Control method of delivery robot, delivery system, and computer-readable storage medium

Abstract

The application provides a control method of a delivery robot, comprising: receiving a first delivery task; receiving a second delivery task; calculating a first cost of respectively executing the first delivery task and the second delivery task, and a second cost of combinedly executing the first delivery task and the second delivery task; and controlling the delivery robot to execute a delivery task according to a comparison result of the first cost and the second cost. The control method in the application comprehensively considers various factors when the delivery robot needs to execute multiple delivery tasks, calculates the cost of respectively executing the delivery tasks and the cost of combinedly executing the delivery tasks, and optimizes the execution mode of the delivery tasks accordingly, thereby improving the utilization rate of the delivery robot, shortening the delivery time, and enhancing the user experience.

Description

TECHNICAL FIELD

[0001] The present application generally relates to the technical field of intelligent equipment, and particularly relates to a control method of a delivery robot, a delivery system and a computer readable storage medium. BACKGROUND

[0002] The delivery robot is an intelligent equipment for completing the transfer of goods in a certain area, which can save labor cost and improve work efficiency, and is increasingly applied in scenarios such as restaurants, hotels, hospitals and exhibition halls. For example, in the application scenario of a hotel, customers can place orders in a store inside the hotel without leaving the room, and the delivery robot delivers the goods to the room, replacing the service personnel and reducing the labor intensity, thereby improving the customer experience.

[0003] However, in the actual application environment, there are situations where the same customer adds goods or orders, and different customers place orders in a similar location, which is particularly obvious during peak hours. At this time, the delivery robot receives multiple delivery tasks, but the existing delivery robot and delivery system are not intelligent enough, and still execute the delivery tasks in the order of the time when the orders are placed, that is, the delivery robot transports the goods to be delivered in the first received delivery task to the destination and then returns to the original point to obtain the goods to be delivered in the next delivery task. This delivery method cannot plan a reasonable delivery path according to different delivery tasks, even if the destinations of two delivery tasks are the same or close, the delivery robot will still mechanically execute the delivery tasks twice, which not only wastes robot resources and cannot fully utilize the delivery robot, but also causes the delay of order delivery, and the delay time accumulates with the number of delivery tasks, which seriously affects the customer experience.

[0004] The contents of the background art section merely represent the best of the inventor's knowledge at the time of filing of this application, and do not necessarily represent the prior art in the field. SUMMARY

[0005] In view of one or more defects in the prior art, the present application provides a control method for a delivery robot, which analyzes the cost of executing delivery tasks respectively and the cost of executing delivery tasks combined for multiple delivery tasks, improves the utilization rate of the delivery robot, reduces resource waste, and improves user satisfaction. The present application also provides a delivery system and a computer readable storage medium for cooperating to execute and implement the control method of the delivery robot.

[0006] To solve the above technical problems, the present application adopts the following technical solutions:

[0007] A control method of a delivery robot, comprising:

[0008] receiving a first delivery task;

[0009] receiving a second delivery task;

[0010] calculating a first cost of performing the first delivery task and the second delivery task respectively, and a second cost of performing the first delivery task and the second delivery task in combination;

[0011] controlling the delivery robot to perform a delivery task according to a comparison result of the first cost and the second cost.

[0012] According to an aspect of the present application, wherein the step of calculating the first cost and the second cost comprises calculating the first cost and the second cost based on one or more of a distance traveled by the delivery robot, a number of times the delivery robot passes through a preset location and an expected time, a waiting time of the first delivery task, a power level and a carrying capacity of the delivery robot.

[0013] According to an aspect of the present application, wherein the step of controlling the delivery robot to perform a delivery task according to a comparison result of the first cost and the second cost comprises controlling the delivery robot to perform the first delivery task and the second delivery task respectively when the first cost is less than the second cost, and combining the first delivery task and the second delivery task and controlling the delivery robot to perform the combined delivery task when the first cost is not less than the second cost.

[0014] According to an aspect of the present application, wherein the step of calculating the first cost and the second cost is performed when the delivery robot has departed upon receiving the second delivery task, or when a target point of one of the delivery tasks is not on an execution path of the other delivery task.

[0015] According to an aspect of the present application, the control method of the delivery robot further comprises, when the delivery robot has not departed upon receiving the second delivery task, combining the first delivery task and the second delivery task and controlling the delivery robot to perform the combined delivery task when a target point of the second delivery task is the same as a target point of the first delivery task.

[0016] According to an aspect of the present application, the control method of the delivery robot further comprises, when the delivery robot has not departed upon receiving the second delivery task, combining the first delivery task and the second delivery task and controlling the delivery robot to perform the combined delivery task when a target point of one of the delivery tasks is on an execution path of the other delivery task.

[0017] According to an aspect of the present application, an origin point is preset in a space range in which a delivery robot performs a delivery task, the origin point being a region in which the delivery robot acquires an item to be delivered; in a case where the delivery robot has departed when a second delivery task is received, when a first cost is not less than a second cost, the delivery robot is controlled to return to the origin point, acquire an item to be delivered of the second delivery task, and combine the first delivery task and the second delivery task, and the delivery robot is controlled to perform the combined delivery task.

[0018] According to an aspect of the present application, in a case where the delivery robot has departed when a second delivery task is received, when a distance between the delivery robot and the origin point is greater than a second preset distance, the delivery robot is controlled to perform the first delivery task.

[0019] According to an aspect of the present application, a delivery system comprises:

[0020] One or more delivery robots configured to perform a delivery task;

[0021] A control system in communication with the delivery robot and configured to perform the control method as described above.

[0022] According to an aspect of the present application, a computer readable storage medium comprises computer executable instructions stored thereon, the executable instructions, when executed by a processor, implementing the control method as described above.

[0023] Compared with the prior art, embodiments of the present application provide a control method of a delivery robot, when the delivery robot needs to perform multiple delivery tasks, multiple factors are comprehensively considered, a cost of performing the delivery tasks respectively and a cost of performing the delivery tasks combined are calculated, and the performing mode of the delivery tasks is optimized according to the costs, the utilization rate of the delivery robot is improved, the delivery time is shortened, and the user experience is enhanced. Embodiments of the present application also provide a delivery system and a computer readable storage medium for cooperating to perform the control method in the present application. BRIEF DESCRIPTION OF DRAWINGS

[0024] The accompanying drawings are included to provide a further understanding of the present application, and constitute a part of the specification, illustrate embodiments of the present application, and are used to explain the present application, and do not constitute a limitation of the present application. In the drawings:

[0025] Figure 1 is a flowchart of an embodiment of the present application;

[0026] Figure 2 is a flowchart of an embodiment of the present application comprising judging a first cost and a second cost;

[0027] Figure 3is a flowchart of the case where the first delivery task and the second delivery task target point are close in one embodiment of the present application;

[0028] Figure 4 is a flowchart of the case where the distance between the first delivery task and the second delivery task target point is far in one embodiment of the present application;

[0029] Figure 5 is a detailed flowchart of one embodiment of the present application;

[0030] Figure 6 is a delivery route diagram of one embodiment of the present application;

[0031] Figure 7 is a flowchart of the case where the delivery task is updated in one embodiment of the present application;

[0032] Figure 8 is a diagram of the delivery system in one embodiment of the present application. DETAILED DESCRIPTION

[0033] Hereinafter, only certain exemplary embodiments will be described simply. As can be recognized by those skilled in the art, the described embodiments can be modified in various different ways without departing from the spirit or scope of the present application. Therefore, the drawings and the description are considered to be exemplary in nature rather than limiting.

[0034] In the description of the present application, it is to be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are used only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second" are used only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly specified.

[0035] In the description of the present application, unless otherwise clearly specified and limited, the terms "mounting", "connection", "connecting" should be understood in a broad sense, for example, can be fixed connection, can be detachable connection, or integral connection; can be mechanical connection, can be electrical connection or can be in communication with each other; can be direct connection, or indirect connection through intermediate medium; can be internal communication of two elements or interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0036] In the present application, unless otherwise clearly specified and limited, the first feature "on" or "under" the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "over" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the first feature is higher in horizontal height than the second feature. The first feature "under", "below" and "under" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the first feature is lower in horizontal height than the second feature.

[0037] The following disclosure provides many different embodiments or examples for implementing different structures of the present application. For the purpose of simplifying the present application, the components and settings of specific examples are described in the following. Of course, they are only examples, and the purpose is not to limit the present application. In addition, the present application can repeatedly refer to numbers and / or letters in different examples. Such repetition is for the purpose of simplification and clarity, and does not indicate the relationship between the various embodiments and / or settings discussed per se. In addition, the present application provides examples of various specific processes and materials, but those skilled in the art can realize the application of other processes and / or the use of other materials.

[0038] The preferred embodiments of the present application are described below in conjunction with the accompanying drawings, it should be understood that the preferred embodiments described herein are only used to illustrate and explain the present application, and are not used to limit the present application.

[0039] Figure 1 A control method 100 for a delivery robot according to an embodiment of the present application is shown, and the control method 100 for the delivery robot will be described below in conjunction with Figure 1 Detailed description.

[0040] As Figure 1 shown, the control method 100 for the delivery robot includes:

[0041] At step S101, a first delivery task is received. In the embodiment, the delivery task is performed by a delivery robot. In the delivery area, the position or area where the delivery robot obtains the to-be-delivered item can be set as an origin. For example, in the application scenario of a hotel, the origin can be set in the delivery area, and the to-be-delivered item is loaded on the delivery robot by an operator. The delivery task includes a target point, i.e., a position to which the to-be-delivered item needs to be delivered. After the delivery robot obtains the to-be-delivered item from the origin, the delivery robot is controlled to go to the target point in the delivery task, and the delivery task is completed.

[0042] At step S102, a second delivery task is received. The first delivery task and the second delivery task in the embodiment do not necessarily have a time sequence. Multiple delivery tasks can also be received at the same time. The delivery tasks can be sorted according to the sequence of receiving time, and the priority of the delivery task can also be determined according to other conditions, such as the time requirement of a customer, the quality requirement of a to-be-delivered item, and the like. In the embodiment, the first delivery task refers to a delivery task that needs to be delivered with the highest priority or is being performed by the delivery robot, and the second delivery task refers to a delivery task that has the highest priority except the first delivery task.

[0043] At step S103, a first cost of performing the first delivery task and the second delivery task respectively and a second cost of performing the first delivery task and the second delivery task together are calculated. In the embodiment, the costs of two different delivery modes are quantified as the first cost and the second cost, respectively, for analysis and comparison to determine the preferred delivery mode.

[0044] At step S104, the delivery robot is controlled to perform the delivery task according to the comparison result of the first cost and the second cost. After the costs of the two delivery modes are quantified, the first cost and the second cost are compared to optimize the delivery mode, fully utilize the delivery robot, reduce resource waste, and improve user experience. According to the embodiment of the application, when the second delivery task is received, the delivery robot can have left the origin and be performing the first delivery task. At this time, the first cost and the second cost need to be measured to determine whether to perform the first task and the second task together or separately. Details are described below.

[0045] According to another embodiment of the application, the first cost and the second cost are based on one or more of the following: a distance traveled by the delivery robot, a number of times that the delivery robot passes through a preset location and an expected time, a waiting time of the first delivery task, a power and a carrying capacity of the delivery robot.

[0046] The distance traveled by the delivery robot refers to the distance traveled by the delivery robot in performing the first delivery task and the second delivery task. Figure 6The route for performing the first delivery task and the second delivery task respectively is R1 (as shown by the solid arrow), and the route for performing the first delivery task and the second delivery task in combination is R2 (as shown by the dashed arrow), and the lengths of R1 and R2 are compared.

[0047] The preset location can be set in the delivery area according to the specific situation of the delivery scene, for example, a narrow road section where congestion frequently occurs or a location that needs to be reached by taking an elevator, etc., and can also be set in combination with a time period, for example, a window where congestion is prone to occur during peak hours, an elevator, etc., and the expected time can be set according to a trial run. For example, in a hotel application scenario, if the delivery robot needs to pass through a congested road section, such as an elevator port, when returning to the original point during peak hours, the running time of the delivery robot will be significantly longer than the time of unobstructed passing, and the more the number of times of passing through the preset location, the longer the time spent. For another example, the delivery robot needs to wait for the elevator to stop when performing the delivery task. The expected time of waiting for the elevator and the time of the delivery robot returning to the original point to obtain the to-be-delivered goods of the second delivery task are compared, and the comparison result is taken as one of the conditions for calculating the first cost and the second cost, which can improve the accuracy of cost quantification.

[0048] The waiting time of the first delivery task is set based on the satisfaction evaluation of the customer for the service. The longer the customer waits for the goods to be delivered, the lower the satisfaction evaluation will be. Therefore, in order to ensure the customer experience, the waiting time of the first delivery task also needs to be considered when calculating the first cost and the second cost. For example, the delivery time can be set according to customer surveys, application scenarios, or special requirements of the to-be-delivered goods, etc. If the delivery time is close to or exceeds the delivery time of the first delivery task, the second cost will increase.

[0049] The power and carrying capacity of the delivery robot are factors that determine whether the delivery robot can combine the first delivery task and the second delivery task. For example, when the delivery robot has already started to perform the first delivery task and the remaining power is insufficient to perform the combined delivery task, the second cost can be set to be greater than the first cost to control the delivery robot to perform the first delivery task. Or when the carrying capacity of the delivery robot is insufficient to carry the to-be-delivered goods of the second delivery task, for example, the space for accommodating the to-be-delivered goods is insufficient, the delivery robot is controlled to perform the first delivery task first.

[0050] According to one preferred embodiment of the present application, the above various parameters can be quantified and the corresponding weights can be set for calculating the first cost and the second cost.

[0051] Figure 2A control method 200 according to an embodiment of the present application is shown, which includes the steps of judging the first cost and the second cost, as follows Figure 2 Detailed description.

[0052] The steps S201, S202 and S203 in the control method 200 are the same as those in the control method 100, and after the first cost and the second cost are calculated according to the cost quantification method in the foregoing embodiments, respectively, in step S204, the size relationship between the first cost and the second cost is judged. In this embodiment, when the first cost is greater than the second cost, in step S205, the first delivery task and the second delivery task are merged, and then in step S207, the delivery robot is controlled to execute the merged delivery task (when the delivery robot has left the origin to execute the first delivery task, the delivery robot needs to be controlled to return to the origin to obtain the goods of the second delivery task at this time). When the first cost is less than the second cost, in step S206, the delivery robot is controlled to execute the first delivery task first. In this embodiment, when the first cost and the second cost are equal, according to the control method 200, the first delivery task and the second delivery task are merged, and the delivery robot is controlled to execute the merged delivery task, so that the robot resources are fully utilized and energy waste is reduced.

[0053] Figure 3 A control method 300 according to an embodiment of the present application is shown, which involves the case that the distance between the target points of the first delivery task and the second delivery task is close, as follows Figure 3 Detailed description.

[0054] In this embodiment, the target points of the first delivery task and the second delivery task are close, for example, two orders are placed by the same customer and the target points are the same or the goods are added in the original order, or orders are placed by different customers in the same region and the target points are the same region, which does not necessarily mean that the target points are exactly the same, but also includes that the distance between the target points of the first delivery task and the second delivery task is small, for example, less than a first preset distance, wherein the first preset distance can be set according to the actual application scenario or the running experience of the delivery robot, and further, the first preset distance can be set to 5 meters. The first preset distance in this embodiment refers to the running distance of the delivery robot, and is not the straight-line distance between the target points of the first delivery task and the second delivery task, so as to avoid prolonging the running distance of the delivery robot in some complex scenarios.

[0055] The steps S301, S302 and S303 in the control method 300 are the same as the steps S101, S102 and S103 in the control method 100, and at step S304, it is determined whether the delivery robot has left the original point and has departed to perform the first delivery task. If the delivery robot has not left the original point, for example, the delivery robot has not departed, and the target point of the second delivery task and the target point of the first delivery task are the same, in the case that the remaining power and the carrying capacity of the delivery robot meet the requirements, at this time, the delivery robot is located at the original point, and no additional path needs to be run, and the waiting time for the operator to assemble the to-be-delivered articles is short, which is ignored, and in this case, the second cost can be considered to be equal to the first cost or the above case is directly set as the first cost being greater than the second cost to simplify the calculation. At step S305, the first delivery task and the second delivery task are combined, and at step S306, the delivery robot is controlled to perform the combined delivery task.

[0056] If the delivery robot has left the original point and has departed to perform the first delivery task, at step S307, it is determined whether the first cost is not less than the second cost. If the first cost is less than the second cost, at step S309, the delivery robot is controlled to perform the first delivery task. If the first cost is not less than the second cost, at step S308, the delivery robot is controlled to return to the original point to obtain the to-be-delivered articles of the second delivery task, and then proceed to step S305 to combine the first delivery task and the second delivery task, and control the delivery robot to perform the combined delivery task.

[0057] Figure 4 A control method 400 according to an embodiment of the present application is shown, which relates to the case that the distance between the target point of the first delivery task and the target point of the second delivery task is far, and the following is described in detail. Figure 4 .

[0058] In this embodiment, the distance between the target point of the first delivery task and the target point of the second delivery task is far, for example, when the distance between the target point of the first delivery task and the target point of the second delivery task is not less than a first preset distance, the control method 400 of the delivery robot is as shown in Figure 4 .

[0059] The steps S401, S402 and S403 are the same as the steps S101, S102 and S103 in the control method 100. In step S404, it is determined whether the distance between the delivery robot and the origin is greater than a second preset distance. The second preset distance can be set according to the specific application scenario and operation condition, for example, 10 meters. In this embodiment, the second preset distance also refers to the running distance of the delivery robot, and is not the straight-line distance between the delivery robot and the origin. If the distance between the delivery robot and the origin is greater than the second preset distance, it is considered that the distance between the delivery robot and the origin is too far, and the target points of the first delivery task and the second delivery task are far away from each other in this embodiment. In order to ensure the delivery time of the first delivery task and improve the customer experience, the delivery robot is controlled to perform the first delivery task in step S405.

[0060] If the distance between the delivery robot and the origin is not greater than the second preset distance, it is considered that the delivery robot is located near the origin. In step S406, it is determined whether the target point of one of the delivery tasks is on the execution path of the other delivery task. In this step, it is not limited that the target point of the second delivery task is on the execution path of the first delivery task, but also includes that the target point of the first delivery task is on the execution path of the second delivery task. According to one embodiment of the present application, when confirming the execution path, the execution path for performing the first delivery task and the execution path for performing the second delivery task can be determined by the delivery robot or the delivery system respectively, and then it is determined whether the target point of one of the delivery tasks is on the execution path of the other delivery task. If the target point of one of the delivery tasks is on the execution path of the other delivery task, the delivery robot is controlled to return to the origin to obtain the to-be-delivered goods of the second delivery task in step S407, the first delivery task and the second delivery task are merged in step S409, and the delivery robot is controlled to perform the merged delivery task in step S411.

[0061] If the target point of the first delivery task and the target point of the second delivery task are not on the execution path of the other delivery task, it is determined whether the first cost is not less than the second cost in step S408. If the first cost is not less than the second cost, the delivery robot is controlled to return to the origin and perform the subsequent steps S409 and S411 as shown in step S407. If the first cost is less than the second cost, the delivery robot is controlled to perform the first delivery task in step S410. Figure 4

[0062] Figure 5 A detailed flowchart of the control method 500 according to one embodiment of the present application is shown, and the detailed description is as follows. Figure 5

[0063] ​​The steps S501, S502, S503 in the control method 500 for the delivery robot and the steps S101, S102, S103 in the control method 100 are the same, and will not be repeated here. In step S504, it is judged whether the distance between the target points of the first delivery task and the second delivery task is not greater than the first preset distance. As described before, the first preset distance can be set according to the application scenario or the running experience of the delivery robot, for example, 5 meters. If the distance between the target points of the first delivery task and the second delivery task is not greater than the first preset distance, it is considered that the target points of the first delivery task and the second delivery task are relatively close, and accordingly, the time required for the delivery robot to go from the target point of the first delivery task to the target point of the second delivery task is relatively short. In step S505, it is judged whether the distance between the delivery robot and the origin is not greater than the second preset distance. The second preset distance is set according to the application scenario and other factors, for example, 10 meters. If the distance between the delivery robot and the origin is not greater than the second preset distance, that is, the distance between the delivery robot and the origin is relatively close or the delivery robot has not yet departed from the origin, the time required for the delivery robot to return to the origin is relatively short. For example, the delivery robot departs from the origin to perform the first delivery task, and before walking out of the second preset distance, the second delivery task is received. In step S508, the delivery robot is controlled to return to the origin to obtain the to-be-delivered item of the second delivery task. In step S510, the first delivery task and the second delivery task are merged, which can be used as a new first delivery task. In step S512, the delivery robot is controlled to perform the merged delivery task, so as to make full use of the delivery robot resources.

[0064] If in step S504, the distance between the target point of the second delivery task and the target point of the first delivery task is not greater than the first preset distance, and in step S505, the distance between the delivery robot and the origin is greater than the second preset distance, that is, the delivery robot has departed from the origin, performed the first delivery task, and is far away from the origin. At this time, the second delivery task is received. In step S506, it is judged whether the first cost is not less than the second cost. If the first cost is not less than the second cost, in step S508, the delivery robot is controlled to return to the origin, and steps S510 and S512 are sequentially performed as shown. Figure 5 If the first cost is less than the second cost, that is, the cost of performing the delivery tasks respectively is lower than that of performing the delivery tasks in combination, in step S513, the delivery robot is controlled to continue to perform the first delivery task.

[0065] If, in step S504, the distance between the target point of the second delivery task and the target point of the first delivery task is greater than a first preset distance, then, due to the large distance between the target points of the two delivery tasks, or even the completely opposite delivery paths (e.g., receiving delivery tasks from customers located in different areas or on different floors), in step S507, it is determined whether the distance between the delivery robot and the origin is not greater than a third preset distance. In this embodiment, when the distance between the target points of the two delivery tasks is large, the weight of the distance between the delivery robot and the origin in cost quantification decreases when calculating the first cost and the second cost. The third preset distance can be set to 12 meters. If the distance between the delivery robot and the origin is greater than the third preset distance, in step S513, the delivery robot is controlled to execute the first delivery task. If the distance between the delivery robot and the origin is not greater than the third preset distance, for example, when the delivery robot has not started, in step S509, it is determined whether the target point of one delivery task is on the execution path of the other delivery task. In this embodiment, it is not required that the target point of the second delivery task is on the execution path of the first delivery task, and the execution path refers to the path from the origin to the target point of the delivery task, not the path from the current position of the delivery robot to the target point of the delivery task.

[0066] If the destination of one delivery task is on the execution path of another delivery task, such as Figure 6 As shown, when the delivery robot moves along path R2, the target point of the first delivery task is on the execution path of the delivery robot to execute the second delivery task. In step S508, the delivery robot is controlled to return to the origin and obtain the item to be delivered for the second delivery task. In step S510, the first delivery task and the second delivery task are merged. In step S512, the delivery robot is controlled to execute the merged delivery task.

[0067] If the target point of one delivery task does not lie on the execution path of another delivery task, meaning the delivery robot cannot complete both delivery tasks simultaneously along one path, in step S511, it is determined whether the first cost is not less than the second cost. If the first cost is less than the second cost, meaning the cost of executing the first and second delivery tasks separately is lower, in step S513, the delivery robot is controlled to execute the first delivery task first. Figure 6 As shown, if the first cost is less than the second cost, the delivery robot is controlled to travel along path R1. If the first cost is not less than the second cost, in step S508, the delivery robot is controlled to return to the origin, and... Figure 5 As shown, proceed with subsequent steps S510 and S512.

[0068] Figure 7 A method for updating delivery tasks according to an embodiment of the present invention is illustrated below, in conjunction with... Figure 7DETAILED DESCRIPTION

[0069] The delivery tasks in the embodiment are not limited to two as in the foregoing embodiment. In step S601, a delivery task is received, which can be completed by a communication component integrated in the background delivery system or the delivery robot. For example, a customer places an order through a client, the order is transmitted to the delivery system or the delivery robot through the Internet or a local area network, and after data processing, the delivery information contained in the order is obtained, including the to-be-delivered goods and the target location, i.e., a delivery task is received. Specifically, the delivery system or the delivery robot can also be provided with a task list for recording delivery tasks. The task list is not limited to being perceptible to the user, such as a visual task list, but also includes a task list that only exists in the control process of the control system. In step S602, after receiving the delivery task, the task list is updated to record the latest received delivery task. In step S603, the delivery tasks in the task list are sorted. The sorting of the delivery tasks can be based on the time when the delivery task is received, and can also be adjusted according to different customer requirements and the characteristics of the to-be-delivered goods. For example, if a customer makes an advance reservation and requires delivery after 3 hours, the sorting of the delivery tasks needs to be adjusted according to the specific requirements of the customer.

[0070] After the sorting of the delivery tasks in the task list is completed, in step S604, it is determined whether the first delivery task and the second delivery task are merged. As described in the foregoing embodiment, in order to improve the utilization rate of the delivery robot, according to the foregoing control method, if the task merging occurs, the first delivery task and the second delivery task are merged into a new first delivery task. In step S602, after the new first delivery task is added, the task list is updated, and the delivery tasks in the task list are re-sorted, and then it is determined whether the first delivery task (the delivery task after the merging of the original first delivery task and the original second delivery task) and the second delivery task (the original third delivery task) are merged, and the cycle is entered until the first delivery task and the second delivery task are not merged. In step S605, the task list is not adjusted, and at this time, according to the control method of the delivery robot, the delivery robot is controlled to perform the delivery task.

[0071] According to one embodiment of the present application, further, when the first delivery task and the second delivery task are not combined, a first cost of performing the first delivery task and the third delivery task respectively is calculated, and a third cost of performing the first delivery task and the third delivery task in combination is calculated, and according to a comparison result of the first cost and the third cost, it is determined whether to combine the first delivery task and the third delivery task. If the first delivery task and the third delivery task are not combined, the first cost of performing the first delivery task and the fourth delivery task respectively and the fourth cost of performing the first delivery task and the fourth delivery task in combination are continuously calculated, and all the delivery tasks in the task list are sequentially traversed until all the delivery tasks in the task list except the first delivery task are not combined with the first delivery task, and according to the control method of the delivery robot, the delivery robot is controlled to perform the delivery tasks.

[0072] According to one embodiment of the present application, Figure 8 A delivery system 700 is shown, which includes one or more delivery robots 710 configured to perform delivery tasks. The delivery system further includes a control system 720 in communication with the delivery robots and capable of performing the control methods 100, 200, 300, 400 or 500 as described above. The control system 720 in this embodiment can control multiple delivery robots 710 at the same time, for example, multiple delivery robots 710 all receive delivery tasks and have respective task lists, and the delivery robots 710 do not interfere with each other and perform delivery tasks under the control of the control system 720 respectively. Or the control system 720 receives delivery tasks uniformly, and according to the specific circumstances of different delivery robots, such as the number of tasks to be performed or the remaining power, etc., allocates delivery tasks among multiple delivery robots, and then controls the delivery robots to perform respective delivery tasks.

[0073] According to one embodiment of the present application, a computer readable storage medium is also provided, which includes computer executable instructions stored thereon, and the executable instructions, when executed by a processor, implement the control method of the delivery robot as described above.

[0074] Finally, it should be noted that: the above only describes the preferred embodiments of the present application and is not used to limit the present application, although the present application has been described in detail with reference to the foregoing embodiments, and for those skilled in the art, the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced equivalently. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A control method of a delivery robot, applied to hotel delivery, comprising: receiving a first delivery task; receiving a second delivery task; calculating a first cost of respectively executing the first delivery task and the second delivery task, and a second cost of combinedly executing the first delivery task and the second delivery task; wherein the step of calculating the first cost and the second cost comprises: calculating the first cost and the second cost based on a path of the delivery robot walking and a number of times and an expected time of the delivery robot passing through a preset location; wherein the preset location comprises a narrow road section where congestion frequently occurs, and a location that needs to take an elevator to reach, and the narrow road section where congestion frequently occurs comprises an elevator entrance during peak hours, and the more times the delivery robot passes through the preset location, the longer time it takes; controlling the delivery robot to execute the delivery task according to a comparison result of the first cost and the second cost, comprising: performing the step of comparing the first cost and the second cost in a case that the delivery robot has left the original point to execute the first delivery task when the second delivery task is received; wherein in the case that the delivery robot has left the original point to execute the first delivery task when the second delivery task is received, the walking path of the delivery robot when calculating the second cost comprises: the delivery robot returning from the current position to the original point, the delivery robot going from the original point to a target point of the first delivery task, and the delivery robot going from the target point of the first delivery task to a target point of the second delivery task; and the walking path of the delivery robot when calculating the first cost comprises: the delivery robot going from the current position to the target point of the first delivery task, the delivery robot going from the target point of the first delivery task to the original point, and the delivery robot going from the original point to the target point of the second delivery task; when the first cost is not less than the second cost, combining the first delivery task and the second delivery task, controlling the delivery robot to return to the original point to obtain the to-be-delivered item of the second delivery task, and executing the combined delivery task; the original point is an area where the delivery robot obtains the to-be-delivered items of the first delivery task and the second delivery task.

2. The control method according to claim 1, wherein the step of calculating the first cost and the second cost further comprises: calculating the first cost and the second cost based on one or more of a waiting time of the first delivery task, a power of the delivery robot, and a carrying capacity of the delivery robot; wherein the delivery time is set according to customer surveys, application scenarios, or special requirements of the to-be-delivered items, and the waiting time of the first delivery task is close to or exceeds the delivery time of the first delivery task, and the second cost will increase.

3. The control method according to claim 1 or 2, wherein the step of controlling the delivery robot to perform a delivery task in accordance with the comparison result of the first cost and the second cost includes: when the first cost is less than the second cost, controlling the delivery robot to respectively execute the first delivery task and the second delivery task.

4. The control method according to claim 3, further comprising: in a case that the delivery robot has not departed when the second delivery task is received, when the target point of the second delivery task is the same as the target point of the first delivery task, combining the first delivery task and the second delivery task, and controlling the delivery robot to execute the combined delivery task. When the target point of one of the delivery tasks is not on the execution path of the other delivery task, the step of comparing the first cost and the second cost is performed.

5. The control method according to claim 4, further comprising: When the target point of one of the delivery tasks is on the execution path of the other delivery task, the first delivery task and the second delivery task are merged, and the delivery robot is controlled to execute the merged delivery task, in the case that the delivery robot has not departed when the second delivery task is received.

6. The control method of claim 3, in the case that the delivery robot has departed when the second delivery task is received, when the distance between the delivery robot and the origin is greater than the second preset distance, it is determined that the first cost is less than the second cost, and the delivery robot is controlled to execute the first delivery task; when the distance between the delivery robot and the origin is not greater than the second preset distance, it is determined whether the target point of one of the delivery tasks is on the execution path of the other delivery task.

7. The control method of claim 2, wherein the preset location is set within the delivery area; and the expected time is set according to a trial run.

8. The control method of claim 2, wherein in the step of calculating the first cost and the second cost, the parameters for calculating the first cost and the second cost are quantified, and weights are set.

9. A delivery system, comprising: one or more delivery robots configured to be capable of executing a delivery task; a control system in communication with the delivery robots and configured to be capable of executing the control method of any one of claims 1-8.

10. A computer-readable storage medium comprising computer-executable instructions stored thereon that, when executed by a processor, implement the control method of any one of claims 1-8.

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