Article delivery method, system, storage medium and article delivery robot

Abstract

The present invention provides an article delivery method, system, storage medium and delivery robot, the method comprising: receiving a delivery request sent by a delivery party; generating a delivery task according to the delivery request and storing the delivery task in a delivery task list according to the intended delivery time; determining an initial delivery task according to the intended delivery time of each delivery task in the delivery task list, and formulating an initial delivery path according to the location information of the delivery party and the receiver of the initial delivery task; judging whether there is a delivery party of a delivery task whose location is within the preset range of the initial delivery path; if so, determining it as a mid-way delivery task, moving to the delivery party of the mid-way delivery task to receive the items to be delivered, and determining the next delivery order according to the location information of the receivers of the initial delivery task and the mid-way delivery task. The present invention can solve the technical problem that the delivery robot in the prior art generally cannot synchronously execute other delivery tasks during the article delivery process.

Description

Technical Field

[0001] The present invention relates to the technical field of article delivery, and in particular to an article delivery method, system, storage medium and delivery robot. Background Art

[0002] At present, in large office spaces, such as centralized offices, the use areas of office spaces are usually divided according to departments or functional areas. For such large office spaces, due to the large area occupied by the office space, when there are documents and other items that need to be passed between employees, employees are usually required to leave their workstations to hand over the documents and other items to other employees. The long absence time of employees has affected their work progress and work efficiency to a certain extent.

[0003] With the development of shape-shifting robot technology, some companies are currently focusing on the research of shape-shifting robots for item delivery, which can be used to control shape-shifting robots to perform item delivery and transportation tasks. However, current delivery robots generally cannot perform other delivery tasks simultaneously during item delivery, which reduces the efficiency of item delivery to a certain extent, thereby affecting work efficiency. Summary of the invention

[0004] Based on this, the purpose of the present invention is to provide an item delivery method, system, storage medium and delivery robot, aiming to solve the technical problem that delivery robots in the prior art are generally unable to perform other delivery tasks synchronously during the item delivery process, which reduces the efficiency of item delivery to a certain extent.

[0005] A first aspect of the present invention is to provide an article delivery method, which is applied to a delivery robot, and the method comprises:

[0006] Receiving a delivery request sent by a delivery party, wherein the delivery request at least includes a planned delivery time and location information of the delivery party and the recipient;

[0007] Generate a delivery task according to the delivery request and store the delivery task in a delivery task list according to the planned delivery time;

[0008] According to the planned delivery time of each delivery task in the delivery task list, a delivery task is determined as an initial delivery task, and according to the location information of the delivery party and the recipient of the initial delivery task, an initial delivery path is formulated and the initial delivery path is moved to execute the initial delivery task;

[0009] During the execution of the initial delivery task, determining whether a delivery party of a delivery task is located within a preset range of the initial delivery path;

[0010] If so, it is determined as a mid-way delivery task. During the execution of the initial delivery task, the delivery party moves to the mid-way delivery task to receive the items to be delivered, and determines the next delivery order based on the location information of the recipients of the initial delivery task and the mid-way delivery task.

[0011] According to one aspect of the above technical solution, the step of receiving a delivery request sent by a delivery party, wherein the delivery request at least includes the planned delivery time of the item to be delivered and the location information of the delivery party and the recipient, specifically includes:

[0012] Receiving a delivery request sent by a delivery party through a preset delivery management program;

[0013] According to the delivery request, the type of the item to be delivered, the planned delivery time, and the location information of the delivery party and the recipient are obtained, wherein the location information is the location information of the workstations of the delivery party and the recipient.

[0014] According to one aspect of the above technical solution, according to the planned delivery time of each delivery task in the delivery task list, a delivery task is determined as an initial delivery task, and according to the location information of the delivery party and the recipient of the initial delivery task, an initial delivery path is formulated and the steps of moving along the initial delivery path to execute the initial delivery task specifically include:

[0015] Compare the order of the intended delivery time of each delivery task in the delivery task list, and determine a delivery task with the earliest intended delivery time as the initial delivery task;

[0016] According to the location information of the delivery party and the receiver in the initial delivery task, an initial delivery path with the shortest journey is formulated, and the vehicle moves along the initial delivery path to execute the initial delivery task.

[0017] According to one aspect of the above technical solution, the step of moving along the initial delivery path to perform the initial delivery task specifically includes:

[0018] After moving to the location of the delivery party of the initial delivery task according to the initial delivery path, according to the type of the item to be delivered, a storage bin corresponding to the item type and capable of being used to load the item to be delivered is automatically popped out;

[0019] After the delivery party places the items to be delivered into the storage bin, the items to be delivered are delivered to the location of the recipient according to the initial delivery path, and the storage bin for loading the items to be delivered is automatically popped out to complete the initial delivery task.

[0020] According to one aspect of the above technical solution, during the execution of the initial delivery task, the step of determining whether there is a delivery party of a delivery task whose location is within a preset range of the initial delivery path specifically includes:

[0021] During the execution of the initial delivery task, traversing the location information of the delivery parties of all the delivery tasks in the delivery task list;

[0022] Based on the location information of the delivery parties of all the delivery tasks in the delivery task list, determine whether there is a delivery party of a delivery task in the delivery task list whose location is within a preset range of the initial delivery path, wherein the preset range is a range within a preset width on both sides of the initial delivery path.

[0023] According to one aspect of the above technical solution, in the process of executing the initial delivery task, the delivery party moving to the intermediate delivery task receives the items to be delivered, and determines the next delivery order according to the location information of the receivers of the initial delivery task and the intermediate delivery task, specifically including:

[0024] In the process of executing the initial delivery task, according to the location information of the delivery party of the mid-way delivery task, determining a lane change point on the initial delivery path that is closest to the location of the delivery party of the mid-way delivery task;

[0025] When moving to the lane change point, moving to the location of the delivery party of the mid-way delivery task to receive the items to be delivered;

[0026] After the delivery party of the mid-way delivery task places the items to be delivered into a preset storage bin, the next delivery order is determined according to the location information of the receivers of the initial delivery task and the mid-way delivery task.

[0027] According to one aspect of the above technical solution, before determining that a delivery task is an intermediate delivery task, the method further includes:

[0028] According to the initial delivery path of the initial delivery task, calculating the matching degree between the execution path required for each delivery task in the delivery task list and the initial delivery path;

[0029] The matching degree of the execution path required for each delivery task in the delivery task list is compared with the initial delivery path.

[0030] A second aspect of the present invention is to provide an article delivery system, the system comprising:

[0031] A delivery request receiving module, used to receive a delivery request sent by a delivery party, wherein the delivery request at least includes a planned delivery time and location information of the delivery party and the recipient;

[0032] A delivery task generation module, used to generate a delivery task according to the delivery request and store the delivery task in a delivery task list according to the planned delivery time;

[0033] A delivery execution module, configured to determine a delivery task as an initial delivery task according to the planned delivery time of each delivery task in the delivery task list, formulate an initial delivery path according to the location information of the delivery party and the recipient of the initial delivery task, and move along the initial delivery path to execute the initial delivery task;

[0034] A delivery process judgment module, used to judge whether there is a delivery party of a delivery task within a preset range of the initial delivery path during the execution of the initial delivery task;

[0035] A delivery process update module is used to determine a delivery task as an intermediate delivery task when the position of the delivery party of a delivery task is within the preset range of the initial delivery path. During the execution of the initial delivery task, the delivery party moves to the intermediate delivery task to receive the items to be delivered, and the next delivery order is determined according to the position information of the recipients of the initial delivery task and the intermediate delivery task.

[0036] The third aspect of the present invention is to provide a storage medium on which computer instructions are stored, and when the instructions are executed by a processor, the steps of the method described in the above technical solution are implemented.

[0037] The fourth aspect of the present invention is to provide a delivery robot, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method described in the above technical solution when executing the program.

[0038] Compared with the prior art, the article delivery method, system, storage medium and delivery robot described in the present invention have the following beneficial effects: after an initial delivery task is confirmed based on the intended delivery time determined in the delivery request, an initial delivery path corresponding to the initial delivery task is formulated, and the initial delivery task is executed along the initial delivery path. During the execution of the initial delivery task, it can also be determined whether there is an intermediate delivery task. When there is an intermediate delivery task, the delivery robot moves to the position of the delivery party of the intermediate delivery task to receive the items to be delivered. At this time, the delivery robot can execute multiple delivery tasks synchronously, thereby improving the efficiency of article delivery between employees and at the same time improving the work efficiency of employees. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 Schematic diagram of the process of the article delivery method in the first embodiment of the present invention;

[0040] Figure 2 is a structural block diagram of an article delivery system in a third embodiment of the present invention;

[0041] The following specific implementations will further illustrate the present invention in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0042] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Several embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0043] Embodiment 1

[0044] See also Figure 1 The first embodiment of the present invention provides an article delivery method, which is applied to a delivery robot, which is a contour-copying quadruped robot, and is used to execute various pre-trained actions according to control instructions.

[0045] In this embodiment, the method includes steps S10-S50:

[0046] Step S10, receiving a delivery request sent by a delivery party, wherein the delivery request at least includes a planned delivery time and location information of the delivery party and the recipient;

[0047] Among them, the delivery party is the employee used to deliver the items, and the recipient is the employee's office used to deliver the items. The delivery party can initiate a delivery request through a delivery management program on a smart terminal or office computer, and specify the intended delivery time of the items to be delivered and the location information of the delivery party and the recipient in the delivery request.

[0048] Specifically, the location information of the delivery party and the recipient is, for example, the location information of the employees' workstations. For example, the delivery party is located at the 9th workstation in the business office area of ​​a large office, and the recipient is located at the 3rd workstation in the administrative office area of ​​the large office. The delivery party needs to deliver the external business contract to the administrative staff in the administrative office area for signature and seal. The two may be far apart due to the division of functional areas. Therefore, it is necessary for the delivery party to initiate a delivery request, write some necessary information about the items to be delivered in the delivery request, and control the delivery robot to perform the item delivery task.

[0049] Step S20, generating a delivery task according to the delivery request and storing the delivery task in a delivery task list according to the planned delivery time;

[0050] Specifically, a delivery task is generated according to some necessary information carried in the delivery request, and the delivery task is stored in the delivery task list according to the planned delivery time.

[0051] For example, if one delivery party determines that the intended delivery time is 09:10 and plans to complete the delivery in 3 minutes, and another delivery party determines that the intended delivery time is 09:15 and plans to complete the delivery in 3 minutes, then each delivery task will be stored in the delivery task list in the order of the intended delivery time. Under the premise of no other interference factors, the delivery robot will execute in the order of the delivery task list to complete the delivery of the items.

[0052] Of course, in other embodiments, the delivery party can set the urgency of the delivery task when initiating a delivery request, so as to determine the delivery task as an urgent delivery task based on the task urgency, and put it at the top of the delivery task list to meet the urgent needs of some people.

[0053] Step S30, determining a delivery task as an initial delivery task according to the planned delivery time of each delivery task in the delivery task list, formulating an initial delivery path according to the location information of the delivery party and the recipient of the initial delivery task, and moving along the initial delivery path to execute the initial delivery task;

[0054] Specifically, when there are no other interference factors, the delivery robot determines a delivery task as the initial delivery task according to the order of the planned delivery time of each delivery task in the delivery task list, and formulates an initial delivery path according to the location information of the delivery party and the recipient in the initial delivery task, and moves along the initial delivery path to perform the initial delivery task.

[0055] The initial delivery path includes at least two paths, including a pick-up path between the delivery robot and the delivery party and a delivery path between the delivery party and the recipient. The delivery robot will complete the pick-up and delivery of items according to the pick-up path and the delivery path respectively. If there are no other delivery tasks to be performed, the delivery robot will wait at the location of the recipient of the initial delivery task to perform other delivery tasks.

[0056] Of course, in some other embodiments, the initial delivery path may also include a reset path between the recipient and the initial position of the delivery robot, that is, after the delivery robot completes the delivery, the delivery robot needs to return to the initial position to wait at the initial position to perform other delivery tasks.

[0057] Step S40, during the execution of the initial delivery task, determining whether there is a delivery party of a delivery task whose location is within a preset range of the initial delivery path;

[0058] Specifically, when the delivery robot is executing the initial delivery task, that is, when the delivery robot moves along the initial delivery path, it determines whether there is a delivery party of a delivery task in the delivery task list whose position is within the preset range of the initial delivery path.

[0059] The preset range of the initial delivery path is, for example, a range of 2 m on both sides of the initial delivery path.

[0060] Step S50: If yes, determine it as a mid-way delivery task, and in the process of executing the initial delivery task, move to the delivery party of the mid-way delivery task to receive the items to be delivered, and determine the next delivery order according to the location information of the receivers of the initial delivery task and the mid-way delivery task;

[0061] When there is a delivery task in the delivery task list whose location is within the preset range of the initial delivery path, the delivery task is determined as an intermediate delivery task, that is, the delivery robot needs to complete the intermediate delivery task midway when executing the initial delivery task.

[0062] Specifically, while the delivery robot is performing the initial delivery task according to the initial delivery path, it moves to the delivery party of the mid-way delivery task to receive the items to be delivered, and determines the next delivery order based on the location information of the recipients of the initial delivery task and the mid-way delivery task. This can effectively improve the delivery efficiency and the work efficiency of employees.

[0063] By way of example and not limitation, when the delivery robot moves along the delivery path in the initial delivery path, it goes to the delivery party of the mid-way delivery task to receive the required delivery items.

[0064] In this embodiment, the delivery robot can deliver items such as office documents and various office supplies, such as binders, glue sticks and other non-essential items for employees.

[0065] Compared with the prior art, the beneficial effect of the item delivery method shown in this embodiment is that after confirming an initial delivery task based on the intended delivery time determined in the delivery request, an initial delivery path corresponding to the initial delivery task is formulated, and the initial delivery task is executed along the initial delivery path. During the execution of the initial delivery task, it can also be determined whether there is an intermediate delivery task. When there is an intermediate delivery task, the delivery robot moves to the position of the delivery party of the intermediate delivery task to receive the items to be delivered. At this time, the delivery robot can execute multiple delivery tasks synchronously, thereby improving the efficiency of item delivery between employees and at the same time improving the work efficiency of employees.

[0066] Embodiment 2

[0067] A second embodiment of the present invention provides an article delivery method. In the method shown in this embodiment:

[0068] In this embodiment, the step of receiving a delivery request sent by a delivery party, wherein the delivery request at least includes the planned delivery time of the item to be delivered and the workstation information of the delivery party and the recipient, specifically includes steps S11-S12:

[0069] Step S11, receiving a delivery request sent by a delivery party through a preset delivery management program;

[0070] Among them, the preset delivery management program is, for example, a delivery management APP installed on a smart terminal or an office computer, and the basic information of the user, such as the user's name, work number, and work position, is bound to the delivery management program.

[0071] Step S12, according to the delivery request, obtaining the type of the item to be delivered, the planned delivery time, and the location information of the delivery party and the recipient, wherein the location information is the location information of the workstations of the delivery party and the recipient.

[0072] Specifically, after receiving the delivery request from the delivery party, the type of the item to be delivered, the intended delivery time, and the location information of the delivery party and the recipient are obtained based on the delivery request. The type of the item to be delivered is, for example, paper documents, office supplies, etc. The intended delivery time is the delivery time selected by the delivery party, or the time automatically determined by the delivery management program according to the initiation time of the delivery request.

[0073] For example, the delivery party initiates a delivery request at 09:09. The delivery party can select any time in the delivery management program, such as 09:10 as the intended delivery time. Alternatively, the intended delivery time is a preset time (such as 5 minutes) that the delivery management program defaults to based on the initiation time of the delivery request. That is, the intended delivery time in this form is 09:14.

[0074] In this embodiment, according to the planned delivery time of each delivery task in the delivery task list, a delivery task is determined as an initial delivery task, and according to the location information of the delivery party and the recipient of the initial delivery task, an initial delivery path is formulated and the steps of moving along the initial delivery path to execute the initial delivery task specifically include steps S31-S32:

[0075] Step S31, comparing the order of the intended delivery time of each delivery task in the delivery task list, and determining a delivery task with the earliest intended delivery time as the initial delivery task;

[0076] Specifically, when there are multiple delivery tasks in the delivery task list, the delivery robot will determine the order according to the intended delivery time determined by each delivery task, thereby determining the delivery task with the earliest intended delivery time as the initial delivery task, and prepare to execute the initial delivery task.

[0077] Step S32, according to the location information of the delivery party and the recipient in the initial delivery task, formulate an initial delivery path with the shortest journey, and move along the initial delivery path to perform the initial delivery task.

[0078] After obtaining the position information of the deliverer and the receiver in the initial delivery task, an initial delivery path with the shortest journey is formulated according to the position information of the deliverer and the receiver in the initial delivery task, and the delivery robot moves along the initial delivery path with the shortest journey to perform the initial delivery task.

[0079] By way of example and not limitation, the initial delivery route with the shortest travel distance is generated based on a simulated map of the office.

[0080] In some embodiments of the present invention, the step of moving according to the initial delivery path to perform the initial delivery task specifically includes:

[0081] After moving to the location of the delivery party of the initial delivery task according to the initial delivery path, according to the type of the item to be delivered, a storage bin corresponding to the item type and capable of being used to load the item to be delivered is automatically popped out;

[0082] Among them, the delivery robot can be preset with several storage bins, and the size and loading type of each storage bin can be customized according to actual needs, such as a file storage bin for loading paper documents and a tool storage bin for loading office supplies.

[0083] After the delivery party places the items to be delivered into the storage bin, the items to be delivered are delivered to the location of the recipient according to the initial delivery path, and the storage bin for loading the items to be delivered is automatically popped out to complete the initial delivery task.

[0084] In this embodiment, during the execution of the initial delivery task, the step of determining whether the location of a delivery party of a delivery task is within the preset range of the initial delivery path specifically includes steps S41-S42:

[0085] Step S41, during the execution of the initial delivery task, traversing the location information of the delivery parties of all the delivery tasks in the delivery task list;

[0086] Step S42, based on the location information of the deliverers of all the delivery tasks in the delivery task list, determine whether there is a delivery task in the delivery task list whose location is within a preset range of the initial delivery path, wherein the preset range is a range within a preset width on both sides of the initial delivery path.

[0087] In this embodiment, during the execution of the initial delivery task, the delivery party moving to the mid-way delivery task receives the items to be delivered, and determines the next delivery order according to the location information of the receivers of the initial delivery task and the mid-way delivery task, specifically including:

[0088] In the process of executing the initial delivery task, according to the location information of the delivery party of the mid-way delivery task, determining a lane change point on the initial delivery path that is closest to the location of the delivery party of the mid-way delivery task;

[0089] When moving to the lane change point, moving to the location of the delivery party of the mid-way delivery task to receive the items to be delivered;

[0090] After the delivery party of the mid-way delivery task places the items to be delivered into a preset storage bin, the next delivery order is determined according to the location information of the receivers of the initial delivery task and the mid-way delivery task.

[0091] In some embodiments, before determining that a delivery task is a mid-way delivery task, the method further includes:

[0092] According to the initial delivery path of the initial delivery task, calculating the matching degree between the execution path required for each delivery task in the delivery task list and the initial delivery path;

[0093] The matching degree of the execution path required for each delivery task in the delivery task list is compared with the initial delivery path.

[0094] Embodiment 3

[0095] See also Figure 2 The third embodiment of the present invention provides an article delivery system, which is applied to a delivery robot, which is a contour-copying quadruped robot, and is used to execute various pre-trained actions according to control instructions.

[0096] In this embodiment, the system includes:

[0097] A delivery request receiving module 10 is used to receive a delivery request sent by a delivery party, wherein the delivery request at least includes a planned delivery time and location information of the delivery party and the recipient;

[0098] Among them, the delivery party is the employee used to deliver the items, and the recipient is the employee's office used to deliver the items. The delivery party can initiate a delivery request through a delivery management program on a smart terminal or office computer, and specify the intended delivery time of the items to be delivered and the location information of the delivery party and the recipient in the delivery request.

[0099] Specifically, the location information of the delivery party and the recipient is, for example, the location information of the employees' workstations. For example, the delivery party is located at the 9th workstation in the business office area of ​​a large office, and the recipient is located at the 3rd workstation in the administrative office area of ​​the large office. The delivery party needs to deliver the external business contract to the administrative staff in the administrative office area for signature and seal. The two may be far apart due to the division of functional areas. Therefore, it is necessary for the delivery party to initiate a delivery request, write some necessary information about the items to be delivered in the delivery request, and control the delivery robot to perform the item delivery task.

[0100] A delivery task generation module 20, for generating a delivery task according to the delivery request and storing the delivery task in a delivery task list according to a planned delivery time;

[0101] Specifically, a delivery task is generated according to some necessary information carried in the delivery request, and the delivery task is stored in the delivery task list according to the planned delivery time.

[0102] For example, if one delivery party determines that the intended delivery time is 09:10 and plans to complete the delivery in 3 minutes, and another delivery party determines that the intended delivery time is 09:15 and plans to complete the delivery in 3 minutes, then each delivery task will be stored in the delivery task list in the order of the intended delivery time. Under the premise of no other interference factors, the delivery robot will execute in the order of the delivery task list to complete the delivery of the items.

[0103] Of course, in other embodiments, the delivery party can set the urgency of the delivery task when initiating a delivery request, so as to determine the delivery task as an urgent delivery task based on the task urgency, and put it at the top of the delivery task list to meet the urgent needs of some people.

[0104] The delivery execution module 30 is used to determine a delivery task as an initial delivery task according to the planned delivery time of each delivery task in the delivery task list, formulate an initial delivery path according to the location information of the delivery party and the recipient of the initial delivery task, and move along the initial delivery path to execute the initial delivery task;

[0105] Specifically, when there are no other interference factors, the delivery robot determines a delivery task as the initial delivery task according to the order of the planned delivery time of each delivery task in the delivery task list, and formulates an initial delivery path according to the location information of the delivery party and the recipient in the initial delivery task, and moves along the initial delivery path to perform the initial delivery task.

[0106] The initial delivery path includes at least two paths, including a pick-up path between the delivery robot and the delivery party and a delivery path between the delivery party and the recipient. The delivery robot will complete the pick-up and delivery of items according to the pick-up path and the delivery path respectively. If there are no other delivery tasks to be performed, the delivery robot will wait at the location of the recipient of the initial delivery task to perform other delivery tasks.

[0107] Of course, in some other embodiments, the initial delivery path may also include a reset path between the recipient and the initial position of the delivery robot, that is, after the delivery robot completes the delivery, the delivery robot needs to return to the initial position to wait at the initial position to perform other delivery tasks.

[0108] A delivery process determination module 40 determines whether a delivery party of a delivery task is located within a preset range of the initial delivery path during the execution of the initial delivery task;

[0109] Specifically, when the delivery robot is executing the initial delivery task, that is, when the delivery robot moves along the initial delivery path, it determines whether there is a delivery party of a delivery task in the delivery task list whose position is within the preset range of the initial delivery path.

[0110] The preset range of the initial delivery path is, for example, a range of 2 m on both sides of the initial delivery path.

[0111] The delivery process updating module 50 is used to determine a delivery task as an intermediate delivery task when the location of the delivery party of a delivery task is within the preset range of the initial delivery path, and in the process of executing the initial delivery task, the delivery party moves to the intermediate delivery task to receive the items to be delivered, and determines the next delivery order according to the location information of the recipients of the initial delivery task and the intermediate delivery task;

[0112] When there is a delivery task in the delivery task list whose location is within the preset range of the initial delivery path, the delivery task is determined as an intermediate delivery task, that is, the delivery robot needs to complete the intermediate delivery task midway when executing the initial delivery task.

[0113] Specifically, while the delivery robot is performing the initial delivery task according to the initial delivery path, it moves to the delivery party of the mid-way delivery task to receive the items to be delivered, and determines the next delivery order based on the location information of the recipients of the initial delivery task and the mid-way delivery task. This can effectively improve the delivery efficiency and the work efficiency of employees.

[0114] By way of example and not limitation, when the delivery robot moves along the delivery path in the initial delivery path, it goes to the delivery party of the mid-way delivery task to receive the required delivery items.

[0115] In this embodiment, the delivery robot can deliver items such as office documents and various office supplies, such as binders, glue sticks and other non-essential items for employees.

[0116] Compared with the prior art, the beneficial effect of the item delivery method shown in this embodiment is that after confirming an initial delivery task based on the intended delivery time determined in the delivery request, an initial delivery path corresponding to the initial delivery task is formulated, and the initial delivery task is executed along the initial delivery path. During the execution of the initial delivery task, it can also be determined whether there is an intermediate delivery task. When there is an intermediate delivery task, the delivery robot moves to the position of the delivery party of the intermediate delivery task to receive the items to be delivered. At this time, the delivery robot can execute multiple delivery tasks synchronously, thereby improving the efficiency of item delivery between employees and at the same time improving the work efficiency of employees.

[0117] Embodiment 4

[0118] A fourth embodiment of the present invention provides a storage medium on which computer instructions are stored. When the instructions are executed by a processor, the steps of the method described in the above embodiment are implemented.

[0119] Embodiment 5

[0120] The fifth embodiment of the present invention provides a delivery robot, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method in the above embodiment when executing the program.

[0121] Those skilled in the art will appreciate that the logic and / or steps represented in the flowchart or otherwise described herein, for example, may be considered as an ordered list of executable instructions for implementing logical functions, and may be specifically implemented in any computer-readable medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, apparatus, or device and execute instructions), or used in conjunction with such instruction execution systems, apparatuses, or devices.

[0122] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0123] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A method for delivering an item, characterized in that: Applied to a delivery robot, the method comprises: Receiving a delivery request sent by a delivery party, wherein the delivery request at least includes a planned delivery time and location information of the delivery party and the recipient; Generate a delivery task according to the delivery request and store the delivery task in a delivery task list according to the planned delivery time; According to the planned delivery time of each delivery task in the delivery task list, a delivery task is determined as an initial delivery task, and according to the location information of the delivery party and the recipient of the initial delivery task, an initial delivery path is formulated and the initial delivery path is moved to execute the initial delivery task; During the execution of the initial delivery task, determining whether a delivery party of a delivery task is located within a preset range of the initial delivery path; If yes, it is determined as a mid-way delivery task, and in the process of executing the initial delivery task, the delivery party moves to the mid-way delivery task to receive the items to be delivered, and determines the next delivery order according to the location information of the receivers of the initial delivery task and the mid-way delivery task; Among them, during the execution of the initial delivery task, the step of determining whether there is a delivery party of a delivery task whose location is within the preset range of the initial delivery path specifically includes: During the execution of the initial delivery task, traversing the location information of the delivery parties of all the delivery tasks in the delivery task list; According to the location information of the couriers of all the delivery tasks in the delivery task list, it is determined whether there is a delivery task in the delivery task list whose location is within a preset range of the initial delivery path, wherein the preset range is a range within a preset width on both sides of the initial delivery path; Among them, in the process of executing the initial delivery task, the delivery party moving to the mid-way delivery task receives the items to be delivered, and determines the next delivery order according to the location information of the receivers of the initial delivery task and the mid-way delivery task, specifically including: In the process of executing the initial delivery task, according to the location information of the delivery party of the mid-way delivery task, determining a lane change point on the initial delivery path that is closest to the location of the delivery party of the mid-way delivery task; When moving to the lane change point, moving to the location of the delivery party of the mid-way delivery task to receive the items to be delivered; After the delivery party of the mid-way delivery task places the items to be delivered into a preset storage bin, the next delivery order is determined according to the location information of the receivers of the initial delivery task and the mid-way delivery task.

2. The article delivery method according to claim 1, characterized in that: The step of receiving a delivery request sent by a delivery party, wherein the delivery request includes at least the planned delivery time of the item to be delivered and the location information of the delivery party and the recipient, specifically includes: Receiving a delivery request sent by a delivery party through a preset delivery management program; According to the delivery request, the type of the item to be delivered, the planned delivery time, and the location information of the delivery party and the recipient are obtained, wherein the location information is the location information of the workstations of the delivery party and the recipient.

3. The article delivery method according to claim 2, characterized in that: The steps of determining a delivery task as an initial delivery task according to the planned delivery time of each delivery task in the delivery task list, formulating an initial delivery path according to the location information of the delivery party and the recipient of the initial delivery task, and moving along the initial delivery path to execute the initial delivery task specifically include: Compare the order of the intended delivery time of each delivery task in the delivery task list, and determine a delivery task with the earliest intended delivery time as the initial delivery task; According to the location information of the delivery party and the receiver in the initial delivery task, an initial delivery path with the shortest journey is formulated, and the vehicle moves along the initial delivery path to execute the initial delivery task.

4. The article delivery method according to claim 3, characterized in that: The step of moving along the initial delivery path to perform the initial delivery task specifically includes: After moving to the location of the delivery party of the initial delivery task according to the initial delivery path, according to the type of the item to be delivered, a storage bin corresponding to the item type and capable of being used to load the item to be delivered is automatically popped out; After the delivery party places the items to be delivered into the storage bin, the items to be delivered are delivered to the location of the recipient according to the initial delivery path, and the storage bin for loading the items to be delivered is automatically popped out to complete the initial delivery task.

5. The article delivery method according to any one of claims 1 to 4, characterized in that: Before determining a delivery task as an intermediate delivery task, the method further includes: According to the initial delivery path of the initial delivery task, calculating the matching degree between the execution path required for each delivery task in the delivery task list and the initial delivery path; The matching degree of the execution path required for each delivery task in the delivery task list is compared with the initial delivery path.

6. An article delivery system, characterized in that: The method applied to any one of claims 1 to 5, wherein the system comprises: A delivery request receiving module, used to receive a delivery request sent by a delivery party, wherein the delivery request at least includes a planned delivery time and location information of the delivery party and the recipient; A delivery task generation module, used to generate a delivery task according to the delivery request and store the delivery task in a delivery task list according to the planned delivery time; A delivery execution module, configured to determine a delivery task as an initial delivery task according to the planned delivery time of each delivery task in the delivery task list, formulate an initial delivery path according to the location information of the delivery party and the recipient of the initial delivery task, and move along the initial delivery path to execute the initial delivery task; A delivery process judgment module, used to judge whether there is a delivery party of a delivery task within a preset range of the initial delivery path during the execution of the initial delivery task; A delivery process update module is used to determine a delivery task as an intermediate delivery task when the position of the delivery party of a delivery task is within the preset range of the initial delivery path. During the execution of the initial delivery task, the delivery party moves to the intermediate delivery task to receive the items to be delivered, and the next delivery order is determined according to the position information of the recipients of the initial delivery task and the intermediate delivery task.

7. A storage medium having computer instructions stored thereon, characterized in that: When the instruction is executed by a processor, the steps of the method described in any one of claims 1 to 5 are implemented.

8. A delivery robot, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the method according to any one of claims 1 to 5 is implemented.

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