Delivery method, delivery system and robot for robot

Abstract

The present invention provides a delivery method for robots, comprising: controlling a first robot to approach an entrance of an area; determining whether the area is an area with a single entrance and exit; if the area is an area with a single entrance and exit, determining the number and / or task status of other robots in the area; and controlling the first robot to execute a corresponding delivery strategy according to the number and / or task status of the other robots. By adopting the technical solution of the present invention, by controlling the first robot to execute a corresponding delivery strategy according to the number and / or task status of other robots, multiple robots can perform delivery tasks in an area with a single entrance and exit and limited passable width in an orderly manner, which is conducive to reducing the mutual influence of multiple robots, thereby reducing the occurrence of blockages and collisions, and is conducive to ensuring the safety of robot equipment. At the same time, it saves labor costs and is conducive to improving customer experience.

Description

Technical Field

[0001] The present invention generally relates to the field of robot technology, and more particularly to a delivery method for a robot, a delivery system for a robot and a robot. Background Art

[0002] With the rapid development of robotics technology, robots have been widely used in various fields, providing convenience for people's work and life.

[0003] The working environment of robots is complex. For areas with only one entrance and exit and a narrow passage width, if multiple robots perform delivery tasks in the area at the same time, multiple robots are likely to affect each other and cause blockage or even collision, which not only makes it impossible for the robots to perform delivery tasks smoothly, but also endangers the safety of the robots and reduces the customer experience. In the face of this situation, human intervention is often required to clear the way, but this method reduces the availability and efficiency of robots and increases labor costs.

[0004] The contents of the background technology section are merely the technologies known to the inventors and do not necessarily represent the prior art in the field. Summary of the invention

[0005] In view of one or more of the problems in the prior art, the present invention provides a delivery method for a robot, comprising:

[0006] Controlling the first robot to approach an entrance of an area;

[0007] determining whether the area is an area with a single entrance and exit;

[0008] If the area is an area with a single entrance and exit, determining the number and / or task status of other robots in the area; and

[0009] According to the number and / or task status of the other robots, the first robot is controlled to execute a corresponding delivery strategy.

[0010] According to one aspect of the present invention, the area with a single entrance and exit includes a closed end and an entrance and exit end, wherein a first characteristic path point is provided near the closed end, a second characteristic path point and a scheduling point are provided near the entrance and exit end, and the passable width of the area with a single entrance and exit allows only one robot to pass through.

[0011] According to one aspect of the present invention, the step of determining whether an area is an area with a single entrance and exit comprises: determining whether the area includes the first characteristic path point and the second characteristic path point; if the area includes the first characteristic path point and the second characteristic path point, determining that the area is an area with a single entrance and exit.

[0012] According to one aspect of the present invention, the step of determining the number and / or task status of other robots in the area includes: determining the number and / or task status of other robots in the area by a scheduling unit.

[0013] According to one aspect of the present invention, the mission status includes a delivery status and a return status; when the mission status of the other robots is the delivery status, the other robots move toward the closed end; when the mission status of the other robots is the return status, the other robots move toward the entrance and exit end.

[0014] According to one aspect of the present invention, the step of controlling the first robot to execute a corresponding delivery strategy based on the number and / or task status of other robots includes: when the number of other robots is greater than or equal to a threshold, controlling the first robot to dock at the scheduling point until the number of other robots in the area is less than the threshold.

[0015] According to one aspect of the present invention, the step of controlling the first robot to execute a corresponding delivery strategy based on the number and / or task status of other robots also includes: when the task status of the other robots is a return state, controlling the first robot to dock at the scheduling point and not to enter the area temporarily, and after the other robots leave the area, controlling the first robot to enter the area to perform the delivery task.

[0016] According to one aspect of the present invention, the step of controlling the first robot to execute a corresponding delivery strategy based on the number and / or task status of other robots also includes: when the number of the other robots is less than a threshold and the task status is a delivery status, determining the relative position relationship between the delivery target of the other robots and the delivery target of the first robot, and controlling the first robot to execute a corresponding delivery strategy based on the relative position relationship.

[0017] According to one aspect of the present invention, the step of controlling the first robot to execute a corresponding delivery strategy based on the relative position relationship includes: when the delivery target of the other robots is closer to the entrance and exit end relative to the delivery target of the first robot, controlling the first robot to stop at the scheduling point and not enter the area temporarily.

[0018] According to one aspect of the present invention, the step of controlling the first robot to execute a corresponding delivery strategy based on the relative position relationship also includes: when the delivery target of the other robots is closer to the closed end relative to the delivery target of the first robot, controlling the first robot to enter the area to perform a delivery task.

[0019] The present invention also relates to a delivery system for a robot, comprising:

[0020] Multiple robots; and

[0021] The dispatching unit communicates with each robot and is configured to execute the delivery method as described above.

[0022] The present invention also relates to a robot, comprising:

[0023] A mobile chassis having a traveling mechanism;

[0024] case;

[0025] a sensor system disposed on the housing and configured to detect the surrounding environment of the robot; and

[0026] A controller is coupled to the sensor system and the walking mechanism, and is configured to control the robot to execute the distribution method as described above.

[0027] According to one aspect of the present invention, the sensor system includes one or more of a laser radar, a camera, a binocular vision sensor, an ultrasonic sensor, and an infrared sensor.

[0028] The present invention also relates to a computer-readable storage medium, comprising computer-executable instructions stored thereon, wherein the executable instructions implement the distribution method as described above when executed by a processor.

[0029] By adopting the technical solution of the present invention, the first robot is controlled to execute the corresponding delivery strategy according to the number and / or task status of other robots, so that multiple robots can perform delivery tasks in an orderly manner in an area with a single entrance and exit and limited passable width. This is beneficial to reduce the mutual influence of multiple robots, thereby reducing the occurrence of blockages and collisions, which is beneficial to ensuring the safety of robot equipment. At the same time, it saves labor costs and helps to improve customer experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0031] Figure 1A flow chart of a delivery method for a robot according to an embodiment of the present invention is shown;

[0032] Figure 2 A schematic diagram showing an area with a single entrance and exit according to a preferred embodiment of the present invention;

[0033] Figure 3 A schematic diagram showing a method of controlling a first robot to execute a corresponding delivery strategy according to the number of other robots according to a preferred embodiment of the present invention is shown;

[0034] Figure 4 A schematic diagram showing controlling a first robot to execute a corresponding delivery strategy according to the task status of other robots according to a preferred embodiment of the present invention is shown;

[0035] Figure 5 A schematic diagram showing a method of controlling the first robot to execute a corresponding delivery strategy according to a relative position relationship between delivery targets of other robots and the delivery target of the first robot according to a preferred embodiment of the present invention;

[0036] Figure 6a A schematic diagram showing a method of controlling the first robot to execute a corresponding delivery strategy according to a relative position relationship between delivery targets of other robots and the delivery target of the first robot according to another preferred embodiment of the present invention;

[0037] Figure 6b A schematic diagram showing controlling a plurality of first robots to execute corresponding delivery strategies according to the number and / or task status of other robots according to another preferred embodiment of the present invention is shown;

[0038] Figure 7 A schematic diagram showing a robot according to an embodiment of the present invention; and

[0039] Figure 8 A schematic diagram of a delivery system for a robot according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0040] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the present invention. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0041] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "multiple" means two or more, unless otherwise clearly and specifically defined.

[0042] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or can communicate with each other; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0043] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is lower in level than the second feature.

[0044] The disclosure below provides many different embodiments or examples to realize different structures of the present invention. In order to simplify the disclosure of the present invention, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present invention. In addition, the present invention can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplicity and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed. In addition, the present invention provides various specific examples of processes and materials, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0045] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0046] The present invention provides a delivery method for robots. For an area with only one entrance and exit and a narrow passable width, multiple robots can perform delivery tasks in an orderly manner, which is described in detail below with reference to the accompanying drawings.

[0047] Figure 1 FIG. 1 is a flow chart of a delivery method 100 for a robot according to an embodiment of the present invention. Figure 1 As shown, the method 100 includes steps S101-S104. The following describes each step of the method 100 in detail.

[0048] In step S101, a first robot is controlled to approach an entrance of an area.

[0049] The first robot is, for example, a catering robot in a restaurant, a delivery robot in a hotel, or a robot in other environments. According to a preferred embodiment of the present invention, after the first robot picks up the items to be delivered, the dispatching unit controls the first robot to autonomously navigate to an entrance of an area to be delivered based on the positioning map, and preferably stops at a dispatching point near the entrance (see Figure 2W1 or W2). The positioning map is a map formed by the first robot mapping its working environment (such as a restaurant, etc.). Specifically, the first robot is equipped with an acquisition sensor and a modeling processor, and the modeling processor models the environmental data collected by the acquisition sensor to construct an environmental map. In this embodiment, the acquisition sensors include but are not limited to laser radar, binocular vision camera, ultrasonic sensor and infrared sensor. The data of the working environment of the first robot is collected by laser radar, binocular vision camera, ultrasonic sensor and infrared sensor. The modeling processor uses the data collected by these acquisition sensors to create a map. In the process of creating the map, different map layers are generated by different sensors, such as static layers, dynamic obstacle layers, ultrasonic layer maps, visual layers, etc. By fusing these layers, a positioning map for the first robot to perform positioning and navigation can be obtained.

[0050] In step S102, it is determined whether the area is an area with a single entrance and exit.

[0051] In actual working scenarios, the area to be delivered may be of different types, for example, an area with a single entrance and exit, a one-way area with one entrance and one exit, or an area with multiple entrances and exits. In the present invention, in step S102, it is determined whether the area to be delivered is an area of ​​a single entrance and exit type.

[0052] Figure 2 FIG. 2 shows a schematic diagram of an area with a single entrance and exit according to a preferred embodiment of the present invention. Figure 2 As shown, the area with a single entrance and exit (excluding the shaded part) includes a closed end R1 and an entrance and exit end R2, wherein the closed end R1 has a first characteristic path point P1 near it, and the entrance and exit end R2 has a second characteristic path point P2 near it. It should be noted that the first characteristic path point P1 refers to a single-side path point (that is, at this point, there is only one direction of travel, which is the left direction in the figure), and the second characteristic path point P2 refers to a fork in the road path point. Figure 2 , the area also includes a passable area, and the passable area is shown in the part framed by the dotted rectangular frame. The passable area is available for the robot to pass through when performing delivery tasks. It should be noted that the passable width of the passable area is limited (for example, less than 1.4 meters), and the passable width only allows one robot to pass through. In other words, the passable area cannot accommodate two or more robots moving side by side. It should be understood that the passable width is not exactly equal to the width of the robot, but is slightly larger than the width of the robot, so that a robot can pass through the passable area smoothly and does not collide with the adjacent dining table (reference Figure 2Small rectangles with number labels) to ensure the safety of the robot equipment.

[0053] The above embodiment introduces the area with a single entrance and exit. How to determine whether the area is an area with a single entrance and exit will be described in detail below.

[0054] According to the above embodiment, the passable width of the area with a single entrance and exit is limited, so the movement path of the robot to perform the delivery task in the area is also unique. Figure 2 , the moving path is shown as a straight line in a dotted rectangular box, wherein the moving path has a plurality of path points, each of which has a corresponding path point attribute, the path point attribute includes a first characteristic path point attribute, a second characteristic path point attribute and a common path point attribute, and each path point and its attribute are pre-stored in a storage medium or a scheduling unit. When the robot stops at a scheduling point (see Figure 2 W1 or W2), the attributes of each path point of the moving path can be traversed and searched to determine whether the area includes the first characteristic path point P1 and the second characteristic path point P2. Specifically, for example, the robot can first search for the first characteristic path point P1, and then continue to search from the first characteristic path point P1 until the second characteristic path point P2 is searched, and then the area can be determined to be an area with a single entrance and exit. It should be noted that when traversing and searching the path points, the current location of the robot is not included.

[0055] Alternatively, the type of the area can be pre-stored in the positioning map. For example, "0" indicates an area with a single entrance and exit, "1" indicates a one-way area with one entrance and one exit, and "2" indicates an area with multiple entrances and exits. Therefore, after arriving at an area, by querying the type of the area, it can be known whether the area is an area with a single entrance and exit.

[0056] in addition, Figure 2 The scheduling points W1 and W2 are also shown, and the areas where the scheduling points W1 and W2 are located (see Figure 2The shaded part shown in the figure) is located outside the area of ​​the single entrance and exit and within the preset range of the entrance and exit end R2, which can be used for the robot to temporarily dock or dock when waiting for the scheduling unit to assign a task. It should be understood that the scheduling points W1 and W2 can be any point close to the entrance or exit of the area, and can be set as needed. The present invention does not limit the number of scheduling points, which can be adjusted according to actual conditions. In addition, the present invention does not limit the size of the area where the scheduling point is located and the specific position of the scheduling point relative to the area where it is located, which depends on the actual situation, but at least the robot located at the scheduling point should not block other robots from entering and exiting the area with a single entrance and exit normally. When the robot approaches the area, it can first dock briefly at the scheduling point (step S101), and then determine the specific scheduling control strategy of the robot through the method of the present invention.

[0057] In step S103, if the area is an area with a single entrance and exit, the number and / or task status of other robots in the area are determined.

[0058] According to a preferred embodiment of the present invention, the number and / or task status of other robots in the area can be determined by the scheduling unit. The central control computer of the distribution system, as a scheduling unit, can maintain a map in real time, which shows the current distribution of robots in the venue. According to the map, the number of robots currently located in the area can be obtained. The task status includes the delivery status S1 and the return status S2. When the robot is assigned a delivery task, its task status is updated to "delivery status S1"; when the robot arrives at the target dining table and the user takes the plate off, its task status is updated to "return status S2". When the task status of the other robots is the delivery status S1, the other robots move toward the closed end R1; when the task status of the other robots is the return status S2, the other robots move toward the entrance and exit end R2. In addition, alternatively, the first robot can also be controlled to communicate with the other robots, for example, through Bluetooth communication, and the number and / or task status of the other robots can be determined according to the communication results.

[0059] In step S104, the first robot is controlled to execute a corresponding delivery strategy according to the number and / or task status of the other robots.

[0060] Figure 3 FIG. 2 is a schematic diagram showing a method of controlling a first robot to execute a corresponding delivery strategy according to the number of other robots according to a preferred embodiment of the present invention. Figure 3As shown, circle A is used to represent the first robot, and circles X, Y, and Z are used to represent the other robots. The number of robots that can be accommodated in the area is limited. When the number of other robots in the area (reference circles X, Y, and Z) is greater than or equal to a threshold (for example, 3), the first robot (reference circle A) is controlled to continue to dock at the scheduling point (reference circle A). Figure 3 The robot waits at W1) as shown in the example, and does not enter the area temporarily, until the number of other robots in the area is less than the threshold, and the next decision needs to be made in combination with the task status of other robots (to be described later).

[0061] Figure 4 FIG. 2 is a schematic diagram showing a method of controlling a first robot to execute a corresponding delivery strategy according to the task status of other robots according to a preferred embodiment of the present invention. Figure 4 As shown, circle B can be used to represent other robots (one or more other robots smaller than the threshold), and the black arrow is used to represent the moving direction of other robots. The other robots (reference circle B) all move toward the entrance and exit end R2, that is, the mission status of the other robots (reference circle B) are all in the return state S2. When the mission status of the other robots (reference circle B) are all in the return state S2, in order to ensure the safety of the first robot and other robots (reference circle B), the first robot (reference circle A) is controlled to continue to dock at the scheduling point (reference circle A). Figure 4 W2) shown in the exemplary embodiment waits without entering the area temporarily, and after other robots in the area (reference circle B) leave the area, the first robot is controlled to enter the area to perform the delivery task.

[0062] The above embodiments respectively introduce the situation that the first robot is controlled to execute the corresponding delivery strategy when the number of the other robots is greater than or equal to the threshold value, and when the task states of the other robots are all in the return state S2. Next, the situation that the first robot is controlled to execute the corresponding delivery strategy according to the number and task states of the other robots is introduced.

[0063] According to a preferred embodiment of the present invention, when the number of the other robots is less than a threshold value and the task states are all delivery states S1, the relative position relationship between the delivery targets of the other robots and the delivery targets of the first robot is determined, and the first robot is controlled to execute a corresponding delivery strategy according to the relative position relationship, which is described in detail below.

[0064] Figure 5 FIG. 1 is a schematic diagram showing a method of controlling a first robot to execute a corresponding delivery strategy according to a relative position relationship between delivery targets of other robots and a delivery target of a first robot according to a preferred embodiment of the present invention. Figure 5As shown, circle C can be used to represent other robots (one or more other robots whose number is less than the threshold), black arrows represent the moving directions of other robots, and the task states of other robots are all delivery states S1. When the delivery targets of the other robots (reference circle C) (e.g., table 4 or table 7) are closer to the entrance and exit R2 than the delivery targets of the first robot (e.g., table 5 or table 6), the first robot (reference circle A) is controlled to continue to dock at the dispatching point (reference circle C). Figure 5 At W1), the robot does not enter the area temporarily. After the other robots leave the area, the first robot is controlled to enter the area to perform the delivery task.

[0065] Figure 6a FIG. 2 is a schematic diagram showing a method of controlling a first robot to execute a corresponding delivery strategy according to a relative position relationship between delivery targets of other robots and a delivery target of a first robot according to another preferred embodiment of the present invention. Figure 6a As shown, circle D can be used to represent other robots (one or more other robots less than the threshold), black arrows represent the moving directions of other robots, and the task states of other robots are all delivery states S1. When the delivery targets of the other robots (reference circle D) (e.g., table 4, table 7, table 5, or table 6) are closer to the closed end R1 than the delivery targets of the first robot (e.g., table 1, table 10, table 2, table 9, table 3, or table 8, etc.), the first robot (reference circle A) is controlled to enter the area to perform the delivery task. Figure 6a The example shows a situation where the first robot (reference circle A) enters the area to perform a delivery task for table No. 2 or table No. 9.

[0066] The above embodiments describe the situation where when the number of the first robots is one, the first robot is controlled to execute a corresponding delivery strategy according to the number and / or task status of other robots. It should be understood that in actual applications, the number of the first robots may be more than one, which is described in detail below.

[0067] Figure 6b FIG. 2 is a schematic diagram showing a method of controlling a plurality of first robots to execute corresponding delivery strategies according to the number and / or task status of other robots according to another preferred embodiment of the present invention. Figure 6b As shown, circle E represents other robots (one or more robots less than the threshold), circle A1 represents a first robot, and circle A2 represents another first robot. Figure 6bIt can be seen that the task states of the other robots E located in the area are all in the return state S2. In this case, the first robot (reference circle A1 and circle A2) can be controlled to continue to dock at the dispatching point outside the area to avoid, and temporarily not enter the area. After the other robots (reference circle E) have left the area, multiple first robots (reference circle A1 and circle A2) can be controlled to enter the area to perform the delivery task. Preferably, the order in which the multiple first robots enter the area can be controlled according to the position of the delivery target relative to the area. Specifically, for example, the first robot whose delivery target is closer to the closed end R1 can be controlled to enter the area first to perform the delivery task. It should be understood that the number of robots in the area does not exceed the threshold (for example, 3).

[0068] In addition, when the first robot is docked at the scheduling point and waiting, it can query and update the number and / or task status of other robots at certain time intervals. When the factors that prevent the first robot from entering the area disappear, the first robot is controlled to enter the area to perform corresponding delivery.

[0069] The above embodiment takes the usage scenario of a restaurant as an example to specifically introduce the method 100. It should be noted that the specific number of dining tables is not limited to Figure 2 The 10 dining tables shown in Figure 6 can be adjusted according to actual conditions in actual applications. In addition, the present invention does not limit the use scenario of the robot, that is, the robot can work in various other scenarios such as hotels and libraries in addition to restaurants.

[0070] According to another preferred embodiment of the present invention, the food delivery direction of the robot in the area is one-way delivery, that is, the robot enters the area from the entrance and exit end R2, moves toward the closed end R1 to the target table to deliver food, and when the robot moves to the target table, it can move the center of the chassis as the center of the circle counterclockwise or clockwise by a certain angle (for example, 45 degrees) to deliver food to the target table, making it easier for customers to pick up.

[0071] According to another preferred embodiment of the present invention, the robot is equipped with sensors, such as laser radar, binocular vision sensor, ultrasonic sensor, odometer, etc., which are configured to detect the surrounding environment and determine the relative positions between robots to reduce the occurrence of collisions.

[0072] In addition, the method operation steps described in the above embodiments or flow charts provided in this specification may include more or fewer operation steps in actual applications, and the order of steps listed in the above embodiments is only one way of executing the steps among many orders, and does not represent the only order of execution, and may be appropriately adjusted in actual applications.

[0073] By adopting the technical solution of the present invention, the first robot is controlled to execute the corresponding delivery strategy according to the number and / or task status of other robots, so that multiple robots can perform delivery tasks in an orderly and more efficient manner in an area with a single entrance and exit and limited passable width. This is beneficial to reducing the mutual influence of multiple robots, thereby reducing the occurrence of blockages and collisions, which is beneficial to ensuring the safety of robot equipment. At the same time, it also saves labor costs and improves customer experience.

[0074] The present invention also relates to a robot 200, Figure 7 A schematic diagram of a robot 200 according to an embodiment of the present invention is shown. Figure 7 As shown, the robot 200 includes: a mobile chassis 10, a housing 20, a sensor system and a controller (not shown in the figure). The mobile chassis 10 has a walking mechanism. The housing 20 has a plurality of trays for carrying items. The sensor system is disposed on the housing 20 or the mobile chassis 10 and is configured to detect the surrounding environment of the robot 200. The controller is coupled to the sensor system and the walking mechanism and is configured to control the robot 200 to perform the delivery method 100 as described above.

[0075] According to a preferred embodiment of the present invention, the sensor system includes one or more of a laser radar 30, a camera, a binocular vision sensor, an ultrasonic sensor, and an infrared sensor.

[0076] Continue to refer Figure 7 , the laser radar 30 can be set at the slit of the robot shell, so that it is easy to send out laser signals to detect the surrounding environment. According to a preferred embodiment of the present invention, the laser radar 30 includes a photoelectric receiving array and a laser emitting unit array, so that when the laser radar 30 rotates along the set plane, the photoelectric receiving array can form a scanning cylinder to increase the scanning area, which is convenient for obtaining the details of the object shape, thereby reducing the robot from bumping into the object. According to another preferred embodiment of the present invention, the laser radar 30 only includes a single photoelectric receiving unit and a single laser emitting unit. After the laser radar 30 rotates along the set plane, it can measure the object shape of a circle, with small calculation amount and low cost. Optionally, the above-mentioned set plane can be a horizontal plane, which is convenient for the robot to detect objects during movement. In addition, other set planes such as vertical planes can be selected according to needs, and the present invention does not limit this.

[0077] Continue to refer Figure 7According to a preferred embodiment of the present invention, the walking mechanism is provided with at least two groups of driving wheels 120, and each group of driving wheels 120 is respectively located on one side of the mobile chassis 10. The robot 200 also includes a function controller for providing user operation, a bottom controller for map generation and path planning, and an element controller for controlling the mobile unit and the environment detection unit, wherein the element controller is used to control the travel speed of the driving wheels 120. Among the driving wheels 120, at least one group of driving wheels 120 is used as a left driving wheel, and at the same time, at least one group of driving wheels 120 is used as a right driving wheel, and the left driving wheel and the right driving wheel are located on opposite sides of the mobile chassis 10. Optionally, the walking mechanism may also include at least two groups of driven wheels, one group of driving wheels corresponds to one group of driven wheels, wherein at least one group of driven wheels is used as a left driven wheel, and at the same time, at least one group of driven wheels is used as a right driven wheel, and the left driven wheel and the right driven wheel are used to assist the left driving wheel and the right driving wheel in driving the housing 20 and the mobile chassis 10 to move, so as to reduce the load pressure of the driving wheel 120.

[0078] Continue to refer Figure 7 According to a preferred embodiment of the present invention, the mobile chassis 10 is provided with at least one turn signal unit 110 ( Figure 7 2 are shown as examples), each turn signal unit 110 includes at least one turn signal 111 ( Figure 7 4 are shown as examples). Optionally, when the speed difference of the driving wheels 120 on both sides of the mobile chassis 10 is greater than a preset value, the element controller is configured to control the turn signal 111 in the turn signal unit 110 to light up in a preset manner to alert pedestrians or other robots. Optionally, the robot 200 further includes a voice module (not shown in the figure), which is electrically connected to the element controller; when the robot turns, the element controller controls the voice module to issue a voice prompt message to alert pedestrians or other robots.

[0079] The present invention also relates to a delivery system 300 for a robot, Figure 8 A schematic diagram of a delivery system 300 for a robot according to an embodiment of the present invention is shown. Figure 8 As shown, the delivery system 300 includes: a plurality of robots 200 and a scheduling unit 301, wherein the scheduling unit 301 can communicate with each robot 200 and is configured to execute the delivery method 100 as described above. It should be understood that each robot 200 can also communicate with each other to learn the task status, delivery target, movement speed, etc. of the other party to reduce the occurrence of rear-end collision.

[0080] The present invention also relates to a computer-readable storage medium, including computer executable instructions stored thereon, wherein the executable instructions implement the distribution method 100 as described above when executed by a processor. The computer-readable storage medium may be, for example, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, etc. The present invention does not specify the specific type of the computer-readable storage medium.

[0081] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A delivery method for a robot, comprising: Controlling the first robot to approach an entrance of an area; determining whether the area is an area with a single entrance and exit; The region having a single access port includes a closed end and an access port end; If the area is an area with a single entrance and exit, determine the number and / or task status of other robots in the area; the task status includes a delivery status and a return status; when the task status of the other robots is the delivery status, the other robots move toward the closed end; when the task status of the other robots is the return status, the other robots move toward the entrance and exit end; and Controlling the first robot to execute a corresponding delivery strategy according to the number and / or task status of the other robots; Wherein, the step of controlling the first robot to execute a corresponding delivery strategy according to the number and / or task status of the other robots comprises: when the number of the other robots is less than a threshold value and the task status is a delivery status, determining a relative position relationship between the delivery targets of the other robots and the delivery targets of the first robot, and controlling the first robot to execute a corresponding delivery strategy according to the relative position relationship; The step of controlling the first robot to execute a corresponding delivery strategy according to the relative position relationship includes: when the delivery target of the other robots is closer to the entrance and exit end than the delivery target of the first robot, controlling the first robot to stop at the scheduling point and not enter the area temporarily.

2. The delivery method according to claim 1, wherein there is a first characteristic path point near the closed end, a second characteristic path point and a scheduling point near the entrance and exit end, and the passable width of the area with a single entrance and exit allows only one robot to pass through.

3. The delivery method according to claim 2, wherein the step of determining whether the area is an area with a single entrance and exit comprises: Determine whether the area includes the first characteristic path point and the second characteristic path point. If the area includes the first characteristic path point and the second characteristic path point, determine that the area is an area with a single entrance and exit.

4. The delivery method according to claim 1, wherein the step of determining the number and / or task status of other robots in the area comprises: The number and / or task status of other robots in the area are determined by the scheduling unit.

5. According to any one of claims 1 to 4, the step of controlling the first robot to execute a corresponding delivery strategy according to the number and / or task status of other robots comprises: When the number of the other robots is greater than or equal to a threshold, the first robot is controlled to stop at the scheduling point until the number of the other robots in the area is less than the threshold.

6. The delivery method according to any one of claims 1 to 4, wherein the step of controlling the first robot to execute a corresponding delivery strategy according to the number and / or task status of other robots further comprises: When the task status of the other robots is the return state, the first robot is controlled to dock at the scheduling point and not to enter the area temporarily. After the other robots leave the area, the first robot is controlled to enter the area to perform the delivery task.

7. The delivery method according to any one of claims 1 to 4, wherein the step of controlling the first robot to execute a corresponding delivery strategy according to the relative position relationship further comprises: When the delivery target of the other robots is closer to the closed end than the delivery target of the first robot, the first robot is controlled to enter the area to perform the delivery task.

8. A delivery system for a robot, comprising: Multiple robots; and A dispatching unit communicates with each robot and is configured to execute the delivery method according to any one of claims 1-7.

9. A robot comprising: A mobile chassis having a traveling mechanism; case; a sensor system disposed on the housing and configured to detect the surrounding environment of the robot; and A controller is coupled to the sensor system and the walking mechanism, and is configured to control the robot to perform the delivery method according to any one of claims 1-7.

10. The robot according to claim 9, wherein the sensor system comprises one or more of a laser radar, a camera, a binocular vision sensor, an ultrasonic sensor and an infrared sensor.

11. A computer-readable storage medium, comprising computer-executable instructions stored thereon, wherein the executable instructions, when executed by a processor, implement the distribution method according to any one of claims 1 to 7.

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