Unmanned vehicle delivery method and system, and readable storage medium

Abstract

The present disclosure relates to an unmanned vehicle delivery method and system, and a readable storage medium. The method includes: obtaining the number of goods to be received and sent by each unmanned vehicle; obtaining the delivery time of each unmanned vehicle based on the number of goods; the delivery time refers to the time consumed by each unmanned vehicle to complete the delivery of goods; adjusting the goods of each unmanned vehicle based on the number of goods and the delivery time to shorten the delivery time of at least one unmanned vehicle. By adjusting the goods of each unmanned vehicle, the embodiment of the present disclosure can shorten the delivery time of at least one unmanned vehicle and ultimately shorten the time taken to complete the delivery of goods, thereby reducing the impact of the delivery time on the user experience.

Description

Technical Field

[0001] The present disclosure relates to the field of data processing technology, and in particular to an unmanned vehicle delivery method and system, and a readable storage medium. Background Art

[0002] When delivering goods within a park, couriers usually enter the park to deliver goods. However, some parks do not allow couriers to enter the park to deliver goods. They can only wait at the park gate or place the goods in the self-service cabinet at the park gate. If the park area is large, it will inevitably cause inconvenience to the timely delivery of express items, and also cause inconvenience to couriers and owners. For these parks, unmanned delivery logistics vehicles (i.e., unmanned vehicles) can be used to deliver goods. However, the existing unmanned vehicle delivery solutions can only deliver goods to pre-designated locations (such as storage cabinets such as express cabinets), and users still need to take out the goods from the storage cabinets by themselves, which makes users feel that the delivery takes a long time. Summary of the invention

[0003] The present disclosure provides an unmanned vehicle delivery method and system, and a readable storage medium to address the deficiencies of related technologies.

[0004] According to a first aspect of an embodiment of the present disclosure, a method for unmanned vehicle delivery is provided, the method comprising:

[0005] Get the number of goods to be sent and received by each unmanned vehicle;

[0006] Obtaining the delivery time of each unmanned vehicle according to the quantity of goods; the delivery time refers to the time consumed by each unmanned vehicle to complete the delivery of goods;

[0007] The cargo of each unmanned vehicle is adjusted according to the cargo quantity and the delivery time to shorten the delivery time of at least one unmanned vehicle.

[0008] Optionally, the delivery time of each unmanned vehicle is obtained according to the quantity of goods, including:

[0009] Obtain the delivery area map of each unmanned vehicle;

[0010] Generating a navigation route according to the destination of the goods and superimposing it on the distribution area map;

[0011] Get the compensation time of each driverless car;

[0012] The delivery time of each unmanned vehicle is calculated according to the navigation route, the driving speed of the unmanned vehicle and the compensation time.

[0013] Optionally, obtain a delivery area map for each unmanned vehicle, including:

[0014] Obtain the initial area map of each unmanned vehicle;

[0015] Obtain obstacle data uploaded by each unmanned vehicle; the obstacle data includes obstacle size data and obstacle location data;

[0016] Obstacles are drawn in the initial area map based on the position data and the size data to generate a delivery area map for each unmanned vehicle.

[0017] Optionally, obtain the compensation time of each unmanned vehicle, including:

[0018] Obtaining the type of each cargo in each unmanned vehicle;

[0019] Determine the compensation time for each cargo based on the preset correspondence between type and duration;

[0020] For each unmanned vehicle, the sum of the compensation durations of all goods in the unmanned vehicle is calculated, and the sum is used as the compensation duration of the unmanned vehicle.

[0021] Optionally, obtain the compensation time of each unmanned vehicle, including:

[0022] Acquire historical delivery data corresponding to the destination of the goods, wherein the historical delivery data includes the historical compensation time used for each delivery of the goods;

[0023] Calculate the average value of the historical compensation time, and use the average value as the compensation time of the destination;

[0024] For each unmanned vehicle, the sum of the compensation times of the unmanned vehicle corresponding to all destinations is calculated, and the sum is used as the compensation time of the unmanned vehicle.

[0025] Optionally, obtain the compensation time of each unmanned vehicle, including:

[0026] Acquire historical delivery data of the consignee of the goods, wherein the historical delivery data includes the delivery time taken by the consignee to receive the goods each time;

[0027] Calculate the average of the collection time and use the average as the compensation time for the consignee;

[0028] For each unmanned vehicle, the sum of the compensation durations of all consignees in the unmanned vehicle is calculated, and the sum is used as the compensation duration of the unmanned vehicle.

[0029] Optionally, adjusting the cargo of each unmanned vehicle according to the cargo quantity and the delivery time includes:

[0030] Compare the delivery time with a first preset time, and obtain a first unmanned vehicle whose delivery time exceeds the first preset time and a location of the first unmanned vehicle;

[0031] Obtaining a second unmanned vehicle within a preset range of the location of the first unmanned vehicle and the delivery time of the second unmanned vehicle;

[0032] Acquire a third unmanned vehicle and a location of the third unmanned vehicle according to the delivery time of the second unmanned vehicle;

[0033] Generate a navigation route between the first unmanned vehicle and the third unmanned vehicle and send it to the first unmanned vehicle and the third unmanned vehicle;

[0034] The first unmanned vehicle is controlled to distribute at least one cargo to the third unmanned vehicle, so that the third unmanned vehicle sends and receives the at least one cargo.

[0035] Optionally, obtaining a third unmanned vehicle according to the delivery time of the second unmanned vehicle includes:

[0036] Obtaining a second preset duration;

[0037] Compare the delivery time of the second unmanned vehicle with the second preset time, obtain at least one second unmanned vehicle whose delivery time does not exceed the second preset time, and use the at least one second unmanned vehicle whose delivery time does not exceed the second preset time as the third unmanned vehicle.

[0038] Optionally, adjusting the cargo of each unmanned vehicle according to the cargo quantity and the delivery time includes:

[0039] Compare the delivery time with a first preset time, and obtain a first unmanned vehicle whose delivery time exceeds the first preset time and a location of the first unmanned vehicle;

[0040] Obtaining a storage cabinet closest to the location of the first unmanned vehicle;

[0041] Obtaining a fourth unmanned vehicle with the least amount of cargo within a preset range of the nearest storage cabinet;

[0042] Generate a navigation route between the first unmanned vehicle and the fourth unmanned vehicle and send it to the first unmanned vehicle and the fourth unmanned vehicle;

[0043] The first unmanned vehicle is controlled to distribute at least one cargo to the fourth unmanned vehicle, so that the fourth unmanned vehicle sends and receives the at least one cargo.

[0044] Optionally, the distance between the destination of the at least one cargo and the navigation route of the third unmanned vehicle or the fourth unmanned vehicle is less than a preset distance threshold.

[0045] Optionally, the method further comprises:

[0046] In response to detecting query information uploaded by a user terminal, acquiring order information carried in the query information;

[0047] Obtaining location data and / or navigation route of the unmanned vehicle corresponding to the order information;

[0048] The location data and / or the navigation route are fed back to the user terminal.

[0049] Optionally, the method further comprises:

[0050] In response to detecting the reservation information uploaded by the user terminal, acquiring the order information and the reservation information carried by the reservation information;

[0051] Update the items in the order information to the reservation information to obtain updated reservation order information;

[0052] The reservation order information is sent to the unmanned vehicle so that the unmanned vehicle updates the navigation route.

[0053] Optionally, the method further comprises:

[0054] In response to detecting the sending and receiving information representing the fixed location, obtaining first location data of the unmanned vehicle and second location data of the user terminal;

[0055] generating a real-time delivery route according to the first location data and the second location data;

[0056] The real-time delivery route is sent to the unmanned vehicle and the user terminal.

[0057] Optionally, the method further comprises:

[0058] In response to detecting the sending and receiving information representing the random location, obtaining the first location data of the unmanned vehicle and the second location data of the user terminal, and sending the real-time delivery route of the unmanned vehicle to the user terminal so that the user terminal displays the real-time delivery route of the unmanned vehicle;

[0059] Calculate the person-vehicle distance between the user terminal and the unmanned vehicle according to the first position data and the second position data;

[0060] When the distance between the person and the vehicle is less than the set distance, a first control instruction is sent to the unmanned vehicle to switch the unmanned vehicle from the delivery working mode to the temporary stop working mode, and stop the vehicle in the temporary stop working mode to the identified waving user, and complete the delivery and reception of the goods after completing the identity verification;

[0061] When it is detected that the goods are sent and received this time, a second control instruction is sent to the unmanned vehicle to switch the unmanned vehicle from the temporary stop working mode to the delivery working mode, and the unmanned vehicle no longer recognizes the waving user in the delivery working mode.

[0062] According to a second aspect of an embodiment of the present disclosure, there is provided an unmanned vehicle delivery system, the system comprising at least one server; the server comprising at least one processor and at least one memory; the at least one memory is used to store a computer program executable by the at least one processor; the at least one processor is used to:

[0063] Get the number of goods to be sent and received by each unmanned vehicle;

[0064] Obtaining the delivery time of each unmanned vehicle according to the quantity of goods; the delivery time refers to the time consumed by each unmanned vehicle to complete the delivery of goods;

[0065] The cargo of each unmanned vehicle is adjusted according to the cargo quantity and the delivery time to shorten the delivery time of at least one unmanned vehicle.

[0066] Optionally, the at least one processor is used to obtain the delivery time of each unmanned vehicle according to the quantity of goods, including:

[0067] Obtain the delivery area map of each unmanned vehicle;

[0068] Generating a navigation route according to the destination of the goods and superimposing it on the distribution area map;

[0069] Get the compensation time of each driverless car;

[0070] The delivery time of each unmanned vehicle is calculated according to the navigation route, the driving speed of the unmanned vehicle and the compensation time.

[0071] Optionally, the at least one processor is used to obtain a distribution area map of each unmanned vehicle, including:

[0072] Obtain the initial area map of each unmanned vehicle;

[0073] Obtain obstacle data uploaded by each unmanned vehicle; the obstacle data includes obstacle size data and obstacle location data;

[0074] Obstacles are drawn in the initial area map based on the position data and the size data to generate a delivery area map for each unmanned vehicle.

[0075] Optionally, the at least one processor is used to obtain the compensation duration of each unmanned vehicle, including:

[0076] Obtaining the type of each cargo in each unmanned vehicle;

[0077] Determine the compensation time for each cargo based on the preset correspondence between type and duration;

[0078] For each unmanned vehicle, the sum of the compensation durations of all goods in the unmanned vehicle is calculated, and the sum is used as the compensation duration of the unmanned vehicle.

[0079] Optionally, the at least one processor is used to obtain the compensation duration of each unmanned vehicle, including:

[0080] Acquire historical delivery data corresponding to the destination of the goods, wherein the historical delivery data includes the historical compensation time used for each delivery of the goods;

[0081] Calculate the average value of the historical compensation time, and use the average value as the compensation time of the destination;

[0082] For each unmanned vehicle, the sum of the compensation times of the unmanned vehicle corresponding to all destinations is calculated, and the sum is used as the compensation time of the unmanned vehicle.

[0083] Optionally, the at least one processor is used to obtain the compensation duration of each unmanned vehicle, including:

[0084] Acquire historical delivery data of the consignee of the goods, wherein the historical delivery data includes the delivery time taken by the consignee to receive the goods each time;

[0085] Calculate the average of the collection time and use the average as the compensation time for the consignee;

[0086] For each unmanned vehicle, the sum of the compensation durations of all consignees in the unmanned vehicle is calculated, and the sum is used as the compensation duration of the unmanned vehicle.

[0087] Optionally, the at least one processor is used to adjust the cargo of each unmanned vehicle according to the cargo quantity and the delivery time, including:

[0088] Compare the delivery time with a first preset time, and obtain a first unmanned vehicle whose delivery time exceeds the first preset time and a location of the first unmanned vehicle;

[0089] Obtaining a second unmanned vehicle within a preset range of the location of the first unmanned vehicle and the delivery time of the second unmanned vehicle;

[0090] Acquire a third unmanned vehicle and a location of the third unmanned vehicle according to the delivery time of the second unmanned vehicle;

[0091] Generate a navigation route between the first unmanned vehicle and the third unmanned vehicle and send it to the first unmanned vehicle and the third unmanned vehicle;

[0092] The first unmanned vehicle is controlled to distribute at least one cargo to the third unmanned vehicle, so that the third unmanned vehicle sends and receives the at least one cargo.

[0093] Optionally, the at least one processor is used to obtain a third unmanned vehicle according to the delivery time of the second unmanned vehicle, including:

[0094] Obtaining a second preset duration;

[0095] Compare the delivery time of the second unmanned vehicle with the second preset time, obtain at least one second unmanned vehicle whose delivery time does not exceed the second preset time, and use the at least one second unmanned vehicle whose delivery time does not exceed the second preset time as the third unmanned vehicle.

[0096] Optionally, the at least one processor is used to adjust the cargo of each unmanned vehicle according to the cargo quantity and the delivery time, including:

[0097] Compare the delivery time with a first preset time, and obtain a first unmanned vehicle whose delivery time exceeds the first preset time and a location of the first unmanned vehicle;

[0098] Obtaining a storage cabinet closest to the location of the first unmanned vehicle;

[0099] Obtaining a fourth unmanned vehicle with the least amount of cargo within a preset range of the nearest storage cabinet;

[0100] Generate a navigation route between the first unmanned vehicle and the fourth unmanned vehicle and send it to the first unmanned vehicle and the fourth unmanned vehicle;

[0101] The first unmanned vehicle is controlled to distribute at least one cargo to the fourth unmanned vehicle, so that the fourth unmanned vehicle sends and receives the at least one cargo.

[0102] Optionally, the distance between the destination of the at least one cargo and the navigation route of the third unmanned vehicle or the fourth unmanned vehicle is less than a preset distance threshold.

[0103] Optionally, the at least one processor is further configured to:

[0104] In response to detecting query information uploaded by a user terminal, acquiring order information carried in the query information;

[0105] Obtaining location data and / or navigation route of the unmanned vehicle corresponding to the order information;

[0106] The location data and / or the navigation route are fed back to the user terminal.

[0107] Optionally, the at least one processor is further configured to:

[0108] In response to detecting the reservation information uploaded by the user terminal, acquiring the order information and the reservation information carried by the reservation information;

[0109] Update the items in the order information to the reservation information to obtain updated reservation order information;

[0110] The reservation order information is sent to the unmanned vehicle so that the unmanned vehicle updates the navigation route.

[0111] Optionally, the at least one processor is further configured to:

[0112] In response to detecting the sending and receiving information representing the fixed location, obtaining first location data of the unmanned vehicle and second location data of the user terminal;

[0113] generating a real-time delivery route according to the first location data and the second location data;

[0114] The real-time delivery route is sent to the unmanned vehicle and the user terminal.

[0115] Optionally, the at least one processor is further configured to:

[0116] In response to detecting the sending and receiving information representing the random location, obtaining the first location data of the unmanned vehicle and the second location data of the user terminal, and sending the real-time delivery route of the unmanned vehicle to the user terminal so that the user terminal displays the real-time delivery route of the unmanned vehicle;

[0117] Calculate the person-vehicle distance between the user terminal and the unmanned vehicle according to the first position data and the second position data;

[0118] When the distance between the person and the vehicle is less than the set distance, a first control instruction is sent to the unmanned vehicle to switch the unmanned vehicle from the delivery working mode to the temporary stop working mode, and stop the vehicle in the temporary stop working mode to the identified waving user, and complete the delivery and receipt of the goods after completing the identity verification;

[0119] When it is detected that the goods are sent and received this time, a second control instruction is sent to the unmanned vehicle to switch the unmanned vehicle from the temporary stop working mode to the delivery working mode, and the unmanned vehicle no longer recognizes the waving user in the delivery working mode.

[0120] According to a third aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided. When an executable computer program in the storage medium is executed by at least one processor, the above method can be implemented.

[0121] The technical solution provided by the embodiments of the present disclosure may have the following beneficial effects:

[0122] From the above embodiments, it can be seen that the solution provided by the embodiments of the present disclosure can obtain the number of goods to be sent and received by each unmanned vehicle; then, obtain the delivery time of each unmanned vehicle based on the number of goods; then, adjust the goods of each unmanned vehicle based on the number of goods and the delivery time to shorten the delivery time of at least one unmanned vehicle. In this way, by adjusting the goods of each unmanned vehicle, the embodiments of the present disclosure can shorten the delivery time of at least one unmanned vehicle and ultimately shorten the time taken to complete the delivery of the goods, thereby reducing the impact of the delivery time on the user experience.

[0123] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0124] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0125] Figure 1 It is a block diagram of an unmanned vehicle delivery system according to an exemplary embodiment.

[0126] Figure 2 The figure is a flow chart of an unmanned vehicle delivery method according to an exemplary embodiment.

[0127] Figure 3 The present invention is a flow chart of obtaining the delivery time of an unmanned vehicle according to an exemplary embodiment.

[0128] Figure 4 The figure is a schematic diagram showing the effect of obtaining a navigation route according to an exemplary embodiment.

[0129] Figure 5 The present invention is a flowchart of adjusting the quantity of cargo of an unmanned vehicle according to an exemplary embodiment.

[0130] Figure 6 The present invention is another flowchart of adjusting the quantity of cargo of an unmanned vehicle according to an exemplary embodiment.

[0131] Figure 7 The present invention is a schematic diagram showing the effect of obtaining query information according to an exemplary embodiment, wherein (a) shows an interface prompting a user to input cargo information, and (b) shows an interface displaying prompt information.

[0132] Figure 8 It is a block diagram of a server according to an exemplary embodiment. DETAILED DESCRIPTION

[0133] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described exemplarily below do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices consistent with some aspects of the present disclosure as detailed in the attached claims. It should be noted that the features in the following embodiments and implementations may be combined with each other without conflict.

[0134] In order to solve the above technical problems, the embodiments of the present disclosure provide an unmanned vehicle delivery method, which can be applied to an unmanned vehicle delivery system.

[0135] See also Figure 1 The unmanned vehicle delivery system may include at least one server 11, several user terminals 12 and multiple unmanned vehicles 13. The server 11 communicates with the unmanned vehicle 13 and the user terminal 12 respectively. In some embodiments, the unmanned vehicle delivery system also includes at least one front-end input device 14, which is used to input the information of the goods to be sent and received into the unmanned vehicle delivery system. At this time, the server 11 distributes the goods to be delivered to each unmanned vehicle for delivery.

[0136] It should be noted that the server 11 can communicate with the user terminal 12, the unmanned vehicle 13 and the front-end input device 14 through a wireless network, wherein the wireless network may include but is not limited to Bluetooth, WiFi, 4G / 5G network, which can be selected according to the specific scenario and is not limited here.

[0137] It should be noted that the user terminal 12 refers to a device with communication and display functions, which can communicate with the server 11 through a wireless network, such as uploading or downloading order information, and displaying it on a display screen. In practical applications, the user terminal 12 may include but is not limited to a smart phone, a smart watch, a tablet computer, a laptop computer, and the like.

[0138] It should be noted that an unmanned vehicle refers to a vehicle that can achieve autonomous driving. In the present disclosure, unmanned vehicles can be divided into small, medium and large unmanned vehicles. For example, when the unmanned vehicle is a small unmanned vehicle, it can be used to deliver small and heavy goods such as letters and small items, which is suitable for residential areas or commercial office areas with high population density; for example, when the unmanned vehicle is a medium-sized vehicle (such as a light truck), it can be used to deliver goods such as furniture and general volume (such as 1 to 5 cubic meters, that is, one or more people can move), which is suitable for residential areas or commercial office areas with high population density; for example, when the unmanned vehicle is a large vehicle (such as a heavy truck), it can be used to deliver goods such as large equipment, (iron, copper, aluminum, etc.) raw materials, etc., which is suitable for manufacturing parks, docks or freight transfer stations and other areas. For the convenience of describing the solution, it is collectively referred to as an unmanned vehicle in the future.

[0139] It should also be noted that the unmanned vehicle involved in the present disclosure can be driven by traditional fuel. From the perspective of energy conservation, emission reduction and carbon neutrality, the unmanned vehicle involved in the present disclosure can be driven by new energy, such as photovoltaic power. For example, a solar photovoltaic charging station is set up in a distribution center, and the solar photovoltaic charging station charges the unmanned vehicle; and when there is no need to charge the unmanned vehicle, the solar photovoltaic charging station can store the electricity in a local storage device or go online. In this way, by charging nearby, power loss can be reduced to achieve the effect of reducing carbon emissions. In addition, the unmanned vehicle delivery method provided by the present disclosure can reduce the delivery time of at least one unmanned vehicle, which is conducive to reducing the overall average delivery time of the unmanned vehicle, and can reduce the energy consumption of the delivery work, further reduce carbon emissions, and contribute to energy conservation, emission reduction and the early realization of carbon neutrality.

[0140] It should be noted that the front-end input device 14 refers to a device with information input function, such as a QR code scanning device, a bar code scanning device, an image acquisition device, a smart phone, a personal data terminal, a tablet computer, a desktop computer and a laptop computer, etc. Order information or goods information can be uploaded to the server 11 through the front-end input device 14.

[0141] For the convenience of description, the following embodiments of the present disclosure all use a server as the execution entity to implement the above-mentioned unmanned vehicle delivery method, but this does not constitute a limitation of the present disclosure.

[0142] Figure 2 is a flow chart of an unmanned vehicle delivery method according to an exemplary embodiment. Figure 2 , an unmanned vehicle delivery method, including steps 21 to 23.

[0143] In step 21, the quantity of goods to be sent or received by each unmanned vehicle is obtained.

[0144] In this embodiment, the server in the unmanned vehicle distribution system can communicate with the front-end input device to obtain the cargo information entered by the front-end input device. It is understandable that the cargo is located in the distribution center at this time. Then, the server can distribute the cargo in the distribution center to each unmanned vehicle. For example, during the distribution process, the server can divide the area according to the destination in the cargo information, and then distribute the cargo in different areas to the unmanned vehicle responsible for the distribution of this area. In this way, each unmanned vehicle only sends and receives cargo within the area, which can shorten the delivery time. For example, during the distribution process, the server can distribute cargo according to the cruising range and driving speed of the unmanned vehicle, and can distribute more cargo to unmanned vehicles with a large cruising range (such as more than 200 kilometers) and a fast driving speed (such as a speed of more than 20km / h), and distribute a small amount of cargo to unmanned vehicles with a small cruising range (such as less than 50 kilometers) and a slow driving speed (such as less than 10km / h), while the same amount of cargo is distributed to unmanned vehicles with a general cruising range (more than 50 kilometers and less than 200 kilometers) and a general driving speed (such as more than 10km / h and less than 20km / h). For another example, the server can also evenly distribute the cargo of each unmanned vehicle according to the number of unmanned vehicles and the amount of cargo.

[0145] Considering that the progress of each unmanned vehicle delivery may be different during the delivery process, for example, the goods on unmanned vehicle A are all delivered to the user, while some of the goods on unmanned vehicle B have not been contacted to the user or the delivery address has not been updated, resulting in unfinished delivery. In this way, the goods on unmanned vehicle A will be less than the goods on unmanned vehicle B. For example, unmanned vehicle C has a malfunction during the delivery process, which limits its driving speed (such as less than 5km / h), reducing the delivery progress, and the number of goods using unmanned vehicle C is significantly greater than the number of goods using other unmanned vehicles. In one embodiment, the server can communicate with each unmanned vehicle separately to obtain the number of goods to be received and sent by each unmanned vehicle. In another embodiment, in the process of delivering goods, the unmanned vehicle will mark the order information of each goods as completed after the delivery is completed, and synchronize the updated order information to the server. In this way, the server can obtain the unfinished orders of the unmanned vehicle to obtain the number of goods to be received and sent.

[0146] It should be noted that in this disclosure, the goods in the same order are regarded as one goods, that is, one delivery can complete one order. In the case where an order is split into multiple sub-orders due to different delivery addresses, i.e., destinations, it is often delivered multiple times, so the sub-orders delivered each time are regarded as the orders mentioned in this disclosure. Of course, for multiple orders with the same delivery address (such as orders from two adjacent owners on the same floor, or orders from multiple owners of the same unit, or orders with different destinations but can all be placed in storage cabinets) and multiple goods can be delivered at one time and regarded as one goods, multiple orders can be regarded as one order.

[0147] In step 22, the delivery time of each unmanned vehicle is obtained according to the quantity of the goods.

[0148] In this embodiment, the server can obtain the delivery time of each unmanned vehicle according to the quantity of goods, wherein the delivery time refers to the time consumed by each unmanned vehicle to complete the delivery of goods, see Figure 3 , including steps 31 to 34.

[0149] In step 31, the server may obtain the delivery area map of each unmanned vehicle. The above-mentioned delivery area map may be stored in the server or in the unmanned vehicle, and may be a three-dimensional image captured by a 3D camera or a three-dimensional feature point map constructed by a VSLAM algorithm, and the delivery area maps of different unmanned vehicles are different.

[0150] In one example, the server can obtain the initial area map of the area where each unmanned vehicle is located. The initial area maps of different unmanned vehicles can be the same. For example, when two unmanned vehicles are delivering in the same park, the map of the park can be used as the initial area map. Of course, the initial area maps of different unmanned vehicles can also be different, and the initial area maps of multiple unmanned vehicles can cover the entire park as a whole. Of course, when the number of unmanned vehicles is large, it can be set that some unmanned vehicles use the same initial area map and some unmanned vehicles use different initial area maps, and different solutions can be selected according to specific scenarios. Then, the server can communicate with each unmanned vehicle to obtain the obstacle data uploaded by each unmanned vehicle, and the obstacle data includes the size data of the obstacle and the location data of the obstacle. After that, the server can draw obstacles in the initial area map based on the location data and size data to obtain the distribution area map of the area where each unmanned vehicle is located. In this example, by updating the obstacles in the initial area map, the distribution area map can be made more accurate, thereby obtaining a more accurate navigation route and delivery time.

[0151] It should be noted that, considering that there may be a timestamp when the unmanned vehicle uploads obstacle data, the obstacle data actually also includes the existence time of the obstacle. Then, within a certain period of time (such as 1-2 natural days), the above obstacles can be avoided to generate a distribution area map; after a certain period of time, it can be considered that the above obstacles are eliminated and there is no need to avoid the above obstacles to generate a distribution area map. Then, if the unmanned vehicle detects an obstacle again during the subsequent delivery process, it can continue to report and repeat the above process; if there is no obstacle, the obstacle data is directly cleared or marked, and there is no need to avoid the obstacle in the subsequent process.

[0152] It should be noted that in this example, obstacles refer to objects that affect the speed or route of the unmanned vehicle, such as stones, vehicles, buildings, etc. In order to avoid the above obstacles, the unmanned vehicle needs to slow down, use other lanes or take a detour, thereby reducing the speed of the unmanned vehicle or changing its route.

[0153] In step 32, the server can generate a navigation route based on the destination of the goods on the unmanned vehicle and overlay it on the distribution area map. Figure 4 shown.

[0154] In step 33, the server may obtain the compensation duration of each unmanned vehicle.

[0155] The compensation time for each cargo refers to the time it takes the unmanned vehicle to place the cargo in a storage cabinet such as an express cabinet, or to park next to the user and perform identity verification, such as 2 to 5 minutes. A reasonable compensation time can be selected based on the specific scenario.

[0156] In one example, unmanned vehicles can deliver different types of goods, and the time taken for each type of goods to be delivered to the user is different. For example, letters only take a few seconds, iron products take a few minutes, and large items take more than ten minutes, and so on. At this time, the server can obtain the types of goods in each unmanned vehicle. Then, based on the preset correspondence between the type and duration, the server can determine the compensation duration for each cargo to compensate for the time taken to deliver the cargo to the user. Afterwards, for each unmanned vehicle, the server can calculate the sum of the compensation durations of all the cargo in the unmanned vehicle, and use the sum as the compensation duration of the unmanned vehicle. In this example, by compensating for the delivery time of each unmanned vehicle, a reasonable delivery time can be obtained, which is convenient for the subsequent coordination of the quantity of cargo between different unmanned vehicles, thereby shortening the delivery time of some unmanned vehicles.

[0157] In another example, considering that the park is large, the road conditions in each area are different, such as some areas are asphalt roads, some areas are cement roads, and some areas are pedestrian paths paved with cement blocks. The driving speed of the unmanned vehicle in each area will be affected, so compensation is required according to the destination. At this time, the server can obtain the historical delivery data corresponding to the destination of the goods, where the historical delivery data includes the historical compensation time used for each delivery of the goods. Then, for each destination, the server can calculate the average value of the historical compensation time, and use the average value as the compensation time of the destination. After that, for each unmanned vehicle, the server can calculate the sum of the compensation time of the unmanned vehicle corresponding to all destinations, and use the above sum as the compensation time of the unmanned vehicle. In this example, by compensating for different destinations, a reasonable delivery time can be obtained, which is convenient for the subsequent coordination of the number of goods between unmanned vehicles in different areas, thereby shortening the delivery time of some unmanned vehicles.

[0158] In another example, considering that each consignee has a different delivery speed, for example, in the same park, some owners will pick up the express on time every time, while some owners will be late, resulting in different delivery times each time. At this time, the server can compensate the consignee. The server can obtain the historical delivery data of the consignee of the goods, and the above historical delivery data includes the collection time used by the consignee to collect the goods each time. Then, for each consignee, the server can calculate the average value of the collection time and use the average value as the compensation time for the consignee. After that, for each unmanned vehicle, the server can calculate the sum of the compensation time of all consignees in the unmanned vehicle, and use the above sum as the compensation time of the unmanned vehicle. In this example, by compensating different consignees, a reasonable delivery time can be obtained, which is convenient for the subsequent coordination of the number of goods between unmanned vehicles in different areas, thereby shortening the delivery time of some unmanned vehicles.

[0159] In another example, considering that the unmanned vehicle will generate a navigation route in the process of delivering goods, the server can also communicate with the unmanned vehicle to obtain the unfinished route of the unmanned vehicle in the distribution area map; then, combined with the driving speed of the unmanned vehicle, the driving time of the unmanned vehicle can be determined; then, the compensation time is determined in combination with the quantity of goods; finally, the sum of the driving time and the compensation time is calculated to obtain the delivery time of the unmanned vehicle.

[0160] It should be noted that, in the absence of conflict, the server can perform time compensation based on at least one of the consignee, destination, quantity of goods and type of goods, so that the compensation time is more accurate, and the corresponding solution falls within the protection scope of this disclosure.

[0161] In step 34, the server can calculate the delivery time of each unmanned vehicle based on the navigation route, the driving speed of the unmanned vehicle and the compensation time of each cargo. The driving speed of the unmanned vehicle can be a fixed value or a dynamic value. When the driving speed is a dynamic value, the server can communicate with the unmanned vehicle to obtain the real-time driving speed of the unmanned vehicle. The server can divide the distance of the navigation route by the driving speed to obtain the driving time, and then calculate the sum of the driving time and the compensation time and use the sum as the delivery time of the unmanned vehicle.

[0162] In step 23, the cargo of each unmanned vehicle is adjusted according to the cargo quantity and the delivery time to shorten the delivery time of at least one unmanned vehicle.

[0163] In one embodiment, the server can adjust the cargo of each unmanned vehicle according to the quantity of cargo and the delivery time, see Figure 5, including steps 51 to 55. In step 51, the server can compare the delivery time with the first preset time, and obtain the first unmanned vehicle whose delivery time exceeds the first preset time and the location of the first unmanned vehicle. The first preset time ranges from 30 to 120 minutes.

[0164] In step 52, the server may obtain the second unmanned vehicle within the preset range of the location of the first unmanned vehicle and the delivery time of the second unmanned vehicle. The value of the preset range may be 20 to 100 m. The purpose of setting the first preset time in this step is to select those unmanned vehicles that affect the overall average time of the unmanned vehicles, which is conducive to reducing the average time of unmanned vehicle delivery. The purpose of setting the preset range in this step is to avoid the first unmanned vehicle consuming too much time to find an unmanned vehicle to receive the goods when transferring part of the goods, which is conducive to improving the efficiency of goods transfer.

[0165] In step 53, the server can obtain the third unmanned vehicle and the location of the third unmanned vehicle according to the delivery time of the second unmanned vehicle. For example, the server can obtain the second preset time, and the range of the second preset time is 30 to 60 minutes. Then, the server can compare the delivery time of the second unmanned vehicle and the second preset time, obtain at least one second unmanned vehicle whose delivery time does not exceed the second preset time, and use at least one second unmanned vehicle whose delivery time does not exceed the second preset time as the third unmanned vehicle. In other words, the number of the third unmanned vehicle is at least one, which is a subset of the second unmanned vehicle. The purpose of setting the second preset time in this step is to select an unmanned vehicle that has completed or is close to completing the delivery task, so that it can assist the first unmanned vehicle in delivering goods, which is conducive to reducing the average delivery time of the unmanned vehicle.

[0166] In step 54, the server may generate a navigation route between the first unmanned vehicle and the third unmanned vehicle and send it to the first unmanned vehicle and the third unmanned vehicle. Generating the navigation route in this step may enable the first unmanned vehicle and the third unmanned vehicle to meet in the shortest time or the shortest route.

[0167] In step 55, the server can control the first unmanned vehicle to distribute at least one cargo to the third unmanned vehicle so that the third unmanned vehicle can send and receive the at least one cargo. The distance between the destination of at least one cargo and the navigation route of the third unmanned vehicle is less than the preset distance threshold. The purpose of setting the preset distance threshold in this step is to screen out cargo with a closer destination, so that the cargo of the third unmanned vehicle is on the same navigation route as much as possible, and to minimize the delivery time of the third unmanned vehicle. In addition, in this step, by distributing the cargo of the first unmanned vehicle, the quantity of cargo of the first unmanned vehicle can be reduced, that is, the delivery time of the first unmanned vehicle can be shortened, which is conducive to shortening the overall average time of the unmanned vehicle. In other words, in the present disclosure, by transferring the quantity of cargo of some unmanned vehicles, the delivery time of each unmanned vehicle tends to the average time, avoiding the purpose of some unmanned vehicles being idle and some unmanned vehicles having too long delivery time, and improving the use efficiency of unmanned vehicles.

[0168] In another embodiment, the server can adjust the cargo of each unmanned vehicle according to the quantity of cargo and the delivery time. Figure 6 , including steps 61 to 65. In step 61, the server can compare the delivery time with the first preset time, and obtain the first unmanned vehicle whose delivery time exceeds the first preset time and the location of the first unmanned vehicle. The purpose of setting the first preset time in this step can be seen in the content of step 51, which will not be repeated here.

[0169] In step 62, the server may obtain the storage cabinet closest to the location of the first unmanned vehicle. Considering that unmanned vehicles usually go to the storage cabinet to place goods first, and the number of goods of unmanned vehicles near the storage cabinet is relatively small, the storage cabinet closest to the location of the first unmanned vehicle is obtained in this step to determine a reference position.

[0170] In step 63, the server may obtain the fourth unmanned vehicle with the least number of goods within the preset range of the nearest storage cabinet. The purpose of setting the preset range in this step is to prevent the first unmanned vehicle from spending too much time looking for the subsequent fourth unmanned vehicle when transferring part of the goods. The fourth unmanned vehicle with the least number of goods obtained in this step can receive as many goods as possible distributed by the first unmanned vehicle, which is conducive to reducing the average delivery time of the unmanned vehicle.

[0171] In step 64, the server may generate a navigation route between the first unmanned vehicle and the fourth unmanned vehicle and send it to the first unmanned vehicle and the fourth unmanned vehicle. Generating the navigation route in this step may enable the first unmanned vehicle and the fourth unmanned vehicle to meet in the shortest time or the shortest route.

[0172] In step 65, the server can control the first unmanned vehicle to distribute at least one cargo to the fourth unmanned vehicle, so that the fourth unmanned vehicle can send and receive the at least one cargo. The distance between the destination of at least one cargo and the navigation route of the fourth unmanned vehicle is less than the preset distance threshold. The purpose of setting the preset distance threshold in this step is to filter out cargo with a closer destination, so that the cargo of the fourth unmanned vehicle is on the same navigation route as much as possible, and minimize the delivery time of the fourth unmanned vehicle. In this step, by having the fourth unmanned vehicle receive the cargo of the first unmanned vehicle, the amount of cargo of the first unmanned vehicle can be reduced, that is, the delivery time of the unmanned vehicle can be shortened, thereby shortening the average delivery time of the unmanned vehicle.

[0173] In this way, the solution provided by the embodiment of the present disclosure can shorten the delivery time of at least one unmanned vehicle and ultimately shorten the time taken to complete the delivery of goods by adjusting the order goods of each unmanned vehicle, thereby reducing the impact of the delivery time on the user experience.

[0174] In one embodiment, a scenario where a user (recipient and / or sender) has a query requirement is considered. At this time, the user can operate the user terminal, and the effect is as follows Figure 7 As shown in Figure (a) in the figure. After detecting the user's query demand, the user terminal uploads the above query information to the server. In response to detecting the query information uploaded by the user terminal, the server can obtain the order information carried by the query information. The server can obtain the location data of the unmanned vehicle corresponding to the order information and feed the location data back to the user terminal. The effect is as follows Figure 7 As shown in Figure (b), users can see the current location of the unmanned vehicle on the user terminal to timely understand the delivery progress, which helps to improve the user experience.

[0175] In one embodiment, it is considered that the user has an appointment requirement, such as an appointment address or time for receiving / sending goods. At this time, the user can operate the user terminal. The user terminal can upload the above appointment information to the server after detecting the user's appointment requirement. In response to detecting the appointment information uploaded by the user terminal, the server can obtain the order information and appointment information carried by the appointment information. The server can update the items in the order information to the above appointment information and obtain the updated appointment order information. Then, the server can send the updated appointment order information to the unmanned vehicle so that the unmanned vehicle updates the navigation route. In this way, the user can make an appointment for the address and / or time on the user terminal, which helps to improve the user experience. In addition, the unmanned vehicle can adjust the delivery route according to the appointment order information, which is conducive to improving delivery efficiency.

[0176] In one embodiment, considering that when a user has a query demand, he usually also has a demand to pick up the goods in advance, the server can convert the above query demand into a reservation demand. For example, the user can operate the user terminal. After detecting the user's query demand, the user terminal uploads the above query information to the server. In response to detecting the query information uploaded by the user terminal, the server can obtain the order information carried by the query information. The server can obtain the current position and navigation route of the unmanned vehicle corresponding to the order information. Combined with the destination of the navigation route order information, a location closest to the destination is selected on the navigation route (hereinafter referred to as a temporary destination), and the time taken for the unmanned vehicle to reach the temporary destination from the current location (which can be a period or a specific arrival time) and the time taken to reach the original destination are calculated to obtain the time saved by reaching the temporary destination. Then, the server can generate a temporary reservation order according to the temporary destination, and send the temporary reservation order to the unmanned vehicle. At this time, the unmanned vehicle can execute the temporary reservation order to arrive at the temporary destination for delivery. If the user does not arrive when the unmanned vehicle arrives at the temporary destination, the unmanned vehicle can wait for a certain period of time (such as 2 to 5 minutes). If the user still does not arrive at this time, the unmanned vehicle can leave the temporary destination and cancel the temporary reservation order, that is, resume the delivery of goods to the original destination. If it is detected that the user is waiting at a temporary destination, the unmanned vehicle can perform the delivery operation and record the temporary reservation order after the delivery is successful, and mark the status of the original order information as delivered or directly cancel the original order information. At the same time, the server can generate a reminder message based on the temporary destination and the time it takes to reach the temporary destination and send it to the user terminal. For example, the reminder message can be: Please go to the temporary destination A to collect the goods, which is expected to save B minutes compared to normal delivery. In this way, by generating an automatic temporary reservation order in this embodiment, users can collect goods immediately and reduce delivery weeks. In one example, the server can simultaneously send the current location and / or navigation route of the unmanned vehicle to the user terminal, so that the user can arrive at the temporary destination on time according to the location of the unmanned vehicle, thereby improving the delivery efficiency of the unmanned vehicle and user experience.

[0177] It is understandable that when the address in the reservation order information changes, that is, the delivery address is changed, if the destination of the goods exceeds the scope of the unmanned vehicle's responsible area, the server can treat the above-mentioned goods as goods to be transferred, that is, as abnormal goods, and adjust the compensation time of the goods or adjust the compensation time of the unmanned vehicle, so as to lengthen the delivery time of the unmanned vehicle. Due to the longer delivery time, the unmanned vehicle can be triggered to transfer the above-mentioned goods to other unmanned vehicles. The transfer method can be found in the contents of the above embodiments. After the goods are transferred to other unmanned vehicles, the server restores the delivery time of the unmanned vehicle to normal. If the server determines that the destination of the goods is in the area responsible for the unmanned vehicle that receives the goods, the server does not need to process it; if not, then the unmanned vehicle will continue to transfer it to other unmanned vehicles, and so on, until the destination of the goods is directly transferred to the area responsible for the unmanned vehicle. In this way, in this embodiment, each cargo can be accurately delivered to the destination through the transfer of goods or the relay of goods between unmanned vehicles.

[0178] In one embodiment, it is considered that the user has the need to adjust the destination of the goods to another fixed location, for example, from the east gate of the park to the west gate of the park. At this time, the user can operate the user terminal. For example, after the user terminal is connected to the server, the user can operate the "one-key positioning and receiving sending and receiving" button displayed in the user terminal, that is, the user agrees that the user terminal collects the current location, that is, the second location data, and synchronizes it to the server. The user terminal can upload the above-mentioned sending and receiving information to the server after detecting the sending and receiving information of the user. In response to detecting the sending and receiving information uploaded by the user terminal, the server can obtain the first location data of the unmanned vehicle and the second location data of the user terminal. Then, the server can generate a real-time delivery route based on the first location data and the second location data, and send the above-mentioned real-time delivery route to the unmanned vehicle and the user terminal. In this way, the unmanned vehicle can find the user terminal, that is, the user, according to the navigation of the real-time delivery route. When the unmanned vehicle completes the verification of the user's identity information, the goods can be provided to the user to complete this order. In this way, the user's need to adjust the destination of the goods can be met in this embodiment, and the unmanned vehicle can quickly complete the delivery, which is conducive to improving the user experience.

[0179] In one embodiment, it is considered that the user has the need to adjust the destination of the goods to another random location, for example, the user walks from the east gate of the park to any location between the west gate of the park. At this time, the user can operate the user terminal. For example, after the user terminal is connected to the server, the user can operate the "one-key positioning of sending and receiving" button displayed in the user terminal, that is, the user agrees that the user terminal collects the real-time location, that is, the second location data, and synchronizes it to the server. The user terminal can upload the above-mentioned sending and receiving information to the server after detecting the sending and receiving information of the user. The server can obtain the first location data of the unmanned vehicle and the second location data of the user terminal in response to detecting the sending and receiving information uploaded by the user terminal. Then, the server can calculate the human-vehicle distance between the user terminal and the unmanned vehicle based on the first location data and the second location data. After that, the server can compare the human-vehicle distance with the set distance. When the human-vehicle distance exceeds the set distance, the human-vehicle distance continues to be compared with the set distance; when the human-vehicle distance is less than the set distance, the server can send a first control instruction to the unmanned vehicle, and the first control instruction can switch the unmanned vehicle from the distribution working mode to the temporary stop working mode. In the temporary stop working mode, the unmanned vehicle can turn on the recognition function, such as image recognition, radar recognition, or even voice recognition, to recognize the user or the user's gesture, thereby identifying the waving user; after recognizing the waving user, it can drive to the side of the waving user and prompt the user to identify the identity, and after the identity verification is successful, the goods are provided to the user to complete the delivery of the goods. When it is detected that the delivery of the goods is completed this time, a second control instruction is sent to the unmanned vehicle to switch the unmanned vehicle from the temporary stop working mode to the distribution working mode, and the waving user is no longer recognized in the distribution working mode. In this embodiment, by controlling the unmanned vehicle to drive to the waving user according to the real-time distribution route, the driving time can be shortened; and the waving user is only recognized when the distance between the person and the vehicle of the waving user is less than the set distance, and the recognition of the waving user is stopped when the delivery of the goods is completed. The data processing volume can be reduced on the basis of ensuring the recognition efficiency, and the hardware configuration of the unmanned vehicle can be reduced; it can also avoid excessive collection of information about irrelevant personnel and protect the privacy of irrelevant personnel.

[0180] Based on the unmanned vehicle delivery method provided in the embodiment of the present disclosure, the embodiment of the present disclosure also provides an unmanned vehicle delivery system. Figure 1 , including at least one server; see Figure 8 , the server includes at least one processor 81 and at least one memory 82; the at least one memory 82 is used to store a computer program executable by the at least one processor; the at least one processor 81 is used to:

[0181] Get the number of goods to be sent and received by each unmanned vehicle;

[0182] Obtaining the delivery time of each unmanned vehicle according to the quantity of goods; the delivery time refers to the time consumed by each unmanned vehicle to complete the delivery of goods;

[0183] The cargo of each unmanned vehicle is adjusted according to the cargo quantity and the delivery time to shorten the delivery time of at least one unmanned vehicle.

[0184] In one embodiment, the at least one processor is used to obtain the delivery time of each unmanned vehicle according to the quantity of goods, including:

[0185] Obtain the delivery area map of each unmanned vehicle;

[0186] Generating a navigation route according to the destination of the goods and superimposing it on the distribution area map;

[0187] Get the compensation time of each driverless car;

[0188] The delivery time of each unmanned vehicle is calculated according to the navigation route, the driving speed of the unmanned vehicle and the compensation time.

[0189] In one embodiment, the at least one processor is used to obtain a distribution area map of each unmanned vehicle, including:

[0190] Obtain the initial area map of each unmanned vehicle;

[0191] Obtain obstacle data uploaded by each unmanned vehicle; the obstacle data includes obstacle size data and obstacle location data;

[0192] Obstacles are drawn in the initial area map based on the position data and the size data to generate a delivery area map for each unmanned vehicle.

[0193] In one embodiment, the at least one processor is used to obtain the compensation duration of each unmanned vehicle, including:

[0194] Obtaining the type of each cargo in each unmanned vehicle;

[0195] Determine the compensation time for each cargo based on the preset correspondence between type and duration;

[0196] For each unmanned vehicle, the sum of the compensation durations of all goods in the unmanned vehicle is calculated, and the sum is used as the compensation duration of the unmanned vehicle.

[0197] In one embodiment, the at least one processor is used to obtain the compensation duration of each unmanned vehicle, including:

[0198] Acquire historical delivery data corresponding to the destination of the goods, wherein the historical delivery data includes the historical compensation time used for each delivery of the goods;

[0199] Calculate the average value of the historical compensation time, and use the average value as the compensation time of the destination;

[0200] For each unmanned vehicle, the sum of the compensation times of the unmanned vehicle corresponding to all destinations is calculated, and the sum is used as the compensation time of the unmanned vehicle.

[0201] In one embodiment, the at least one processor is used to obtain the compensation duration of each unmanned vehicle, including:

[0202] Acquire historical delivery data of the consignee of the goods, wherein the historical delivery data includes the delivery time taken by the consignee to receive the goods each time;

[0203] Calculate the average of the collection time and use the average as the compensation time for the consignee;

[0204] For each unmanned vehicle, the sum of the compensation durations of all consignees in the unmanned vehicle is calculated, and the sum is used as the compensation duration of the unmanned vehicle.

[0205] In one embodiment, the at least one processor is used to adjust the cargo of each unmanned vehicle according to the cargo quantity and the delivery time, including:

[0206] Compare the delivery time with a first preset time, and obtain a first unmanned vehicle whose delivery time exceeds the first preset time and a location of the first unmanned vehicle;

[0207] Obtaining a second unmanned vehicle within a preset range of the location of the first unmanned vehicle and the delivery time of the second unmanned vehicle;

[0208] Acquire a third unmanned vehicle and a location of the third unmanned vehicle according to the delivery time of the second unmanned vehicle;

[0209] Generate a navigation route between the first unmanned vehicle and the third unmanned vehicle and send it to the first unmanned vehicle and the third unmanned vehicle;

[0210] The first unmanned vehicle is controlled to distribute at least one cargo to the third unmanned vehicle, so that the third unmanned vehicle sends and receives the at least one cargo.

[0211] In one embodiment, the at least one processor is used to obtain a third unmanned vehicle according to the delivery time of the second unmanned vehicle, including:

[0212] Obtaining a second preset duration;

[0213] Compare the delivery time of the second unmanned vehicle with the second preset time, obtain at least one second unmanned vehicle whose delivery time does not exceed the second preset time, and use the at least one second unmanned vehicle whose delivery time does not exceed the second preset time as the third unmanned vehicle.

[0214] In one embodiment, the at least one processor is used to adjust the cargo of each unmanned vehicle according to the cargo quantity and the delivery time, including:

[0215] Compare the delivery time with a first preset time, and obtain a first unmanned vehicle whose delivery time exceeds the first preset time and a location of the first unmanned vehicle;

[0216] Obtaining a storage cabinet closest to the location of the first unmanned vehicle;

[0217] Obtaining a fourth unmanned vehicle with the least amount of cargo within a preset range of the nearest storage cabinet;

[0218] Generate a navigation route between the first unmanned vehicle and the fourth unmanned vehicle and send it to the first unmanned vehicle and the fourth unmanned vehicle;

[0219] The first unmanned vehicle is controlled to distribute at least one cargo to the fourth unmanned vehicle, so that the fourth unmanned vehicle sends and receives the at least one cargo.

[0220] In one embodiment, the distance between the destination of the at least one cargo and the navigation route of the third unmanned vehicle or the fourth unmanned vehicle is less than a preset distance threshold.

[0221] In one embodiment, the at least one processor is further configured to:

[0222] In response to detecting the query information uploaded by the user terminal, obtaining the cargo information carried by the query information;

[0223] Obtaining location data and / or navigation route of the unmanned vehicle corresponding to the cargo information;

[0224] The location data and / or navigation route are fed back to the user terminal.

[0225] In one embodiment, the at least one processor is further configured to:

[0226] In response to detecting the reservation information uploaded by the user terminal, obtaining the cargo information and the reservation information carried by the reservation information;

[0227] Updating the items in the cargo information to the reservation information to obtain updated reservation cargo information;

[0228] The reserved cargo information is sent to the unmanned vehicle so that the unmanned vehicle updates the navigation route.

[0229] In one embodiment, the at least one processor is further configured to:

[0230] In response to detecting the sending and receiving information representing the fixed location, obtaining first location data of the unmanned vehicle and second location data of the user terminal;

[0231] generating a real-time delivery route according to the first location data and the second location data;

[0232] The real-time delivery route is sent to the unmanned vehicle and the user terminal.

[0233] In one embodiment, the at least one processor is further configured to:

[0234] In response to detecting the sending and receiving information representing the random location, obtaining the first location data of the unmanned vehicle and the second location data of the user terminal, and sending the real-time delivery route of the unmanned vehicle to the user terminal so that the user terminal displays the real-time delivery route of the unmanned vehicle;

[0235] Calculate the person-vehicle distance between the user terminal and the unmanned vehicle according to the first position data and the second position data;

[0236] When the distance between the person and the vehicle is less than the set distance, a first control instruction is sent to the unmanned vehicle to switch the unmanned vehicle from the delivery working mode to the temporary stop working mode, and stop the vehicle in the temporary stop working mode to the identified waving user, and complete the delivery and receipt of the goods after completing the identity verification;

[0237] When it is detected that the goods are sent and received this time, a second control instruction is sent to the unmanned vehicle to switch the unmanned vehicle from the temporary stop working mode to the delivery working mode, and the unmanned vehicle no longer recognizes the waving user in the delivery working mode.

[0238] It should be noted that the system shown in this embodiment matches the contents of the method embodiment, and reference may be made to the contents of the above method embodiment, which will not be repeated here.

[0239] In an exemplary embodiment, a computer readable storage medium is also provided, such as a memory including instructions, and the above executable computer program can be executed by a processor. The readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0240] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the disclosure disclosed herein. The present disclosure is intended to cover any variations, uses, or adaptations that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The description and examples are to be considered exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims.

[0241] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. An unmanned vehicle delivery method, characterized in that: The method comprises: Get the number of goods to be sent and received by each unmanned vehicle; Obtaining the delivery time of each unmanned vehicle according to the quantity of goods; the delivery time refers to the time consumed by each unmanned vehicle to complete the delivery of goods; Adjusting the cargo of each unmanned vehicle according to the cargo quantity and the delivery time to shorten the delivery time of at least one unmanned vehicle; Adjusting the cargo of each unmanned vehicle according to the cargo quantity and the delivery time includes: Compare the delivery time with a first preset time, obtain a first unmanned vehicle whose delivery time exceeds the first preset time and the location of the first unmanned vehicle; generate a navigation route between the first unmanned vehicle and another unmanned vehicle and send it to the first unmanned vehicle and the other unmanned vehicle; control the first unmanned vehicle to distribute at least one cargo to the other unmanned vehicle, so that the other unmanned vehicle can send and receive the at least one cargo.

2. The method according to claim 1, characterized in that The delivery time of each unmanned vehicle is obtained according to the quantity of goods, including: Obtain the delivery area map of each unmanned vehicle; Generating a navigation route according to the destination of the goods and superimposing it on the distribution area map; Get the compensation time of each driverless car; The delivery time of each unmanned vehicle is calculated according to the navigation route, the driving speed of the unmanned vehicle and the compensation time.

3. The method according to claim 2, characterized in that Get the delivery area map of each unmanned vehicle, including: Obtain the initial area map of each unmanned vehicle; Obtain obstacle data uploaded by each unmanned vehicle; the obstacle data includes obstacle size data and obstacle location data; Obstacles are drawn in the initial area map based on the position data and the size data to generate a delivery area map for each unmanned vehicle.

4. The method according to claim 2, characterized in that: Get the compensation time of each driverless car, including: Obtaining the type of each cargo in each unmanned vehicle; Determine the compensation time for each cargo based on the preset correspondence between type and duration; For each unmanned vehicle, the sum of the compensation durations of all goods in the unmanned vehicle is calculated, and the sum is used as the compensation duration of the unmanned vehicle.

5. The method according to claim 2, characterized in that: Get the compensation time of each driverless car, including: Acquire historical delivery data corresponding to the destination of the goods, wherein the historical delivery data includes the historical compensation time used for each delivery of the goods; Calculate the average value of the historical compensation time, and use the average value as the compensation time of the destination; For each unmanned vehicle, the sum of the compensation times of the unmanned vehicle corresponding to all destinations is calculated, and the sum is used as the compensation time of the unmanned vehicle.

6. The method according to claim 2, characterized in that Get the compensation time of each driverless car, including: Acquire historical delivery data of the consignee of the goods, wherein the historical delivery data includes the delivery time taken by the consignee to receive the goods each time; Calculate the average of the collection time and use the average as the compensation time for the consignee; For each unmanned vehicle, the sum of the compensation durations of all consignees in the unmanned vehicle is calculated, and the sum is used as the compensation duration of the unmanned vehicle.

7. The method according to claim 1, characterized in that Adjusting the cargo of each unmanned vehicle according to the cargo quantity and the delivery time includes: Compare the delivery time with a first preset time, and obtain a first unmanned vehicle whose delivery time exceeds the first preset time and a location of the first unmanned vehicle; Obtaining a second unmanned vehicle within a preset range of the location of the first unmanned vehicle and the delivery time of the second unmanned vehicle; Acquire a third unmanned vehicle and a location of the third unmanned vehicle according to the delivery time of the second unmanned vehicle; Generate a navigation route between the first unmanned vehicle and the third unmanned vehicle and send it to the first unmanned vehicle and the third unmanned vehicle; The first unmanned vehicle is controlled to distribute at least one cargo to the third unmanned vehicle, so that the third unmanned vehicle sends and receives the at least one cargo.

8. The method according to claim 7, characterized in that Acquiring a third unmanned vehicle according to the delivery time of the second unmanned vehicle includes: Obtaining a second preset duration; Compare the delivery time of the second unmanned vehicle with the second preset time, obtain at least one second unmanned vehicle whose delivery time does not exceed the second preset time, and use the at least one second unmanned vehicle whose delivery time does not exceed the second preset time as the third unmanned vehicle.

9. The method according to claim 1, characterized in that: Adjusting the cargo of each unmanned vehicle according to the cargo quantity and the delivery time includes: Compare the delivery time with a first preset time, and obtain a first unmanned vehicle whose delivery time exceeds the first preset time and a location of the first unmanned vehicle; Obtaining a storage cabinet closest to the location of the first unmanned vehicle; Obtaining a fourth unmanned vehicle with the least amount of cargo within a preset range of the nearest storage cabinet; Generate a navigation route between the first unmanned vehicle and the fourth unmanned vehicle and send it to the first unmanned vehicle and the fourth unmanned vehicle; The first unmanned vehicle is controlled to distribute at least one cargo to the fourth unmanned vehicle, so that the fourth unmanned vehicle sends and receives the at least one cargo.

10. The method according to any one of claims 7 to 9, characterized in that: The distance between the destination of the at least one cargo and the navigation route of the third unmanned vehicle or the fourth unmanned vehicle is less than a preset distance threshold.

11. The method according to claim 1, characterized in that: The method further comprises: In response to detecting query information uploaded by a user terminal, acquiring order information carried in the query information; Obtaining location data and / or navigation route of the unmanned vehicle corresponding to the order information; The location data and / or the navigation route are fed back to the user terminal.

12. The method according to claim 1, characterized in that The method further comprises: In response to detecting the reservation information uploaded by the user terminal, acquiring the order information and the reservation information carried by the reservation information; Update the items in the order information to the reservation information to obtain updated reservation order information; The reservation order information is sent to the unmanned vehicle so that the unmanned vehicle updates the navigation route.

13. The method according to claim 1, characterized in that The method further comprises: In response to detecting the sending and receiving information representing the fixed location, obtaining first location data of the unmanned vehicle and second location data of the user terminal; generating a real-time delivery route according to the first location data and the second location data; The real-time delivery route is sent to the unmanned vehicle and the user terminal.

14. The method according to claim 1, characterized in that The method further comprises: In response to detecting the sending and receiving information representing the random location, obtaining the first location data of the unmanned vehicle and the second location data of the user terminal, and sending the real-time delivery route of the unmanned vehicle to the user terminal so that the user terminal displays the real-time delivery route of the unmanned vehicle; Calculate the person-vehicle distance between the user terminal and the unmanned vehicle according to the first position data and the second position data; When the distance between the person and the vehicle is less than the set distance, a first control instruction is sent to the unmanned vehicle to switch the unmanned vehicle from the delivery working mode to the temporary stop working mode, and stop the vehicle in the temporary stop working mode to the identified waving user, and complete the delivery and reception of the goods after completing the identity verification; When it is detected that the goods are sent and received this time, a second control instruction is sent to the unmanned vehicle to switch the unmanned vehicle from the temporary stop working mode to the delivery working mode, and the unmanned vehicle no longer recognizes the waving user in the delivery working mode.

15. An unmanned vehicle delivery system, characterized in that: The system comprises at least one server; the server comprises at least one processor and at least one memory; the at least one memory is used to store a computer program executable by the at least one processor; the at least one processor is used to: Get the number of goods to be sent and received by each unmanned vehicle; Obtaining the delivery time of each unmanned vehicle according to the quantity of goods; the delivery time refers to the time consumed by each unmanned vehicle to complete the delivery of goods; Adjusting the cargo of each unmanned vehicle according to the cargo quantity and the delivery time to shorten the delivery time of at least one unmanned vehicle; Adjusting the cargo of each unmanned vehicle according to the cargo quantity and the delivery time includes: Compare the delivery time with a first preset time, and obtain a first unmanned vehicle whose delivery time exceeds the first preset time and a location of the first unmanned vehicle; Generate a navigation route between the first unmanned vehicle and another unmanned vehicle and send it to the first unmanned vehicle and the other unmanned vehicle; control the first unmanned vehicle to distribute at least one cargo to the other unmanned vehicle, so that the other unmanned vehicle can send and receive the at least one cargo.

16. The system according to claim 15, characterized in that The at least one processor is used to obtain the delivery time of each unmanned vehicle according to the quantity of the goods, including: Obtain the delivery area map of each unmanned vehicle; Generating a navigation route according to the destination of the goods and superimposing it on the distribution area map; Get the compensation time of each driverless car; The delivery time of each unmanned vehicle is calculated according to the navigation route, the driving speed of the unmanned vehicle and the compensation time.

17. The system according to claim 16, characterized in that The at least one processor is used to obtain a distribution area map of each unmanned vehicle, including: Obtain the initial area map of each unmanned vehicle; Obtain obstacle data uploaded by each unmanned vehicle; the obstacle data includes obstacle size data and obstacle location data; Obstacles are drawn in the initial area map based on the position data and the size data to generate a delivery area map for each unmanned vehicle.

18. The system according to claim 16, characterized in that The at least one processor is used to obtain the compensation time of each unmanned vehicle, including: Obtaining the type of each cargo in each unmanned vehicle; Determine the compensation time for each cargo based on the preset correspondence between type and duration; For each unmanned vehicle, the sum of the compensation durations of all goods in the unmanned vehicle is calculated, and the sum is used as the compensation duration of the unmanned vehicle.

19. The system according to claim 16, characterized in that The at least one processor is used to obtain the compensation time of each unmanned vehicle, including: Acquire historical delivery data corresponding to the destination of the goods, wherein the historical delivery data includes the historical compensation time used for each delivery of the goods; Calculate the average value of the historical compensation time, and use the average value as the compensation time of the destination; For each unmanned vehicle, the sum of the compensation times of the unmanned vehicle corresponding to all destinations is calculated, and the sum is used as the compensation time of the unmanned vehicle.

20. The system according to claim 16, characterized in that The at least one processor is used to obtain the compensation time of each unmanned vehicle, including: Acquire historical delivery data of the consignee of the goods, wherein the historical delivery data includes the delivery time taken by the consignee to receive the goods each time; Calculate the average of the collection time and use the average as the compensation time for the consignee; For each unmanned vehicle, the sum of the compensation durations of all consignees in the unmanned vehicle is calculated, and the sum is used as the compensation duration of the unmanned vehicle.

21. The system according to claim 15, characterized in that The at least one processor is used to adjust the cargo of each unmanned vehicle according to the cargo quantity and the delivery time, including: Compare the delivery time with a first preset time, and obtain a first unmanned vehicle whose delivery time exceeds the first preset time and a location of the first unmanned vehicle; Obtaining a second unmanned vehicle within a preset range of the location of the first unmanned vehicle and the delivery time of the second unmanned vehicle; Acquire a third unmanned vehicle and a location of the third unmanned vehicle according to the delivery time of the second unmanned vehicle; Generate a navigation route between the first unmanned vehicle and the third unmanned vehicle and send it to the first unmanned vehicle and the third unmanned vehicle; The first unmanned vehicle is controlled to distribute at least one cargo to the third unmanned vehicle, so that the third unmanned vehicle sends and receives the at least one cargo.

22. The system according to claim 21, characterized in that The at least one processor is used to obtain a third unmanned vehicle according to the delivery time of the second unmanned vehicle, including: Obtaining a second preset duration; Compare the delivery time of the second unmanned vehicle with the second preset time, obtain at least one second unmanned vehicle whose delivery time does not exceed the second preset time, and use the at least one second unmanned vehicle whose delivery time does not exceed the second preset time as the third unmanned vehicle.

23. The system according to claim 15, characterized in that The at least one processor is used to adjust the cargo of each unmanned vehicle according to the cargo quantity and the delivery time, including: Compare the delivery time with a first preset time, and obtain a first unmanned vehicle whose delivery time exceeds the first preset time and a location of the first unmanned vehicle; Obtaining a storage cabinet closest to the location of the first unmanned vehicle; Obtaining a fourth unmanned vehicle with the least amount of cargo within a preset range of the nearest storage cabinet; Generate a navigation route between the first unmanned vehicle and the fourth unmanned vehicle and send it to the first unmanned vehicle and the fourth unmanned vehicle; The first unmanned vehicle is controlled to distribute at least one cargo to the fourth unmanned vehicle, so that the fourth unmanned vehicle sends and receives the at least one cargo.

24. The system according to any one of claims 21 to 23, characterized in that: The distance between the destination of the at least one cargo and the navigation route of the third unmanned vehicle or the fourth unmanned vehicle is less than a preset distance threshold.

25. The system according to claim 15, characterized in that The at least one processor is further configured to: In response to detecting query information uploaded by a user terminal, acquiring order information carried in the query information; Obtaining location data and / or navigation route of the unmanned vehicle corresponding to the order information; The location data and / or the navigation route are fed back to the user terminal.

26. The system according to claim 15, characterized in that The at least one processor is further configured to: In response to detecting the reservation information uploaded by the user terminal, acquiring the order information and the reservation information carried by the reservation information; Update the items in the order information to the reservation information to obtain updated reservation order information; The reservation order information is sent to the unmanned vehicle so that the unmanned vehicle updates the navigation route.

27. The system according to claim 15, characterized in that The at least one processor is further configured to: In response to detecting the sending and receiving information representing the fixed location, obtaining first location data of the unmanned vehicle and second location data of the user terminal; generating a real-time delivery route according to the first location data and the second location data; The real-time delivery route is sent to the unmanned vehicle and the user terminal.

28. The system according to claim 15, characterized in that The at least one processor is further configured to: In response to detecting the sending and receiving information representing the random location, obtaining the first location data of the unmanned vehicle and the second location data of the user terminal, and sending the real-time delivery route of the unmanned vehicle to the user terminal so that the user terminal displays the real-time delivery route of the unmanned vehicle; Calculate the person-vehicle distance between the user terminal and the unmanned vehicle according to the first position data and the second position data; When the distance between the person and the vehicle is less than the set distance, a first control instruction is sent to the unmanned vehicle to switch the unmanned vehicle from the delivery working mode to the temporary stop working mode, and stop the vehicle in the temporary stop working mode to the identified waving user, and complete the delivery and receipt of the goods after completing the identity verification; When it is detected that the goods are sent and received this time, a second control instruction is sent to the unmanned vehicle to switch the unmanned vehicle from the temporary stop working mode to the delivery working mode, and the unmanned vehicle no longer recognizes the waving user in the delivery working mode.

29. A computer-readable storage medium, characterized in that: When the executable computer program in the storage medium is executed by at least one processor, the method according to any one of claims 1 to 14 can be implemented.

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