towards the inside of the accommodating space by the ultrasonic assembly so as to detect the quantity of the articles and the position of the moving-out device.
And calculating the quantity of the articles in the accommodating space according to the ultrasonic detection signals to obtain a quantity value.
And controlling the moving-out device to move relative to the box body according to the quantity value so as to push out the article from the outlet.
Optionally, the accommodating space includes a first accommodating cavity and a second accommodating cavity, and the first accommodating cavity and the second accommodating cavity are used for accommodating the articles respectively.
The outlet comprises a first outlet and a second outlet, the first outlet is communicated with the first containing cavity, and the second outlet is communicated with the second containing cavity.
The moving-out device can reciprocate between the first containing cavity and the second containing cavity.
The ultrasonic assembly includes a first ultrasonic module and a second ultrasonic module.
The first ultrasonic module is arranged on the top wall of the first containing cavity and is used for sending out ultrasonic waves towards the bottom wall of the first containing cavity, and the second ultrasonic module is arranged on the top wall of the second containing cavity and is used for sending out ultrasonic waves towards the bottom wall of the second containing cavity.
The ultrasonic detection signal comprises a first detection distance value and a second detection distance value, wherein the first detection distance value represents the distance obtained by ultrasonic detection sent by the first ultrasonic module, and the second detection distance value represents the distance obtained by ultrasonic detection sent by the second ultrasonic module.
The quantity value includes a first quantity value representing the quantity of the item in the first cavity and a second quantity value representing the quantity in the second cavity.
The method comprises the following steps:
And receiving the first detection distance value and the second detection distance value.
And calculating the quantity of the articles in the first accommodating cavity according to the first detection distance value to obtain a first magnitude.
And calculating the quantity of the objects in the second accommodating cavity according to the second detection distance value to obtain a second magnitude.
And controlling the moving-out device to move relative to the box body according to the first magnitude and the second magnitude so as to move out the article from the first outlet or the second outlet.
Optionally, the step of calculating the number of the articles in the first cavity according to the first detection distance value to obtain a first magnitude includes:
and calculating a difference value between the first detection distance value and a first height value to obtain a first difference value, wherein the first height value represents the distance from the bottom wall to the top wall of the first containing cavity.
And judging whether the first difference value is zero or not.
If the first difference is zero, the first magnitude is zero.
If the first difference is not zero, judging whether the first difference can divide the first thickness value, wherein the first thickness value is the thickness of the article when the article is placed in the first containing cavity.
If the result of judging whether the first difference value can divide the first thickness value is yes, a multiple value obtained by dividing the first difference value by the first thickness value is taken as the first magnitude.
If the result of judging whether the first difference value can be divided by the first thickness value is negative, a multiple value obtained by dividing the difference value of the first difference value and the second thickness value by the first thickness value is taken as the first magnitude, wherein the second thickness value is the thickness of the removing device.
Optionally, the step of calculating the number of the articles in the second cavity according to the second detection distance value to obtain a second magnitude includes:
calculating a difference value between the second detection distance value and the first height value to obtain a second difference value, wherein the second height value represents a distance from the bottom wall to the top wall of the second containing cavity;
judging whether the second difference value is zero or not;
if the second difference is zero, the second magnitude is zero;
if the second difference value is not zero, judging whether the second difference value can divide a first thickness value, wherein the first thickness value is the thickness of the article when the article is placed in the second accommodating cavity;
if the result of judging whether the second difference value can divide the first thickness value is yes, taking a multiple value obtained by dividing the second difference value by the first thickness value as the second magnitude;
if the result of judging whether the second difference value can divide the first thickness value is negative, a multiple value obtained by dividing the difference value of the second difference value and the second thickness value by the first thickness value is taken as the second magnitude, wherein the second thickness value is the thickness of the removing device.
Optionally, the step of controlling the removal device to move relative to the case according to the first and second magnitudes to remove the article from the first or second outlet comprises:
it is determined whether the first magnitude is zero and whether the second magnitude is zero.
And if the first magnitude is not zero and/or the second magnitude is not zero, controlling the moving-out device to reciprocate relative to the box body so as to push out the article in the first containing cavity from the first outlet or push out the article in the second containing cavity from the second outlet.
And if the first magnitude is zero and the second magnitude is zero, sending out a prompt signal.
An unmanned device includes a distribution box. The distribution box comprises a box body, a moving-out device and an ultrasonic assembly.
The box body is internally provided with a containing space for containing articles, and an outlet is formed in the box body and communicated with the containing space and used for enabling the articles to move out of the containing space.
The moving-out device is movably arranged on the bottom wall of the accommodating space;
the ultrasonic assembly is arranged in the accommodating space and is used for sending out ultrasonic waves to the interior of the accommodating space so as to detect the quantity of the objects and the position of the moving-out device and send out ultrasonic detection signals;
The removing device is electrically connected with the ultrasonic assembly, and can move relative to the box body according to the ultrasonic detection signal so as to remove the article from the outlet.
The distribution box provided by the invention has the beneficial effects compared with the prior art that: ultrasonic waves can be sent out into the accommodating space through the ultrasonic assembly, so that whether articles are accommodated in the accommodating space or not can be detected through the ultrasonic assembly, and meanwhile, the position of the moving-out device can be detected through the ultrasonic assembly. That is, the ultrasonic assembly emits ultrasonic waves into the accommodating space to detect the number of articles in the accommodating space and the position of the removing device and emits an ultrasonic detection signal. The moving-out device can move relative to the box body according to the ultrasonic detection signal, namely when the ultrasonic assembly detects that the accommodating space is provided with articles, the moving-out device can move relative to the box body and move out the articles from the outlet, so that the purpose of automatic delivery of the delivery box is realized, and the technical problem of inconvenient delivery in the prior art is solved.
The invention also provides a delivery control method of the delivery box and unmanned equipment, and the beneficial effects of the delivery box delivery control method and unmanned equipment relative to the prior art are the same as those of the delivery box relative to the prior art, and are not repeated here.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic cross-sectional view of a dispensing box provided in an embodiment of the present application;
FIG. 2 is an enlarged schematic view of the structure shown at A in FIG. 1;
FIG. 3 is a flow chart of a method for controlling shipment of a distribution box provided in an embodiment of the present application;
FIG. 4 is a flow chart of another method of shipment control for a distribution box provided in an embodiment of the present application;
FIG. 5 is a flowchart showing the step S12 in FIG. 4;
FIG. 6 is a flowchart showing the step S13 in FIG. 4;
fig. 7 is a specific flowchart of step S14 in fig. 4.
Icon: 10-a distribution box; 11-an article; 100-box body; 110-accommodating space; 111-a first cavity; 112-a second cavity; 113-a separator; 120-outlet; 121-a first outlet; 122-a second outlet; 130-accommodating grooves; 200-removing the device; 300-an ultrasonic assembly; 310-a first ultrasound module; 320-a second ultrasound module.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present invention, it should be noted that, if the terms "upper", "lower", "inner", "outer", and the like indicate an azimuth or a positional relationship based on the azimuth or the positional relationship shown in the drawings, or the azimuth or the positional relationship in which the inventive product is conventionally put in use, it is merely for convenience of describing the present invention and simplifying the description, and it is not indicated or implied that the apparatus or element referred to must have a specific azimuth, be configured and operated in a specific azimuth, and thus it should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, if any, are used merely for distinguishing between descriptions and not for indicating or implying a relative importance.
It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.
The embodiment of the application provides an unmanned device (not shown) for delivering an article, wherein the article may be a take-out, express or other article capable of being delivered, i.e. the unmanned device may be an unmanned take-out device, an unmanned fast reading device or other unmanned delivery device. In addition, the unmanned equipment can realize automatic shipment of articles to solve the inconvenient technical problem of shipment among the prior art.
Referring to fig. 1, the unmanned apparatus includes an unmanned body (not shown) and a dispenser box 10. The distribution box 10 is used for containing the articles 11, and the distribution box 10 can realize automatic shipment of the articles 11 contained in the distribution box 10, so as to solve the technical problem of inconvenient shipment in the prior art. In addition, the dispenser box 10 is mounted on an unmanned body, and the unmanned body can drive the dispenser box 10 to move so that the dispenser box 10 is moved to a designated position to achieve the dispensing of the articles 11. The unmanned body may be an unmanned mobile device such as an unmanned plane, an unmanned vehicle, or an unmanned ship.
As described above, the unmanned body drives the distribution box 10 to move to a predetermined position on the premise that the article 11 is placed inside the distribution box 10, and the distribution of the article 11 can be realized. After the distribution box 10 moves to the appointed position, the distribution box 10 can realize automatic shipment, so that the articles 11 in the distribution box 10 can automatically move out of the distribution box 10 to finish automatic distribution of the articles 11, the aim of automatic shipment is fulfilled, and the technical problem of inconvenient shipment in the prior art is solved. Meanwhile, the article 11 can be prevented from being touched for multiple times, and the probability of touching the article 11 is reduced.
In some embodiments of the present application, the dispensing box 10 includes a box body 100, a removal device 200, and an ultrasonic assembly 300. Wherein, the inside accommodation space 110 that is used for holding article 11 that is provided with of box 100 to still offer the export 120 of intercommunication accommodation space 110 on the box 100, the inside article 11 of accommodation space 110 can be shifted out by export 120, and then realize the automatic shipment of article 11. In order to realize that the article 11 can be removed from the outlet 120, the removing device 200 is movably connected inside the box 100, and the article 11 can be removed from the outlet 120 from the accommodating space 110 by moving the removing device 200 relative to the box 100, so as to realize the purpose of removing the article 11 from the accommodating space 110. Further, the ultrasonic assembly 300 is disposed inside the accommodating space 110, and the ultrasonic assembly 300 is used for emitting ultrasonic waves into the accommodating space 110 to detect the number of the articles 11 inside the accommodating space 110 and the position of the moving-out device 200, and emitting ultrasonic detection signals. In order to achieve the purpose of automatic shipment, the ultrasonic assembly 300 is electrically connected to the removing device 200, and the removing device 200 can move relative to the case 100 according to the ultrasonic detection signal to remove the articles 11 in the accommodating space 110 from the outlet 120, thereby achieving the purpose of automatic shipment of the dispensing case 10. Solves the technical problem of inconvenient shipment in the prior art.
In addition, in the embodiment of the present application, the dispensing box 10 may further include a controller (not shown), which is electrically connected to the ultrasonic assembly 300 and the removing device 200, and the controller can receive the ultrasonic detection signal sent by the ultrasonic assembly 300, and control the removing device 200 to move relative to the box according to the ultrasonic detection signal, so as to achieve the purpose that the removing device 200 moves relative to the box according to the ultrasonic detection signal to remove the article 11 from the outlet 120.
The articles 11 are placed in the accommodating space 110 in a stacking manner, and the outlet 120 is disposed corresponding to the bottom wall of the accommodating space 110, and accordingly, in order to facilitate pushing out the articles 11 in the accommodating space 110, the removing device 200 is movably disposed on the bottom wall of the accommodating space 110, so that the removing device 200 can push out the articles 11 close to the bottom wall of the accommodating space 110 from the outlet 120 among the stacked articles 11, and meanwhile, other articles 11 are stacked above the removing device 200. After the removing device 200 pushes out the articles 11, the removing device 200 moves away from the outlet 120 to avoid the stacked articles 11 from falling to the bottom wall of the accommodating space 110, so that the purpose that a plurality of articles 11 automatically move out of the accommodating space 110 can be achieved through the reciprocating movement of the removing device 200 relative to the box body 100, and the automatic shipment of the distribution box 10 is achieved.
It should be noted that, at least one avoidance area may be disposed in the accommodating space 110, after the removing device 200 removes the article 11 close to the bottom wall of the accommodating space 110 from the outlet 120, the removing device 200 can move away from the outlet 120 and enter into the avoidance area to avoid the article 11, so that the article 11 falls to the bottom wall of the accommodating space 110.
Further, in the embodiment of the present application, in order to facilitate the ultrasonic assembly 300 to detect the number of the articles 11 in the accommodating space 110 and the position of the removing device 200, the ultrasonic assembly 300 is disposed on the top wall of the accommodating space 110, and the ultrasonic assembly 300 is disposed towards the bottom wall of the accommodating space 110, so that the ultrasonic assembly 300 can emit ultrasonic waves to the bottom wall of the accommodating space 110 to accurately detect the number of the articles 11 in the accommodating space 110 and the position of the removing device 200. Of course, in other embodiments, the ultrasonic assembly 300 may be disposed at other locations, such as on a side wall of the accommodating space 110.
In addition, referring to fig. 1 and 2 in combination, in order to facilitate the installation of the ultrasonic assembly 300 and avoid the influence of the ultrasonic assembly 300 on the volume of the accommodating space 110, and in order to avoid the influence of the article 11 in the accommodating space 110 on the ultrasonic assembly 300, in some embodiments of the present application, the top wall of the accommodating space 110 is provided with the accommodating groove 130, and the ultrasonic assembly 300 is installed on the bottom wall of the accommodating groove 130 and is accommodated inside the accommodating groove 130. By accommodating the ultrasonic assembly 300 in the accommodating groove 130, the ultrasonic assembly 300 can be prevented from being damaged by collision when the articles 11 are too much in the accommodating space 110, and the ultrasonic assembly 300 can be ensured to be effectively detected. Moreover, the opening of the accommodating groove 130 is disposed towards the bottom wall of the accommodating space 110, so that the ultrasonic assembly 300 accommodated in the accommodating groove 130 can emit ultrasonic waves towards the bottom wall of the accommodating space 110 through the opening of the accommodating groove 130, so that the ultrasonic assembly 300 can conveniently detect the number of the articles 11 in the accommodating space 110 and detect the position of the moving-out device 200.
It should be noted that, if the ultrasonic assembly 300 is disposed inside the accommodating groove 130, and the ultrasonic assembly 300 is completely accommodated inside the accommodating groove 130, that is, when the height of the ultrasonic assembly 300 relative to the bottom wall of the accommodating groove 130 is smaller than the depth of the accommodating groove 130, the side wall of the accommodating groove 130 may affect the ultrasonic waves emitted by the ultrasonic assembly 300; when the height of the ultrasonic assembly 300 corresponding to the receiving groove 130 is greater than the depth of the receiving groove 130, that is, when a portion of the ultrasonic assembly 300 extends out of the receiving groove 130, there is a possibility that the ultrasonic assembly 300 may be damaged by the impact of the article 11. Therefore, in some embodiments of the present application, the side of the ultrasonic assembly 300 away from the accommodating groove 130 is disposed to be level with the plane where the opening of the accommodating groove 130 is located, at this time, an effective protection effect can be provided to the ultrasonic assembly 300 through the accommodating groove 130, and meanwhile, the influence of the peripheral wall of the accommodating groove 130 on the ultrasonic assembly 300 can be avoided.
Of course, in some embodiments of the present application, in order to avoid the effect of the accommodating groove 130 on the ultrasonic wave emitted by the ultrasonic assembly 300, the accommodating groove 130 may be further configured to be flared, and when the accommodating groove 130 is configured to be flared, the height of the ultrasonic assembly 300 relative to the bottom wall of the accommodating groove 130 may be smaller than the depth of the accommodating groove 130.
Based on the above-provided delivery box 10, in order to realize automatic delivery of the article 11, in an embodiment of the present application, a delivery box delivery control method is further provided to control the delivery box 10 to perform automatic delivery, referring to fig. 3, the method includes:
and S1, receiving an ultrasonic detection signal.
Wherein the ultrasonic detection signal is a signal obtained by emitting ultrasonic waves from the ultrasonic assembly 300 toward the bottom wall of the accommodating space 110 to detect the number of the articles 11 in the accommodating space 110 and the position of the moving-out device 200. That is, the signal includes a signal obtained by detecting the number of the articles 11 in the accommodating space 110 and a signal obtained by detecting the position of the moving-out device 200.
The ultrasonic detection signal is received and processed by the controller.
Step S2, the number of the articles 11 in the accommodating space 110 is calculated according to the ultrasonic detection signal to obtain a number value.
That is, the controller may calculate the number of the articles 11 in the accommodating space 110 according to the ultrasonic detection signal after receiving the ultrasonic detection signal, and obtain the specific number of the articles 11 in the accommodating space 110.
Step S3, controlling the moving device 200 to move relative to the case 100 according to the number value, so as to move the article 11 out of the outlet 120.
When it is detected that the accommodating space 110 has the articles 11, i.e. the quantity value is greater than zero, the controller can control the moving-out device 200 to move relative to the box 100, so as to move the articles 11 in the accommodating space 110 out of the outlet 120, thereby achieving the purpose of automatic shipment. When the article 11 in the accommodating space 110 is not detected, that is, the quantity value is zero, the controller controls the moving-out device 200 to stop moving. Of course, when the accommodating space 110 does not have the article 11, the controller may also control the removing device 200 to move to the avoiding space, so as to facilitate the continuous adding of the article 11 in the avoiding accommodating space 110, and facilitate the preparation of the next operation of removing the article 11.
As described above, the delivery control method of the delivery box can detect whether the accommodating space 110 accommodates the object, and control the removing device 200 to remove the object 11 in the accommodating space 110 when the accommodating space 110 accommodates the object 11, so as to achieve the purpose of automatic delivery of the delivery box 10, and solve the technical problem of inconvenient delivery in the prior art. And also can control the moving-out device 200 to move to the avoiding space when the article 11 is not accommodated in the accommodating space 110, so that the article 11 accommodated in the accommodating space 110 can be avoided to fall onto the bottom wall of the accommodating space 110.
In some embodiments of the present application, with continued reference to fig. 1 and 2, the receiving space 110 may include a first receiving cavity 111 and a second receiving cavity 112, and the first receiving cavity 111 and the second receiving cavity 112 are each configured to receive the article 11. Wherein a plurality of articles 11 may be stacked in the first cavity 111, and a plurality of articles 11 may be stacked in the second cavity 112. Correspondingly, the outlet 120 comprises a first outlet 121 and a second outlet 122, the first outlet 121 is communicated with the first accommodating cavity 111, and the second outlet 122 is communicated with the second accommodating cavity 112. Also, the first compartment 111 is capable of removing the article 11 from the first outlet 121 and the second compartment 112 is capable of removing the article 11 from the second outlet 122. In order to avoid the mutual influence of the articles 11 in the first accommodating cavity 111 and the articles 11 in the second accommodating cavity 112, the accommodating space 110 can be divided into the first accommodating cavity 111 and the second accommodating cavity 112 by the partition plate 113, of course, in order to facilitate the removal device 200 to remove the articles 11 in the first accommodating cavity 111 from the first outlet 121 and to facilitate the removal device 200 to remove the articles 11 in the second accommodating cavity 112 from the second outlet 122, a through hole for the removal device 200 to pass through is formed in the partition plate 113, the removal device 200 can move from the first accommodating cavity 111 towards the second accommodating cavity 112 through the through hole, and the removal device 200 can also move from the second accommodating cavity 112 towards the first accommodating cavity 111 through the through hole. It should be noted that, in order to facilitate the removal device 200 to remove the article 11, the first outlet 121 and the second outlet 122 are respectively provided with two opposite sides of the case 100, and the first outlet 121 is located at a side of the first cavity 111 away from the second cavity 112, and the second outlet 122 is located at a side of the second cavity 112 away from the first cavity 111. When the removal device 200 moves close to the first accommodating cavity 111 and away from the second accommodating cavity 112, the removal device 200 moves away from the second outlet 122 and toward the first outlet 121; similarly, when the removal device 200 moves close to the second chamber 112 and away from the first chamber 111, the removal device 200 moves away from the first outlet 121 and toward the second outlet 122.
In addition, since the plurality of articles 11 in the first accommodating cavity 111 are placed in a stacked manner, and the articles 11 in the second accommodating cavity 112 are also placed in a stacked manner, for convenience, the articles 11 in the first accommodating cavity 111 are sequentially removed from the first outlet 121, and for convenience, the articles 11 in the second accommodating cavity 112 are sequentially removed from the second outlet 122, the first outlet 121 is disposed near the bottom wall of the first accommodating cavity 111, the second outlet 122 is disposed near the bottom wall of the second accommodating cavity 112, and accordingly, the removing device 200 can move on the bottom wall of the first accommodating cavity 111 and can move on the bottom wall of the second accommodating cavity 112. Further, with enough articles 11 stacked in the first cavity 111 and enough articles 11 stacked in the second cavity 112, when the removal device 200 moves from the first cavity 111 toward the second cavity 112, the removal device 200 abuts against the articles 11 in the second cavity 112 near the bottom wall and pushes the articles 11 to move toward the second outlet 122. As the removal device 200 moves into the second cavity 112, the removal device 200 removes the articles 11 of the second cavity 112 that are adjacent to the bottom wall from the second outlet 122, while other articles 11 in the second cavity 112 fall above the removal device 200, and the articles 11 in the first cavity 111 fall onto the bottom wall of the first cavity 111 as the removal device 200 pushes away from the first cavity 111. After removal of the article 11 from the second outlet 122, the removal device 200 may be moved in reverse, i.e. towards the first compartment 111. The removal device 200 passes through the through hole and abuts against the article 11 in the first cavity 111 near the bottom wall, the removal device 200 continues to move near the first outlet 121 and pushes the article 11 out of the first outlet 121. As the removal device 200 passes through the via hole into the first cavity 111, the removal device 200 removes the items 11 in the first cavity 111 that are adjacent to the bottom wall from the first outlet 121, while at the same time, other items 11 in the first cavity 111 fall above the removal device 200, and as the removal device 200 pushes away from the second cavity 112, the items 11 in the second cavity 112 fall onto the bottom wall of the second cavity 112. With this circulation, the articles 11 in the first chamber 111 and the articles 11 in the second chamber 112 can be sequentially removed by the removing device 200.
It should be noted that, the first cavity 111 may be used as an avoiding space of the second cavity 112, that is, after the articles 11 in the second cavity 112 are removed, in order to avoid that the articles 11 in the second cavity 112 fall onto the bottom wall of the second cavity 112, the removing device 200 is moved into the first cavity 111 to avoid that the articles 11 in the second cavity 112 fall. And the same is true. The second accommodating chamber 112 may be used as an avoidance space of the first accommodating chamber 111, that is, after the articles 11 in the first accommodating chamber 111 are removed, in order to avoid that the articles 11 in the first accommodating chamber 111 fall onto the bottom wall of the first accommodating chamber 111, the removing device 200 is moved into the second accommodating chamber 112 to avoid that the articles 11 in the first accommodating chamber 111 fall.
Further, the ultrasonic assembly 300 includes a first ultrasonic module 310 and a second ultrasonic module 320. The first ultrasonic module 310 is disposed at the top wall of the first cavity 111 and is used to emit ultrasonic waves toward the bottom wall of the first cavity 111 to detect the number of articles 11 in the first cavity 111 and the position of the removal device 200 in the first cavity 111. In addition, a second ultrasonic module 320 is disposed at the top of the second chamber 112 and is used to emit ultrasonic waves toward the bottom wall of the second chamber 112 to detect the number of articles 11 in the second chamber 112 and the position of the removal device 200 in the second chamber 112. And, the first ultrasonic module 310 and the second ultrasonic module 320 are electrically connected to the controller, so that the first ultrasonic module 310 and the second ultrasonic module 320 transmit the obtained signals to the controller after the detection is completed, and the controller can control the moving-out device 200 to move in the case 100 according to the received signals to move out the article 11 from the first outlet 121 or the second outlet 122. And further, automatic shipment of the distribution box 10 is realized, and the technical problem of inconvenient shipment in the prior art is solved.
It should be noted that, in some embodiments of the present application, in order to improve the detection accuracy of the first ultrasonic module 310, the first ultrasonic module 310 is disposed in the middle of the top wall of the first cavity 111. In addition, in order to improve the detection accuracy of the second ultrasonic module 320, the second ultrasonic module 320 is disposed at the middle of the top wall of the second cavity 112. Of course, in other embodiments of the present application, the first ultrasonic module 310 may be disposed at the middle of the top wall of the first cavity 111, or the second ultrasonic module 320 may be disposed at the middle of the top wall of the second cavity 112. I.e. the first ultrasound module 310 is arranged in the middle of the top wall of the sub-first chamber 111 and/or the second ultrasound module 320 is arranged in the middle of the top wall of the second chamber 112.
In addition, in order to facilitate the installation of the first ultrasonic module 310 and the second ultrasonic module 320, the top wall of the first accommodating cavity 111 and the top wall of the second accommodating cavity 112 are provided with the accommodating grooves 130, so that the first ultrasonic module 310 and the second ultrasonic module 320 can be installed inside the accommodating grooves 130, and a protection effect is provided for the first ultrasonic module 310 and the second ultrasonic module 320 through the accommodating grooves 130.
Based on the embodiment that the accommodating space 110 is divided into the first accommodating cavity 111 and the second accommodating cavity 112, the embodiment further provides a delivery control method of the delivery box, so as to be applied to the delivery box 10 and realize automatic delivery of the delivery box 10, thereby solving the technical problem of inconvenient delivery in the prior art. Referring to fig. 4, the method includes:
step S11, a first detection distance value and a second detection distance value are received.
The ultrasonic detection signal comprises a first detection distance value and a second detection distance value. The first detection distance value represents a distance obtained by ultrasonic detection of the first ultrasonic module 310 towards the bottom wall of the first accommodating cavity 111, the first detection distance value is obtained by detection of the first ultrasonic module 310 and is sent to the controller, and the controller is used for receiving the first detection distance value; the second detection distance value represents a distance obtained by ultrasonic detection of the second ultrasonic module 320 towards the bottom wall of the second accommodating cavity 112, the second ultrasonic module 320 detects the second detection distance value and sends the second detection distance value to the controller, and the controller is further configured to receive the second detection distance value.
Accordingly, the quantity values include a first quantity value representing the quantity of items 11 in the first cavity 111 and a second quantity value representing the quantity of items 11 in the second cavity 112.
Step S12, calculating the number of the articles 11 in the first cavity 111 according to the first detection distance value to obtain a first magnitude.
After receiving the first detection distance value, the controller can calculate the number of the first cavities 111 according to the first detection distance value, and obtain a first magnitude.
Optionally, referring to fig. 5, step S12 may include:
step S121, calculating a difference between the first detection distance value and the first height value to obtain a first difference.
Wherein the first height value represents a distance from a bottom wall to a top wall of the first cavity 111. The first difference value obtained by calculating the difference between the first detection distance value and the first height value represents the height that has been occupied in the first cavity 111.
Step S122, determining whether the first difference is zero.
In step S123, if the first difference is zero, the first magnitude is zero.
I.e. when the first difference is zero, it is indicated that the space in the first cavity 111 is not occupied, i.e. the bottom wall of the first cavity 111 is detected by the first ultrasound module 310.
In step S124, if the first difference is not zero, it is determined whether the first difference can divide the first thickness value.
Wherein the first thickness value is the thickness of the article 11 when placed in the first cavity 111. It should be noted that, the plurality of articles 11 are accommodated in the first accommodating chamber 111 in a stacked manner, and the first thickness value indicates the thickness of the articles 11 in the stacking direction. The first difference represents the thickness of the plurality of articles 11 stacked together or the thickness of the entirety of the removal device 200 and the plurality of articles 11 when the plurality of articles 11 are stacked on the removal device 200.
Step S125, if the result of judging whether the first difference value can divide the first thickness value is yes, the multiple value obtained by dividing the first difference value by the first thickness value is taken as the first magnitude.
It should be noted that, taking the article 11 in the first cavity 111 as an example, in order to facilitate the removing device 200 to remove the article 11 in the first cavity 111 near the bottom wall, and avoid the removing device 200 from affecting another article 11 stacked above the article 11, the thickness of the moving device is set to be smaller than the thickness of the article 11, where the thickness of the moving device is a second thickness value, that is, the second thickness value is smaller than the first thickness value. At this time, when the removing device 200 abuts against the article 11 near the bottom wall in the first accommodating cavity 111, the removing device can avoid another article 11 above the article 11, and further damage to other articles 11 can be avoided. Based on this, when the first difference value can exactly divide the first thickness value, it means that the removal device 200 is not in the first cavity 111, and a plurality of articles 11 are stacked in the first cavity 111. Accordingly, each time the first difference cannot divide the first thickness value, it indicates that the removing device 200 is located in the first cavity 111.
And step 126, if the result of determining whether the first difference value can be divided by the first thickness value is no, the multiple value obtained by dividing the difference value between the first difference value and the second thickness value by the first thickness value is the first magnitude.
On the premise that whether the first difference value can integer the first thickness value is determined as no, the value of the first difference value may be as follows: the first difference is equal to the second thickness, that is, the removing device 200 is located in the first accommodating cavity 111, and the article 11 is not accommodated in the first accommodating cavity 111. Alternatively, the first difference is greater than the second thickness, which indicates that the removal device 200 is located in the first cavity 111, and the first cavity 111 has at least one article 11 therein.
Further, referring to fig. 4, in step S13, the number of the articles 11 in the second cavity 112 is calculated according to the second detection distance value to obtain a second magnitude.
The method for calculating the number of the articles 11 in the second cavity 112 according to the second detection distance value is the same as the method for calculating the number of the articles 11 in the first cavity 111 according to the first detection distance value. Referring to fig. 6, step S13 may include:
step S131, calculating a difference between the second detection distance value and the second height value to obtain a second difference.
Wherein the second height value represents a distance from a bottom wall to a top wall of the second cavity 112. The second difference value obtained by calculating the difference between the second detection distance value and the second height value represents the height that has been occupied in the second cavity 112.
Step S132, judging whether the second difference is zero.
In step S133, if the second difference is zero, the second magnitude is zero.
I.e. when the second difference is zero, it indicates that the space in the second cavity 112 is not occupied, i.e. the second ultrasound module 320 detects that it is the bottom wall of the second cavity 112.
Step S134, if the second difference is not zero, it is determined whether the second difference can divide the first thickness value.
The first thickness value may be the thickness of the article 11 placed in the second cavity 112 when the article 11 is placed in the second cavity 112 in the same state as the first cavity 111. It should be noted that, the plurality of articles 11 are accommodated in the second accommodating cavity 112 in a stacked manner, and the first thickness value indicates the thickness of the articles 11 in the stacking direction. And the second difference represents the thickness of the plurality of articles 11 stacked together or the thickness of the entirety formed by the removal device 200 and the plurality of articles 11 when the plurality of articles 11 are stacked on the removal device 200.
And S135, if the result of judging whether the second difference value can be divided by the first thickness value is yes, the multiplied value obtained by dividing the second difference value by the first thickness value is taken as a second magnitude.
It should be noted that, taking the article 11 in the second accommodating cavity 112 as an example, in order to facilitate the removing device 200 to remove the article 11 in the second accommodating cavity 112 near the bottom wall, and avoid the removing device 200 from affecting another article 11 stacked above the article 11, the thickness of the moving device is set to be smaller than the thickness of the article 11, where the thickness of the moving device is a second thickness value, that is, the second thickness value is smaller than the first thickness value. At this time, when the removing device 200 abuts against the article 11 near the bottom wall in the second accommodating cavity 112, the removing device can avoid another article 11 above the article 11, and further damage to other articles 11 can be avoided. Based on this, when the second difference is able to divide the first thickness value, it means that the removing device 200 is not in the second accommodating cavity 112, and a plurality of articles 11 are stacked in the second accommodating cavity 112. The corresponding case that the second difference cannot divide the first thickness value, indicates that the removing device 200 is located in the second cavity 112.
And step 136, if the result of judging whether the second difference value can divide the first thickness value is negative, the multiple value obtained by dividing the difference value between the second difference value and the second thickness value by the first thickness value is a second magnitude.
On the premise that whether the second difference value can integer the first thickness value is judged as no, the value of the second difference value can be as follows: the second difference is equal to the second thickness, that is, the removing device 200 is located in the second accommodating cavity 112, and the article 11 is not accommodated in the second accommodating cavity 112. Alternatively, the second difference is greater than the second thickness value, which indicates that the removal device 200 is located in the second cavity 112, and the second cavity 112 has at least one article 11 therein.
The order of step S12 and step S13 may be interchanged or may be performed simultaneously.
With continued reference to fig. 4, in step S14, the moving device 200 is controlled to move relative to the case 100 according to the first and second magnitudes to move the article 11 out of the first outlet 121 or the second outlet 122.
Referring to fig. 7, step S14 may include:
step S141, determine whether the first magnitude is zero, and determine whether the second magnitude is zero.
In step S142, if the first amount is not zero and/or the second amount is not zero, the moving-out device 200 is controlled to reciprocate relative to the case 100 to push out the object in the first cavity 111 from the first outlet 121 or push out the object 11 in the second cavity 112 from the second outlet 122.
It should be noted that when the first magnitude is not zero and the second magnitude is zero, it means that there is at least one article 11 in the first cavity 111, and no article 11 is accommodated in the second cavity 112. At this time, the moving-out device 200 is controlled to reciprocate relative to the case 100, so that the moving-out device 200 can move from the second accommodating cavity 112 toward the first accommodating cavity 111 to push out the articles 11 in the first accommodating cavity 111 from the first outlet 121; and the moving-out device 200 can move from the first accommodating cavity 111 towards the second accommodating cavity 112 so as to avoid that the articles 11 in the first accommodating cavity 111 fall onto the bottom wall of the first accommodating cavity 111. At this time, the article 11 in the first container 111 can be pushed out from the first outlet 121 by the reciprocating movement of the removing means 200. When the second magnitude is non-zero and the first magnitude is zero, this means that no items 11 are contained in the first cavity 111 and at least one item 11 is contained in the second cavity 112. At this time, the moving-out device 200 is controlled to reciprocate relative to the case 100, so that the moving-out device 200 can move from the first cavity 111 toward the second cavity 112 to push out the articles 11 in the second cavity 112 from the second outlet 122, and the moving-out device 200 can move from the second cavity 112 toward the first cavity 111 to avoid the articles 11 in the second cavity 112 falling onto the bottom wall of the second cavity 112. At this time, the article 11 in the second container 112 can be pushed out from the second outlet 122 by the reciprocating movement of the removing means 200. In addition, when the first magnitude is not zero and the second magnitude is not zero, it indicates that the first container 111 and the second container 112 both contain the articles 11, and at this time, the articles 11 can be pushed out from the first outlet 121 and the second outlet 122 sequentially by the moving-out device 200 moving reciprocally relative to the case 100, so as to push out the articles 11 in the first container 111 from the first outlet 121 and push out the articles 11 in the second container 112 from the second outlet 122. Thereby realizing the purpose of automatic shipment of the distribution box 10 and solving the technical problem of inconvenient shipment in the prior art.
Step S143, if the first magnitude is zero and the second magnitude is zero, a prompt signal is sent out.
When the first magnitude is zero and the second magnitude is zero, this indicates that there is no item 11 in the first cavity 111 and no item 11 in the second cavity 112. The through-hole controller sends a prompt signal to prompt the user to refill the item 11.
In summary, the dispensing box 10 and the unmanned device provided in the embodiments of the present application can send out ultrasonic waves into the accommodating space 110 through the ultrasonic assembly 300 under the control of the dispensing box shipment control method, so as to detect whether the accommodating space 110 accommodates the article 11 through the ultrasonic assembly 300, and detect the position of the removing device 200 through the ultrasonic assembly 300. That is, the ultrasonic assembly 300 emits ultrasonic waves into the accommodating space 110 to detect the number of the articles 11 in the accommodating space 110 and the position of the removal device 200 and emits an ultrasonic detection signal. The moving-out device 200 can move relative to the box 100 according to the ultrasonic detection signal, that is, when the ultrasonic assembly 300 detects that the accommodating space 110 has the article 11, the moving-out device 200 can move relative to the box 100 and move out the article 11 from the outlet 120, so as to achieve the purpose of automatically delivering the delivery box 10, and further solve the technical problem of inconvenient delivery in the prior art.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the scope of the present invention should be included in the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (14)
1. The distribution box is characterized by comprising a box body, a moving-out device and an ultrasonic assembly;
the box body is internally provided with a containing space for containing articles, the articles are arranged in the containing space in a stacking mode, an outlet is formed in the box body and corresponds to the bottom wall of the containing space, and the outlet is communicated with the containing space and is used for the articles to move out of the containing space;
the moving-out device is movably arranged on the bottom wall of the accommodating space; the thickness of the removing device is smaller than that of the article;
the ultrasonic assembly is arranged in the accommodating space and is used for sending out ultrasonic waves to the interior of the accommodating space so as to detect the quantity of the objects and the position of the moving-out device and send out ultrasonic detection signals;
The moving-out device is electrically connected with the ultrasonic assembly and can move relative to the box body according to the ultrasonic detection signal so as to move out the article close to the bottom wall of the accommodating space from the outlet; the moving-out device is further used for moving away from the outlet so as to avoid stacked articles from falling to the bottom wall of the accommodating space;
the ultrasonic assembly is arranged on the top wall of the accommodating space and is arranged towards the bottom wall of the accommodating space, so that the ultrasonic assembly can emit ultrasonic waves towards the bottom wall of the accommodating space to detect the quantity of the articles in the accommodating space and the position of the moving-out device.
2. The dispensing box of claim 1, wherein the receiving space comprises a first receiving cavity and a second receiving cavity, the first receiving cavity and the second receiving cavity being configured to receive the items, respectively;
the outlet comprises a first outlet and a second outlet, the first outlet is communicated with the first containing cavity, and the second outlet is communicated with the second containing cavity;
the removal device is capable of reciprocating between the first containing cavity and the second containing cavity to push out the articles in the first containing cavity from the first outlet or push out the articles in the second containing cavity from the second outlet;
The ultrasonic assembly comprises a first ultrasonic module and a second ultrasonic module;
the first ultrasonic module is arranged on the top wall of the first containing cavity and is used for sending ultrasonic waves towards the bottom wall of the first containing cavity so as to detect the quantity of the objects in the first containing cavity and the position of the moving-out device in the first containing cavity;
the second ultrasonic module is arranged on the top wall of the second containing cavity and is used for sending ultrasonic waves towards the bottom wall of the second containing cavity so as to detect the quantity of the objects in the second containing cavity and the position of the moving-out device in the second containing cavity.
3. The dispensing box of claim 2 wherein said first ultrasonic module is disposed in a central portion of said first chamber top wall;
and/or the second ultrasonic module is arranged in the middle of the top wall of the second containing cavity.
4. The dispensing box of claim 2 wherein said first outlet and said second outlet are each open on opposite sides of said box;
the moving-out device can do linear reciprocating motion relative to the box body and selectively moves away from the first outlet and close to the second outlet so as to push out the article in the second containing cavity, or moves away from the second outlet and close to the first outlet so as to push out the article in the first containing cavity.
5. The dispensing box of any of claims 1-4 wherein the top wall of the receiving space is formed with a receiving slot, and the ultrasonic assembly is mounted to the bottom wall of the receiving slot and received within the receiving slot.
6. The dispensing box of claim 5 wherein the side of said ultrasonic assembly remote from the bottom wall of said receiving well is planar with the plane of the opening of said receiving well.
7. The dispensing box of claim 5 wherein the opening of the receiving well is disposed toward the bottom wall of the receiving space.
8. The dispensing box of claim 5 wherein said receiving well is flared.
9. The shipment control method of the distribution box is characterized by being applied to the distribution box, wherein the distribution box comprises a box body, a moving-out device and an ultrasonic assembly;
the box body is internally provided with a containing space for containing articles, the articles are arranged in the containing space in a stacking mode, an outlet is formed in the box body and corresponds to the bottom wall of the containing space, and the outlet is communicated with the containing space and is used for the articles to move out of the containing space;
The moving-out device is movably arranged on the bottom wall of the accommodating space and can move relative to the box body so as to move out the articles close to the bottom wall of the accommodating space from the outlet; the thickness of the removing device is smaller than that of the article; the moving-out device is further used for moving away from the outlet so as to avoid stacked articles from falling to the bottom wall of the accommodating space;
the ultrasonic assembly is arranged in the accommodating space; the ultrasonic assembly is arranged on the top wall of the accommodating space and towards the bottom wall of the accommodating space, so that the ultrasonic assembly can emit ultrasonic waves towards the bottom wall of the accommodating space to detect the number of the articles in the accommodating space and the position of the moving-out device;
the method comprises the following steps:
receiving an ultrasonic detection signal, wherein the ultrasonic detection signal is obtained by sending out ultrasonic waves towards the inside of the accommodating space by the ultrasonic assembly so as to detect the quantity of the objects and the position of the moving-out device;
calculating the quantity of the articles in the accommodating space according to the ultrasonic detection signals to obtain a quantity value;
and controlling the moving-out device to move relative to the box body according to the quantity value so as to push out the article from the outlet.
10. The method of claim 9, wherein the receiving space comprises a first receiving space and a second receiving space, the first receiving space and the second receiving space being configured to receive the articles, respectively;
the outlet comprises a first outlet and a second outlet, the first outlet is communicated with the first containing cavity, and the second outlet is communicated with the second containing cavity;
the moving-out device can reciprocate between the first accommodating cavity and the second accommodating cavity;
the ultrasonic assembly comprises a first ultrasonic module and a second ultrasonic module;
the first ultrasonic module is arranged on the top wall of the first containing cavity and used for sending out ultrasonic waves towards the bottom wall of the first containing cavity, and the second ultrasonic module is arranged on the top wall of the second containing cavity and used for sending out ultrasonic waves towards the bottom wall of the second containing cavity;
the ultrasonic detection signal comprises a first detection distance value and a second detection distance value, wherein the first detection distance value represents the distance obtained by ultrasonic detection sent by the first ultrasonic module, and the second detection distance value represents the distance obtained by ultrasonic detection sent by the second ultrasonic module;
The quantity value includes a first quantity value representing the quantity of the item in the first cavity and a second quantity value representing the quantity in the second cavity;
the method comprises the following steps:
receiving the first detection distance value and the second detection distance value;
calculating the quantity of the articles in the first accommodating cavity according to the first detection distance value to obtain a first magnitude;
calculating the number of the articles in the second accommodating cavity according to the second detection distance value to obtain a second magnitude;
and controlling the moving-out device to move relative to the box body according to the first magnitude and the second magnitude so as to move out the article from the first outlet or the second outlet.
11. The method of claim 10, wherein calculating the quantity of the items in the first cavity based on the first sensed distance value comprises:
calculating a difference value between the first detection distance value and a first height value to obtain a first difference value, wherein the first height value represents a distance from the bottom wall to the top wall of the first accommodating cavity;
judging whether the first difference value is zero or not;
If the first difference is zero, the first magnitude is zero;
if the first difference value is not zero, judging whether the first difference value can divide a first thickness value, wherein the first thickness value is the thickness of the article when the article is placed in the first accommodating cavity;
if the result of judging whether the first difference value can divide the first thickness value is yes, taking a multiple value obtained by dividing the first difference value by the first thickness value as the first magnitude;
if the result of judging whether the first difference value can be divided by the first thickness value is negative, a multiple value obtained by dividing the difference value of the first difference value and the second thickness value by the first thickness value is taken as the first magnitude, wherein the second thickness value is the thickness of the removing device.
12. The method of claim 10, wherein calculating the number of items in the second cavity based on the second sensed distance value to obtain a second magnitude comprises:
calculating a difference value between the second detection distance value and a second height value to obtain a second difference value, wherein the second height value represents a distance from the bottom wall to the top wall of the second containing cavity;
Judging whether the second difference value is zero or not;
if the second difference is zero, the second magnitude is zero;
if the second difference value is not zero, judging whether the second difference value can divide a first thickness value, wherein the first thickness value is the thickness of the article when the article is placed in the second accommodating cavity;
if the result of judging whether the second difference value can divide the first thickness value is yes, taking a multiple value obtained by dividing the second difference value by the first thickness value as the second magnitude;
if the result of judging whether the second difference value can divide the first thickness value is negative, a multiple value obtained by dividing the difference value of the second difference value and the second thickness value by the first thickness value is taken as the second magnitude, wherein the second thickness value is the thickness of the removing device.
13. The method of claim 10, wherein the step of controlling the removal device to move relative to the case to remove the item from the first outlet or the second outlet in accordance with the first and second magnitudes comprises:
judging whether the first magnitude is zero and judging whether the second magnitude is zero;
If the first magnitude is not zero and/or the second magnitude is not zero, controlling the moving-out device to reciprocate relative to the box body so as to push out the article in the first containing cavity from the first outlet or push out the article in the second containing cavity from the second outlet;
and if the first magnitude is zero and the second magnitude is zero, sending out a prompt signal.
14. An unmanned device comprising a dispenser according to any one of claims 1 to 8.
Priority Applications (1)
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| CN202010567326.8A CN111591571B (en) | 2020-06-19 | 2020-06-19 | Distribution box, distribution box shipment control method and unmanned equipment |
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| CN202010567326.8A CN111591571B (en) | 2020-06-19 | 2020-06-19 | Distribution box, distribution box shipment control method and unmanned equipment |
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