Control method of object conveying robot, object conveying system and electronic equipment

Abstract

The invention provides a control method of a delivery robot, a delivery system and electronic equipment, the delivery robot comprises a plurality of storage layers, the storage layers are used for placing to-be-delivered articles, and the method comprises the following steps: when it is detected that the storage layers where the to-be-delivered articles are placed are not configured with delivery positions, sending the to-be-delivered articles to the delivery robot; detecting whether the to-be-distributed articles placed on the storage layers are distributed to the same position or not; and if the to-be-distributed articles placed on each storage layer are distributed to the same position, configuring a delivery position for the storage layer where the to-be-distributed articles are placed but not configured with the delivery position according to the configured delivery position of the storage layer where the to-be-distributed articles are placed. The problem that in the prior art, the to-be-delivered articles which are missed at the delivery positions cannot be delivered to clients can be conveniently and rapidly solved, and the purposes of improving the delivery efficiency of the delivery robot and reducing the labor cost are achieved.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a control method, a delivery system and an electronic device of a delivery robot. Background Art

[0002] The delivery robot is an intelligent device that replaces manual delivery services. While bringing customers a novel experience, it can also reduce manual labor intensity and improve work efficiency. It has been increasingly used in canteens, restaurants, hotels and other places.

[0003] The existing delivery robots are mainly controlled by operators to manually input the delivery location of the items to be delivered to perform the delivery action. However, in the process of the operator actually inputting the delivery location corresponding to the items to be delivered, the delivery location corresponding to the items to be delivered may be omitted, which may easily lead to the items to be delivered at the omitted delivery location not being delivered to the customer, making the delivery efficiency of the delivery robot low. Summary of the invention

[0004] In view of this, the purpose of the present application is to provide a control method, a delivery system and an electronic device for a delivery robot, which can conveniently and quickly solve the problem in the prior art that items to be delivered are missed at the delivery location and cannot be delivered to customers, thereby achieving the purpose of improving the delivery efficiency of the delivery robot and reducing labor costs.

[0005] In a first aspect, an embodiment of the present application provides a control method for a delivery robot, wherein the delivery robot includes multiple storage layers, and the storage layers are used to place items to be delivered. The control method includes:

[0006] Under the condition that it is detected that the storage layer on which the items to be delivered are placed is not configured with a delivery position, detecting whether the items to be delivered placed on each layer of the storage layer are delivered to the same position;

[0007] If the items to be delivered placed on each storage layer are delivered to the same position, a delivery position is configured for the storage layer where the items to be delivered are placed but no delivery position is configured, according to the delivery position that has been configured for the storage layer where the items to be delivered are placed.

[0008] In a second aspect, an embodiment of the present application provides a delivery system, including: a delivery robot, an ordering system, and a platform system, wherein the delivery robot is communicatively connected to the platform system, and the platform system is communicatively connected to the ordering system;

[0009] The ordering system is used to determine the order information input by the ordering user according to the ordering operation of the ordering user, and send the order information to the platform system; the order information includes the target delivery item ordered by the ordering user and the estimated delivery location of the ordering user;

[0010] The platform system is used to generate a target delivery task for the ordering user according to the target delivery item and the estimated delivery location in the order information, and send the target delivery task to the delivery robot, wherein the target delivery task includes the target delivery item and the estimated delivery location that establishes a first matching relationship with the target delivery item, so that the delivery robot detects whether the items to be delivered placed on each storage layer are delivered to the same location based on the target delivery task;

[0011] The delivery robot is used to detect whether the items to be delivered placed on each layer of the storage layer are delivered to the same position under the condition that it is detected that the storage layer on which the items to be delivered are placed is not configured with a delivery position; if the items to be delivered placed on each layer of the storage layer are delivered to the same position, then according to the configured delivery position of the storage layer on which the items to be delivered are placed, a delivery position is configured for the storage layer on which the items to be delivered are placed but which is not configured with a delivery position.

[0012] In a third aspect, an embodiment of the present application provides an electronic device, comprising: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor communicates with the memory through the bus, and the processor executes the machine-readable instructions to perform the steps of the control method as described above.

[0013] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the control method described above are executed.

[0014] The embodiments of the present application have the following beneficial technical effects:

[0015] The control method of the delivery robot provided in the embodiment of the present application automatically configures a delivery position for a storage layer where the items to be delivered are placed but no delivery position is configured according to the configured delivery position of the storage layer where the items to be delivered are placed. This can conveniently and quickly solve the problem in the prior art that the items to be delivered whose delivery positions are missed cannot be delivered to customers, thereby achieving the purpose of improving the delivery efficiency of the delivery robot and reducing labor costs.

[0016] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 A schematic diagram of the structure of a delivery robot provided in an embodiment of the present application;

[0019] Figure 2 A flow chart of a control method of a delivery robot provided in an embodiment of the present application;

[0020] Figure 3 A flow chart of another control method of a delivery robot provided in an embodiment of the present application;

[0021] Figure 4 A schematic diagram of the structure of a delivery system provided in an embodiment of the present application;

[0022] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0023] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application usually described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, each other embodiment obtained by those skilled in the art without making creative work belongs to the scope of protection of the present application.

[0024] First, the application scenarios to which this application is applicable are introduced. This application is applied to the field of robots. Specifically, a delivery robot is an intelligent device that replaces manual delivery services. While bringing customers a novel experience, it can also reduce manual labor intensity and improve work efficiency. It has been increasingly used in canteens, restaurants, hotels and other places.

[0025] For example, see Figure 1 , Figure 1 This is a schematic diagram of the structure of a delivery robot provided in an embodiment of the present application. Figure 1 As shown, the object delivery robot includes: a shell 20 for carrying objects, a mobile chassis 10, a function controller for providing user operations (not shown in the figure), an underlying controller for map generation and path planning (not shown in the figure), and an element controller for controlling the mobile unit and the environment detection unit (not shown in the figure).

[0026] The shell 20 for carrying items includes a storage rack, which is fixed on the mobile chassis 10 of the delivery robot, and the storage rack has multiple storage layers 201, and each storage layer 201 can be used to place items to be delivered. By providing a storage rack with multiple storage layers 201, the delivery robot can have the ability to store multiple items, so that the delivery robot can deliver multiple items in one operation, thereby improving the delivery efficiency of the delivery robot.

[0027] The mobile chassis 10 is provided with at least two sets of driving wheels 120, each set of driving wheels 120 is respectively located on one side of the mobile chassis 10; the component controller controls the travel speed of the driving wheels 120. At least one turn signal unit is provided at the bottom of the mobile chassis 10, and each turn signal unit includes at least one turn signal 111; the mobile unit is provided with at least two sets of driving wheels 120, each set of driving wheels 120 is respectively located on one side of the chassis 10; the component controller controls the travel speed of the driving wheels 120; and controls the turn signal 111 in the turn signal unit to light up in a preset manner when the delivery robot turns.

[0028] Specifically, among the driving wheels 120 provided in the mobile unit, at least one group of driving wheels 120 is used as the left driving wheel, and at the same time, at least one group of driving wheels 120 is used as the right driving wheel, and the left driving wheel and the right driving wheel are located on opposite sides of the chassis 10. Optionally, the mobile unit may also include at least two groups of driven wheels, one group of driving wheels corresponding to one group of driven wheels, wherein at least one group of driven wheels is used as the left driven wheel, and at the same time, at least one group of driven wheels is used as the 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 chassis 10 of the delivery robot to move, thereby reducing the load pressure of the driving wheel 120.

[0029] The delivery robot provided in the embodiment of the present application has a component controller that controls the turn signal light to light up when the delivery robot turns, so as to alert pedestrians.

[0030] On the basis of the above technical solution, optionally, when the speed difference of the driving wheels 120 on both sides of the chassis 10 is greater than a preset value, the component controller controls the turn signal 111 in the turn signal unit to light up in a preset manner. Optionally, the delivery robot further includes a voice module, which is electrically connected to the component controller; when the delivery robot turns, the component controller controls the voice module to issue a voice prompt message.

[0031] Furthermore, the object delivery robot also includes a laser radar system, which can be set in the device of the object delivery robot. The laser radar system can rotate along the set plane so that the photoelectric receiving array of the laser radar system forms a scanning cylinder. The laser radar system can also be set at the slit of the robot shell, so that it is easy to send laser signals to detect surrounding objects. The above laser radar system includes a photoelectric receiving array and a laser emitting unit array, so that when the laser radar system rotates along the set plane, the photoelectric receiving array can form a scanning cylinder, thereby increasing the scanning area, facilitating the acquisition of the details of the object shape, and avoiding the robot device from colliding with obstacles. If the laser radar system only includes a single photoelectric receiving unit and a single laser emitting unit, the laser radar system can only measure the object shape of a circle after rotating along the set plane, and cannot obtain the shape of complex objects in time, which is easy to cause collisions and endanger personal and property safety. Optionally, the above set plane can be a horizontal plane, which is convenient for the robot device to detect objects during the movement. In addition, other set planes can be selected according to user needs, such as a vertical plane, etc., which are not limited in this embodiment.

[0032] In one embodiment, the delivery robot performs the following steps during the delivery process:

[0033] Step 101: The delivery robot moves to a target delivery area.

[0034] Among them, the delivery robot refers to a robot that can perform delivery tasks and deliver items to users, such as room delivery services in hotel scenarios and meal delivery services in restaurant scenarios. A delivery task may be a task that provides users with services for delivering goods. Delivery scenarios include residential areas, warehouses, airports, hotels, restaurants, etc. The delivery area refers to a pre-designated area in the delivery scenario. The delivery robot can move to the delivery area and notify the user and wait for the user to pick up the item. Exemplarily, the delivery area may be a specific location in the delivery scenario, such as a building in a residential area or the door of a room in a hotel, or next to a table in a restaurant. The target delivery area is the specific address that the target delivery task requires delivery to. For example, if the target delivery task is to provide express delivery service to Room B in Area A, the robot can move to the target delivery area, that is, the door of Room B in Area A, and call the landline phone in the room to notify the user to pick up the item at the door; for another example, if the target delivery task is to provide meal delivery service to Gate D of Hotel C, the robot can move to the target delivery area, that is, Gate D of Hotel C, and call the phone inside the door to notify the user to pick up the meal at the door; or if the target delivery task is to provide meal delivery service to Table F in Restaurant E, the robot can move to the target delivery area, that is, Table F in Restaurant E, and control the ringing of Table F to notify the user to pick up the meal.

[0035] In a specific example, the delivery scenario is a hotel, and the delivery robot can be a delivery robot of the hotel. Each delivery robot has an identification information, for example, ID (Identity document, identity identification number), which is used to identify the identity of the delivery robot. The delivery area of ​​the hotel's delivery robot includes the room door area inside the hotel. After checking in to the hotel, the user can use the hotel's ordering system to order food or daily necessities, wherein the ordering system can be a telephone order or a mobile phone APP (Application) service system. For example, when ordering food, the user can reserve food and beverage in the ordering system and enter the room number of the user. The ordering system sends the reserved food and beverage information entered by the user to the hotel's platform system. The platform system can generate a target delivery task and send it to the delivery robot in the hotel with the room number of the user's stay and the user's reserved food and beverage information. After the robot obtains the user's reserved food and beverage from the hotel staff, it moves to the target delivery area, and the target delivery area can be the area in front of the room where the user is staying.

[0036] In another specific example, the delivery scenario is a restaurant, and the delivery robot can be a delivery robot of the restaurant. The delivery area of ​​the restaurant's delivery robot includes the dining location inside the restaurant, such as the dining table area where the user is located. After the user selects the dining table, he can use the ordering system corresponding to the dining table to order, such as scanning the QR code on the dining table to place an order. When ordering, the user can manually enter the table number of the dining table or automatically enter the table number of the dining table. The ordering system sends the reserved dining information entered by the user to the restaurant's platform system. The platform system can generate a target delivery task based on the user's table number and the user's reserved dining information and send it to the delivery robot in the restaurant. After the robot obtains the user's reserved dining from the restaurant staff, it moves to the target delivery area, which can be the dining table area where the user is located. Here, the autonomous delivery of meals by the delivery robot greatly reduces the labor cost and improves the service quality.

[0037] Step 102: The robot triggers key generation, and the key is used to confirm the pickup, such as a pickup code.

[0038] Step 103: The robot prompts the user corresponding to the target delivery area to pick up the item through the communication connection.

[0039] The robot can transmit voice information to the user through the communication connection, prompting the user to move to the target delivery area to pick up the item. The user obtains the robot's pick-up prompt information. The robot can inform the user of the delivered item information and the location of the target delivery area in the form of voice. After the user confirms that the item delivered by the robot is the item he or she has reserved, he or she arrives at the location of the target delivery area to obtain the item delivered by the robot.

[0040] For example, when the robot arrives at the dining location of the user, it can call the ringing phone on the dining table to remind the user to pick up the food. After the user confirms that the food delivered by the robot is the food he ordered, he can take the food delivered by the robot.

[0041] Furthermore, when using a delivery robot to deliver items, you need to first place the items to be delivered on the storage layer, and then select the delivery location corresponding to the storage layer. Here, each storage layer needs to select its corresponding delivery location. After selecting the delivery location corresponding to each storage layer, click the "Go Now" button on the delivery robot, and the delivery robot can directly enter the delivery page and perform the delivery task.

[0042] However, research has found that the existing delivery robots mainly rely on operators to manually input the delivery location of the items to be delivered to control the delivery robots to perform delivery actions. During the process of the operator actually inputting the delivery location corresponding to the items to be delivered, the delivery location corresponding to the items to be delivered may be omitted, which may easily lead to the items to be delivered at the omitted delivery location not being delivered to the customer, resulting in low delivery efficiency of the delivery robots.

[0043] Based on this, an embodiment of the present application provides a control method for a delivery robot, which can easily and quickly solve the problem in the prior art that items to be delivered are missed at the delivery location and cannot be delivered to customers, thereby achieving the purpose of improving the delivery efficiency of the delivery robot and reducing labor costs.

[0044] Embodiment 1:

[0045] See also Figure 2 , Figure 2 This is a flow chart of a control method of a delivery robot provided in an embodiment of the present application. Figure 2 As shown, the control method of the object delivery robot provided in the embodiment of the present application includes:

[0046] S201: Under the condition that it is detected that the storage layer where the items to be delivered are placed is not configured with a delivery position, it is detected whether the items to be delivered placed on each storage layer are delivered to the same position.

[0047] In step S201, after the delivery robot receives the target delivery task sent by the platform system, when the target delivery task includes only one expected delivery location, it can be considered that the delivery robot's work task this time is only to deliver the target delivery item to one expected delivery location. In this way, it can be considered that the items to be delivered placed on each storage layer of the delivery robot are delivered to the same location; when the target delivery task includes multiple expected delivery locations, it can be considered that the delivery robot's work task this time is to deliver the target delivery item to different expected delivery locations respectively. In this way, it can be considered that the items to be delivered placed on each storage layer of the delivery robot are not delivered to the same location.

[0048] In one example, S201 detects whether the items to be delivered placed on each storage layer are delivered to the same location through the following steps:

[0049] Step S2011, detecting the number of expected delivery locations in the target delivery task;

[0050] Step S2012: if it is detected that the expected delivery locations in the target delivery tasks are the same, it is determined that the items to be delivered placed on each storage layer are delivered to the same location;

[0051] Step S2013: If it is detected that the expected delivery locations in the target delivery task are different and the number is greater than 1, it is determined that the items to be delivered placed on each storage layer are not delivered to the same location.

[0052] By means of the above method, it is possible to simply and quickly determine whether the items to be delivered placed on each storage layer are delivered to the same location, thereby saving processing resources of the delivery robot and improving the processing efficiency of the delivery robot. The method for achieving the above purpose is not limited to this, and this embodiment does not impose any limitation here.

[0053] Optionally, in one example, before step S201, it is determined that the storage layer where the items to be delivered are placed is not configured with a delivery location through the following steps:

[0054] Step S2001, obtaining a storage layer to be determined where items to be delivered are placed;

[0055] Step S2002: if it is detected that the storage layer to be determined corresponds to a second matching relationship, it is determined that the storage layer to be determined is configured with a delivery position; wherein the second matching relationship refers to a binding relationship between the storage layer and the delivery position established by the operator through the platform system;

[0056] Step S2003: If it is detected that the storage layer to be determined does not correspond to the second matching relationship, it is determined that the storage layer to be determined is not configured with a delivery position.

[0057] Furthermore, step S201 performs further detection under the condition that it is detected that the storage layer where the items to be delivered are placed is not configured with a delivery position, so as to determine whether the items to be delivered placed on each storage layer are delivered to the same position, and then executes different delivery position supplementary configuration schemes respectively when the items to be delivered placed on each storage layer are delivered to the same position and when they are not delivered to the same position, so as to improve the accuracy of the delivery position supplementary configuration and realize rapid configuration, which is beneficial to reduce the resource consumption of the delivery robot.

[0058] S202: If the items to be delivered placed on each storage layer are delivered to the same location, a delivery location is configured for the storage layer where the items to be delivered are placed but no delivery location is configured, according to the delivery location that has been configured for the storage layer where the items to be delivered are placed.

[0059] In this way, when the items to be delivered placed on each storage layer are delivered to the same position, the delivery position is configured for the storage layer where the items to be delivered are placed but the delivery position is not configured according to the configured delivery position of the storage layer where the items to be delivered are placed. This can conveniently and quickly configure the accurate delivery position for the storage layer where the items to be delivered are placed but the delivery position is not configured, without the need for operators to input it again, and can also avoid the problem of items to be delivered that are missed in the delivery position and cannot be delivered to the customer, thereby achieving the purpose of improving the delivery efficiency of the delivery robot and reducing labor costs.

[0060] In an embodiment of the present application, when the delivery robot moves toward a delivery position that has been configured on a storage layer for items to be delivered, a delivery position is configured for a storage layer that has items to be delivered but has no delivery position configured, based on the delivery position that has been configured on the storage layer for items to be delivered.

[0061] Specifically, the timing for configuring a delivery position for a storage layer that has items to be delivered but has not been configured with a delivery position is the departure time of the delivery robot. That is, when it is detected that the storage layer that has items to be delivered has not been configured with a delivery position, click the "Depart Now" button on the delivery robot, and after receiving the departure signal, the delivery robot will automatically configure a delivery position for the storage layer that has items to be delivered but has not been configured with a delivery position according to the delivery position that has been configured for the storage layer that has items to be delivered.

[0062] In this way, when the delivery robot sets out, the delivery position is automatically configured for the storage layer where the items to be delivered are placed but the delivery position is not configured, which will not delay the delivery progress of the delivery robot and eliminate the impact of the delivery progress being slowed down due to the omission of the delivery position corresponding to the items to be delivered, thereby improving the delivery efficiency of the delivery robot.

[0063] However, the present application does not impose any limitation on the timing of the above configuration. For example, it may also be within a preset time period of detecting that the first storage layer is configured with a delivery location, such as within 3 minutes or 5 minutes; or when it is detected that other storage layers with items to be delivered have not received a delivery location, the automatic configuration technology of the delivery robot is activated.

[0064] In another example, step S202 includes:

[0065] Step S2021, detecting whether the storage layer above the storage layer where the items to be delivered are placed but the delivery position is not configured has items to be delivered and has a delivery position configured;

[0066] Step S2022: If yes, the delivery position configured in the upper storage layer is determined as the delivery position configured in the storage layer where the items to be delivered are placed but no delivery position is configured;

[0067] Step S2023: If not, the delivery position configured for the storage layer below the storage layer where the items to be delivered are placed but no delivery position is configured is determined as the delivery position configured for the storage layer where the items to be delivered are placed but no delivery position is configured.

[0068] Under the condition that the items to be delivered placed on each storage layer are delivered to the same location, through steps S2021 to S2023, it is possible to automatically configure a delivery location for the storage layer where the items to be delivered are placed but no delivery location is configured.

[0069] According to the records of step S2021 to step S2023, if the upper storage layer of the storage layer where the items to be delivered are placed but the delivery position is not configured has a delivery position configured, then upward compatibility is achieved, and the delivery position configured in the upper storage layer is automatically added as the delivery position configured for the storage layer where the items to be delivered are placed but the delivery position is not configured; if the upper storage layer of the storage layer where the items to be delivered are placed but the delivery position is not configured has no delivery position configured, then downward compatibility is achieved, and the delivery position configured in the lower storage layer is automatically added as the delivery position configured for the storage layer where the items to be delivered are placed but the delivery position is not configured. In this way, the purpose of quickly configuring the delivery position for the storage layer where the items to be delivered are placed but the delivery position is not configured can be achieved, thereby reducing resource consumption.

[0070] Among them, since the height of the first storage layer matches the general comfortable height for people to place items, for example, there is no need to bend over, or the storage height space of the first layer is larger than that of other layers, or the first layer has a lower degree of obstruction for taking and placing items in the structural design, the first layer is generally the first choice for people to place items, step by step. In general, in actual operation, after putting items on the first layer, they will continue to put them on the second layer (which is more convenient than taking and placing items on the lower layers). Therefore, the present application gives priority to detecting the upper storage layer of the storage layer, which is more effective and time-saving.

[0071] For example, in a related catering scenario, when serving food to the same table, waiters often use multiple layers to place food. However, when assigning table numbers to each layer, some layers may be missed, resulting in some layers not being assigned corresponding table numbers. In this case, after the delivery robot arrives at the user's dining table, the user only takes the food on the layer with the table number, and the delivery robot leaves directly (because the delivery robot believes that the food on other layers that are not assigned table numbers are not for this table), affecting the self-service meal pickup experience; or the user will not take the initiative to pick up food because he is not reminded to take food on other layers that are not assigned table numbers, resulting in the food on the layers that are omitted from being assigned table numbers not being delivered to customers, resulting in low meal distribution efficiency in the store.

[0072] In order to solve the above problems, the embodiments of the present application can automatically enter the dining layer and table number in the dining scene when they do not match. For example, assuming that the delivery robot includes 4 dining layers, namely dining layer 1L, dining layer 2L, dining layer 3L and dining layer 4L; when a dining layer of the delivery robot is configured with a table number, the same table number can be automatically configured for other dining layers with food. For example, if dining layer 1L of the delivery robot is configured with table number 5, and other dining layers with food include dining layer 2L and dining layer 3L, table number 5 can be configured for dining layer 2L and dining layer 3L; if dining layer 3L of the delivery robot is configured with table number 6, and other dining layers with food include dining layer 1L and dining layer 2L, table number 6 can be configured for dining layer 1L and dining layer 2L.

[0073] In this way, operating costs can be reduced and the situation where the waiter forgets to enter the table number for the dining floor can be compensated. It not only simplifies the work of the waiter to enter the table number for the dining floor, but also improves the delivery efficiency of the delivery robot and reduces labor costs.

[0074] Embodiment 2:

[0075] See also Figure 3 , Figure 3 This is a flow chart of another control method of a delivery robot provided in an embodiment of the present application. Figure 3 As shown, the control method of the object delivery robot provided in the embodiment of the present application includes:

[0076] S301: Under the condition that it is detected that the storage layer where the items to be delivered are placed is not configured with a delivery position, it is detected whether the items to be delivered placed on each storage layer are delivered to the same position.

[0077] S302: If the items to be delivered placed on each storage layer are delivered to the same location, a delivery location is configured for the storage layer where the items to be delivered are placed but no delivery location is configured, according to the delivery location that has been configured for the storage layer where the items to be delivered are placed.

[0078] S303: If the items to be delivered placed on each storage layer are not delivered to the same location, a delivery location is configured for the storage layer where the items to be delivered are placed but no delivery location is configured, according to a first matching relationship between the target delivery items and the expected delivery location.

[0079] Among them, the description of S301 to S302 can refer to the description of S201 to S202, and can achieve the same technical effect, which is not repeated here.

[0080] Here, the target delivery item and the estimated delivery location with which the target delivery item has a first matching relationship are the target delivery tasks sent by the platform system to the delivery robot. The first matching relationship refers to the binding relationship between the target delivery item and the estimated delivery location established by the platform system through the target delivery item and the estimated delivery location received from the order placement system.

[0081] In step S303, when the items to be delivered placed on each storage layer are not delivered to the same location, it means that the storage layer on which the items to be delivered are placed corresponds to at least two delivery locations. In this way, when one of the storage layers on which the items to be delivered are placed is not configured with a delivery location, it is necessary to combine the target delivery task sent by the platform system, the target delivery task includes the target delivery item and the estimated delivery location that has a first matching relationship with the target delivery item, to further determine the delivery location configured for the storage layer on which the items to be delivered are placed but not configured with a delivery location, so as to improve the accuracy of configuring the delivery location for the storage layer on which the items to be delivered are placed but not configured with a delivery location.

[0082] In this way, when it is detected that the storage layer where the items to be delivered are placed is not configured with a delivery position, it is divided into two situations and improved respectively. One is that multiple storage layers where the items to be delivered are placed are delivered to the same position. At this time, the delivery position can be directly configured for the storage layer where the items to be delivered are placed but not configured with a delivery position according to the storage layer with configured delivery positions. This is fast and convenient, not only with high configuration efficiency, but also able to reduce resource consumption of the delivery robot; the second is that multiple storage layers where the items to be delivered are placed are delivered to different positions. At this time, since there may be a missed delivery position that has not appeared before, it is necessary to configure the delivery position for the storage layer where the items to be delivered are placed but not configured with a delivery position in combination with the first matching relationship between the target delivery items sent by the platform system and the expected delivery position, so that the configuration is more accurate, thereby ensuring the delivery accuracy of the delivery robot. Furthermore, different delivery location supplement configuration schemes are executed for the items to be delivered placed on each storage layer and delivered to the same location and delivered to different locations, so as to improve the accuracy of the delivery location supplement configuration and achieve rapid configuration, which is conducive to reducing operating costs and reducing the resource consumption of the delivery robot.

[0083] In one embodiment, step S303 specifically includes:

[0084] Step S3031: If the items to be delivered placed on each storage layer are not delivered to the same location, it is detected whether the delivery locations configured on the storage layer where the items to be delivered are placed include an estimated delivery location; wherein the estimated delivery location includes at least two delivery locations.

[0085] Here, the platform system has sent the target delivery task to the delivery robot, wherein the target delivery task includes the target delivery item and the expected delivery location that has a first matching relationship with the target delivery item, wherein the expected delivery location includes at least two delivery locations. In a specific scenario, the delivery location lost by the storage layer where the items to be delivered are placed but the delivery location is not configured may exist in the configured delivery location, or may not exist in the configured delivery location. The following discusses these two situations respectively.

[0086] In one embodiment, if it is detected that the configured delivery position of the storage layer where the items to be delivered are placed includes any delivery position in the expected delivery position, it means that the lost delivery position of the storage layer where the items to be delivered are placed but the delivery position is not configured exists in the configured delivery position. For example, if the storage layer 1L, storage layer 2L and storage layer 3L of the delivery robot are all placed with items to be delivered, when storage layer 1L delivers table No. 1, storage layer 2L delivers table No. 2, and storage layer 3L delivers table No. 2, if the waiter forgets to enter the table number for storage layer 2L, but the table numbers of storage layers 1L and 3L have been entered, and the table number corresponding to the current storage layer 2L has not been lost, in order to solve the problem of automatically entering the table number for storage layer 2L, it is achieved through the following embodiments:

[0087] Step S3032: If it is detected that the configured delivery position of the storage layer where the items to be delivered are placed includes any of the expected delivery positions, then according to the first matching relationship between the target delivery items and the expected delivery positions, a delivery position is configured for the storage layer where the items to be delivered are placed but no delivery position is configured.

[0088] Here, considering that it is impossible to determine which of the expected delivery positions the delivery position corresponding to the storage layer where the items to be delivered are placed but no delivery position is configured, using "according to the delivery position configured on the storage layer where the items to be delivered are placed" to configure the delivery position for the storage layer where the items to be delivered are placed but no delivery position is configured may easily lead to large errors. Furthermore, the embodiment of the present application configures the delivery position for the storage layer where the items to be delivered are placed but no delivery position is configured according to the first matching relationship between the target delivery items and the expected delivery position, so as to improve the accuracy of the delivery position configuration.

[0089] Wherein, when configuring a delivery location for a storage layer where the items to be delivered are placed but no delivery location is configured according to the first matching relationship between the target delivery items and the expected delivery location, it can be specifically implemented by the following steps:

[0090] In one example, a target item to be delivered placed on a storage layer that is not configured with a delivery position is identified; a target delivery position corresponding to the target item to be delivered is determined based on a first matching relationship between the target item to be delivered and the expected delivery position; and the target delivery position is determined as a delivery position configured for a storage layer that has the item to be delivered but is not configured with a delivery position.

[0091] Here, the following steps are used to identify the items to be delivered placed on the storage layer without a delivery position: an item image of the target item to be delivered placed on the storage layer without a delivery position is obtained; a contour of the target item to be delivered is extracted from the item image and each contour is traversed to obtain item features of the target item to be delivered; and an item name of the target item to be delivered is determined according to the item features of the target item to be delivered to identify the target item to be delivered placed on the storage layer without a delivery position.

[0092] However, the present application does not impose any limitation on the specific identification method for identifying the items to be delivered placed on the storage layer without a delivery position. For example, an item label may be attached to the item to be delivered, and text recognition may be performed on the item label to determine whether the item to be delivered placed on the storage layer without a delivery position is the target item to be delivered; or an item image of the target item to be delivered placed on the storage layer without a delivery position is obtained, and the item image is input into an item binary classification model for image recognition, and based on the result of the image recognition, it is determined whether the item to be delivered placed on the storage layer without a delivery position is the target item to be delivered.

[0093] By traversing the outline of the target item to be delivered to obtain the item features of the target item to be delivered, the target item to be delivered placed on the storage layer without a configured delivery position is identified according to the item features of the target item to be delivered. The target item to be delivered can be identified quickly and accurately, and then the target delivery position of the object to be delivered can be accurately found in combination with the first matching relationship between the target item to be delivered and the expected delivery position, and then the target delivery position is determined as the delivery position configured for the storage layer where the item to be delivered is placed but the delivery position is not configured.

[0094] In another embodiment, if it is detected that the configured delivery position of the storage layer where the items to be delivered are placed does not include one of the expected delivery positions, it means that the lost delivery position of the storage layer where the items to be delivered are placed but the delivery position is not configured does not exist in the configured delivery positions. For example, if the storage layer 1L, storage layer 2L and storage layer 3L of the delivery robot are all placed with items to be delivered, when storage layer 1L delivers table No. 1, storage layer 2L delivers table No. 2, and storage layer 3L delivers table No. 2, if the waiter forgets to enter the table number for storage layer 1L, in order to quickly solve the problem of automatically entering the table number for storage layer 1L, it is achieved through the following embodiment:

[0095] Step S3033: If it is detected that the configured delivery position of the storage layer where the items to be delivered are placed does not include one of the estimated delivery positions, a delivery position is configured for the storage layer where the items to be delivered are placed but has no configured delivery position, based on the delivery positions in the estimated delivery positions except the configured delivery position of the storage layer where the items to be delivered are placed.

[0096] Here, in order to improve the delivery efficiency, the process of identifying the target items to be delivered placed on the storage layer without a configured delivery position is simplified. The estimated delivery position sent by the platform system and the configured delivery position of the storage layer where the items to be delivered are placed and issued by the operator are directly compared to find the delivery position left by the operator, that is, the delivery position in the estimated delivery position except the configured delivery position of the storage layer where the items to be delivered are placed. The omitted delivery position is directly determined as the delivery position configured for the storage layer where the items to be delivered are placed but without a configured delivery position.

[0097] It should be noted that when executing the solution of step S3033, it is required that the storage layer where the items to be delivered are placed but no delivery location is configured has only lost one delivery location, and the lost delivery location does not appear in the delivery locations that have been configured for the storage layer where the items to be delivered are placed and issued by the operator.

[0098] Through the above method, there is no need to perform item identification and feature comparison of the target items to be delivered placed on the storage layer without a delivery position configured, which simplifies the configuration process of the delivery position, saves the processing time and processing resources of the delivery robot, and further improves the processing efficiency of the delivery robot, thereby improving the delivery efficiency of the delivery robot.

[0099] In the relevant dining scene, the waiter may select the wrong table number corresponding to the dining layer at the beginning, and then the delivery robot will automatically record the wrong table number. In order to solve the above problem, the embodiment of the present application adds a table number calibration solution.

[0100] Specifically, based on the above-mentioned embodiment 1 or embodiment 2, after receiving the target delivery task sent by the platform system, the control method in the embodiment of the present application further includes:

[0101] Step 401: After receiving the delivery location sent by the operator and the target storage layer having a second matching relationship with the delivery location, identify the items to be delivered placed on the target storage layer.

[0102] Here, the same object identification method as in the second embodiment can be used to identify the objects to be delivered placed on the target storage layer, which will not be described in detail here.

[0103] Step 402: Determine the similarity between the to-be-delivered items placed on the identified target storage layer and the target delivery items sent by the platform system.

[0104] Here, the similarity refers to the degree of similarity between the to-be-delivered items placed on the identified target storage layer and the target delivery items sent by the platform system, mainly including shape similarity, color similarity, etc.

[0105] Specifically, the above similarity can be calculated directly through the item rating matrix, including cosine similarity, Pearson correlation, and adjusted cosine similarity, which Sarwar called. The similarity of items can also be calculated by learning, including the SLIM (Sparse Linear Methods for Top-N Recommender Systems) method proposed by Ning et al. and the GLSLIM (Local Item-Item Models for Top-N Recommendation) method proposed by Christakopoulou et al., which will not be repeated here.

[0106] Step 403: If the similarity is greater than a preset threshold, the delivery location issued by the operator is corrected according to the estimated delivery location corresponding to the target delivery item, so that the delivery location issued by the operator is consistent with the estimated delivery location corresponding to the target delivery item.

[0107] Here, if the similarity is greater than a preset threshold, it means that the item to be delivered placed on the target storage layer is the same item as the target delivery item sent by the platform system. At this time, the delivery position issued by the operator is corrected according to the estimated delivery position corresponding to the target delivery item, that is, it is determined whether the estimated delivery position corresponding to the target delivery item is the same as the delivery position issued by the operator. If they are the same, it is determined that the delivery position issued by the operator is correct and does not need to be modified; if they are different, the delivery position issued by the operator is re-determined as the estimated delivery position corresponding to the target delivery item, so that the delivery position issued by the operator is consistent with the estimated delivery position corresponding to the target delivery item.

[0108] The above correction scheme can avoid the situation where the waiter configures the delivery position incorrectly when configuring the delivery position for the storage layer where the items to be delivered are placed before the delivery robot sets off, thereby improving the delivery accuracy of the delivery robot.

[0109] Furthermore, before the above-mentioned embodiment 1 or embodiment 2, that is, before it is detected that the storage layer where the items to be delivered are placed is not configured with a delivery position, the control method provided in the embodiment of the present application further includes:

[0110] Step 501: Perform an item detection on the storage space formed on the storage layer to detect whether there are items to be delivered placed on the storage layer.

[0111] In step 501, the storage space formed on the storage layer is inspected for items by a detection module; wherein the detection module includes at least one of the following items: a camera, a laser radar, and a gravity sensor.

[0112] Here, the detection module may include a camera, a lidar, or a gravity sensor alone, or may include at least two of a camera, a lidar, and a gravity sensor to achieve combined detection of items in the storage space formed on the storage layer.

[0113] However, the present application does not impose any limitation on the specific implementation method of the above-mentioned object detection. A detector can also be used to receive x-rays emitted by a light source to obtain x-ray detection data, and the scanned object can be detected based on the x-ray detection data.

[0114] Exemplarily, when the detection module includes at least one laser radar, the laser radar is arranged on the bearing surface of the storage layer and away from the side of the target bottom surface; wherein the storage layer has a bearing surface and a target bottom surface opposite to the bearing surface, and the bearing surface is used to place the items to be delivered.

[0115] Furthermore, step 501 specifically includes:

[0116] Step 5011: Determine data information of a storage space formed on the storage layer according to radar point cloud data collected by at least one laser radar;

[0117] Specifically, the laser radar can collect radar point cloud data in the storage space. The laser radar includes a transmitting antenna and a receiving antenna. The transmitting antenna of the laser radar sends out an electromagnetic wave signal, and when the electromagnetic wave signal touches an object, an echo is reflected. The receiving antenna of the radar receives the reflected echo and extracts and processes the relevant information of the object. The laser radar can be used to determine whether there is a target object in the storage space, the specific location, distance and movement speed of the target object in the storage space, and the height, length, etc. of the object in the storage space can also be measured.

[0118] Step 5012: Determine the storage status of the storage layer based on the data information to determine whether there are items to be delivered on the storage layer.

[0119] Due to the limitation of the field of view of the laser radar, one or more laser radars can be set according to the angle requirements of the storage space to meet the detection of the storage status of the storage space of the storage layer. The bearing surface of the storage layer is used to place the items to be delivered. The laser radar is set on the bearing surface of the storage layer and away from the side of the first bottom surface, which is convenient for the laser radar to detect whether the items to be delivered are placed on the bearing surface of the storage layer, improve the accuracy of the laser radar in detecting the storage status of the storage layer, and further improve the accuracy of the detection of the storage status of the storage layer, which can not only improve the accuracy of autonomous operation equipment such as delivery robots in identifying the storage status of the storage layer, but also improve the operation efficiency of the delivery robots.

[0120] In one embodiment, the laser radar may include a first radar and a second radar; the first radar is used to collect first radar point cloud data, and the second radar is used to collect second radar point cloud data; the storage layer is divided into a first area and a second area that are adjacently arranged; the first radar is arranged in the first area, and the second radar is arranged in the second area. Based on the first radar point cloud data collected by the first radar, the storage state of the storage space in the first area of ​​the storage layer is calculated; based on the second radar point cloud data collected by the second radar, the storage state of the storage space in the second area of ​​the storage layer is calculated; wherein the storage state includes a state where items are placed on the storage layer and a state where items on the storage layer are taken out.

[0121] Specifically, this configuration enables the first area to be detected by the first radar and the second area to be detected by the second radar, and then the placement status of the first area and the second area can be better detected based on the data information detected by the first radar and the second radar, thereby better reducing the blind spot of the placement space detection of the placement layer, and further achieving accurate detection of the placement status of the first area and the second area of ​​the placement layer, thereby improving the accuracy of the delivery robot in identifying the placement status of the first area and the second area of ​​the placement layer when delivering items, and further improving the delivery efficiency of the delivery robot.

[0122] Optionally, the storage layer includes a first long edge and a second long edge that are arranged opposite to each other; the first radar and the second radar are arranged in the middle of the first long edge of the storage layer; and the field of view of the first radar and the second radar at least partially covers the second long edge. Specifically, the shape of the storage layer can be rectangular, elliptical or other shapes. The first radar and the second radar are arranged in the middle of the first long edge of the storage layer. The first radar can be arranged to face the first area of ​​the storage layer, and the second radar can be arranged to face the second area of ​​the storage layer, so that two radars are arranged along the length direction of the storage layer to increase the detection range of the radar. Along the width direction of the storage layer, the field of view of the first radar and the second radar at least partially covers the second long edge, thereby further reducing the blind spot of the storage layer detection and further improving the detection accuracy of the radar for the storage space of the storage layer.

[0123] Step 502: If it is detected that there are items to be delivered placed on the storage layer, then continue to detect whether the storage layer where the items to be delivered are placed is configured with a delivery position.

[0124] Here, whether the storage layer where the items to be delivered are placed is configured with a delivery position is determined by detecting whether the storage layer to be determined where the items to be delivered are placed is configured with a second matching relationship. Specifically, if it is detected that the storage layer corresponds to the second matching relationship, it is determined that the storage layer to be determined is configured with a delivery position; if it is detected that the storage layer does not correspond to the second matching relationship, it is determined that the storage layer to be determined is not configured with a delivery position.

[0125] Through the above method, it is possible to accurately detect whether there are items to be delivered placed on the storage layer, so as to improve the accuracy of subsequent delivery robot operations.

[0126] Preferably, the embodiment of the present application can also display the delivery position configured for the storage layer where the items to be delivered are placed but the delivery position is not configured on the operation panel of the delivery robot after determining that the storage layer where the items to be delivered are placed but the delivery position is not configured is configured.

[0127] Here, the configured delivery positions are displayed visually so that waiters or customers can intuitively see the delivery positions corresponding to each storage layer, which can achieve the purpose of further correction and thus improve the accuracy of the delivery robot in delivering items.

[0128] The control method of the delivery robot provided in the embodiment of the present application automatically configures a delivery position for a storage layer where the items to be delivered are placed but no delivery position is configured according to the configured delivery position of the storage layer where the items to be delivered are placed. This can conveniently and quickly solve the problem in the prior art that the items to be delivered whose delivery positions are missed cannot be delivered to customers, thereby achieving the purpose of improving the delivery efficiency of the delivery robot and reducing labor costs.

[0129] Based on the same inventive concept, the present application also provides a delivery system, such as Figure 4 As shown, the delivery system includes: a delivery robot 410, an ordering system 420 and a platform system 430, the delivery robot 410 is connected in communication with the platform system 430, and the platform system 430 is connected in communication with the ordering system 420;

[0130] Order system 420: used to determine the order information input by the ordering user according to the ordering operation of the ordering user, and send the order information to the platform system; the order information includes the target delivery items ordered by the ordering user and the estimated delivery location of the ordering user;

[0131] The platform system 430 is used to generate a target delivery task for the ordering user according to the target delivery item and the estimated delivery location in the order information, and send the target delivery task to the delivery robot, wherein the target delivery task includes the target delivery item and the estimated delivery location that establishes a first matching relationship with the target delivery item, so that the delivery robot detects whether the items to be delivered placed on each storage layer are delivered to the same location based on the target delivery task;

[0132] Delivery robot 410: is used to detect whether the items to be delivered placed on each storage layer are delivered to the same position under the condition that it is detected that the storage layer where the items to be delivered are placed is not configured with a delivery position; if the items to be delivered placed on each storage layer are delivered to the same position, then according to the configured delivery position of the storage layer where the items to be delivered are placed, a delivery position is configured for the storage layer where the items to be delivered are placed but no delivery position is configured.

[0133] It should be noted that the delivery robot 410 can execute any step of the control method of the delivery robot in the above-mentioned method embodiment. The specific implementation method can refer to the method embodiment. Since the principle of solving the problem by the delivery system in the embodiment of the present application is similar to the control method of the delivery robot in the above-mentioned embodiment of the present application, the implementation of the system can refer to the implementation of the method, and the repeated parts will not be repeated.

[0134] See also Figure 5 , Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 5 As shown in , the electronic device 500 includes a processor 510 , a memory 520 and a bus 530 .

[0135] The memory 520 stores machine-readable instructions executable by the processor 510. When the electronic device 500 is running, the processor 510 communicates with the memory 520 via the bus 530. When the machine-readable instructions are executed by the processor 510, the above-mentioned Figure 2 as well as Figure 3 The steps of the control method of the object-delivering robot in the method embodiment shown and the specific implementation method thereof can be referred to the method embodiment, which will not be described in detail here.

[0136] The present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the computer program can execute the above-mentioned Figure 2 as well as Figure 3 The steps of the control method of the object-delivering robot in the method embodiment shown and the specific implementation method thereof can be referred to the method embodiment, which will not be described in detail here.

[0137] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0138] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0139] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0140] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0141] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application can essentially be embodied in the form of a software product, or in other words, the part that contributes to the prior art or the part of the technical solution. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0142] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The protection scope of the present application is not limited thereto. Although the present application is described in detail with reference to the above-mentioned embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-mentioned embodiments within the technical scope disclosed in the present application, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A control method for a delivery robot, characterized in that: The object delivery robot comprises multiple storage layers, wherein the storage layers are used to place objects to be delivered, and the control method comprises: Under the condition that it is detected that the storage layer on which the items to be delivered are placed is not configured with a delivery position, detecting whether the items to be delivered placed on each layer of the storage layer are delivered to the same position; If the items to be delivered placed on each storage layer are delivered to the same position, a delivery position is configured for the storage layer where the items to be delivered are placed but no delivery position is configured, according to the already configured delivery position of the storage layer where the items to be delivered are placed.

2. The control method according to claim 1, characterized in that: The control method further comprises: If the items to be delivered placed on the storage layers are not delivered to the same location, then, according to a first matching relationship between the target delivery items and the expected delivery locations, a delivery location is configured for the storage layers where the items to be delivered are placed but no delivery location is configured; The target delivery item and the estimated delivery location having a first matching relationship with the target delivery item are the target delivery tasks sent by the platform system to the delivery robot.

3. The control method according to claim 2, characterized in that: If the items to be delivered placed on the storage layers are not delivered to the same location, then, according to a first matching relationship between the target delivery items and the expected delivery locations, a delivery location is configured for the storage layers where the items to be delivered are placed but no delivery location is configured, including: If the items to be delivered placed on the storage layers of each layer are not delivered to the same location, detecting whether the delivery locations configured on the storage layers where the items to be delivered are placed include the estimated delivery location; wherein the estimated delivery location includes at least two delivery locations; If it is detected that the delivery position configured on the storage layer where the item to be delivered is placed includes any of the expected delivery positions, then according to the first matching relationship between the target delivery item and the expected delivery position, a delivery position is configured for the storage layer where the item to be delivered is placed but has no delivery position configured.

4. The control method according to claim 3, characterized in that: Under the condition that the items to be delivered placed on each storage layer are not delivered to the same location, after detecting whether the delivery location configured on the storage layer where the items to be delivered are placed includes the expected delivery location, the control method further includes: If it is detected that the configured delivery positions of the storage layer where the items to be delivered are placed do not include one of the expected delivery positions, a delivery position is configured for the storage layer where the items to be delivered are placed but for which no delivery position is configured, based on the delivery positions in the expected delivery positions except the configured delivery positions of the storage layer where the items to be delivered are placed.

5. The control method according to claim 1, characterized in that: The configuring a delivery position for the storage layer where the items to be delivered are placed but where no delivery position is configured, according to the already configured delivery position of the storage layer where the items to be delivered are placed, comprises: Detecting whether the storage layer above the storage layer on which the items to be delivered are placed but on which no delivery position is configured has the items to be delivered placed thereon and has a delivery position configured thereon; If yes, the configured delivery position of the upper storage layer is determined as the configured delivery position of the storage layer where the to-be-delivered item is placed but no delivery position is configured; If not, the delivery position configured on the storage layer next to the storage layer where the items to be delivered are placed but no delivery position is configured is determined as the delivery position configured on the storage layer where the items to be delivered are placed but no delivery position is configured.

6. The control method according to claim 1, characterized in that: The configuring a delivery position for the storage layer where the items to be delivered are placed but where no delivery position is configured, according to the already configured delivery position of the storage layer where the items to be delivered are placed, comprises: When the delivery robot moves toward the configured delivery position of the storage layer for the items to be delivered, a delivery position is configured for the storage layer where the items to be delivered are placed but where no delivery position is configured, according to the configured delivery position of the storage layer where the items to be delivered are placed.

7. The control method according to any one of claims 1 to 6, characterized in that: After receiving the target delivery task sent by the platform system, the target delivery task includes a target delivery item and an estimated delivery location having a first matching relationship with the target delivery item, the control method further includes: After receiving the delivery location sent by the operator and the target storage layer having a second matching relationship with the delivery location, identifying the items to be delivered placed on the target storage layer; Determine the similarity between the identified items to be delivered placed on the target storage layer and the target delivery items sent by the platform system; If the similarity is greater than a preset threshold, the delivery location issued by the operator is corrected according to the estimated delivery location corresponding to the target delivery item, so that the delivery location issued by the operator is consistent with the estimated delivery location corresponding to the target delivery item.

8. The control method according to claim 2, characterized in that: The step of configuring a delivery position for the storage layer where the to-be-delivered object is placed but no delivery position is configured according to the first matching relationship between the target delivery object and the expected delivery position includes: Identify the target items to be delivered placed on the storage layer without a configured delivery position; Determining a target delivery location corresponding to the target delivery item according to a first matching relationship between the target delivery item and the expected delivery location; The target delivery position is determined as the delivery position configured for the storage layer where the to-be-delivered items are placed but no delivery position is configured.

9. The control method according to claim 1, characterized in that: Before detecting that the storage layer on which the items to be delivered are placed is not configured with a delivery position, the control method further includes: Performing an item detection on the storage space formed on the storage layer to detect whether there are items to be delivered placed on the storage layer; If it is detected that the storage layer has items to be delivered, it is further detected whether the storage layer where the items to be delivered are placed is configured with a delivery position.

10. The control method according to claim 9, characterized in that: The storage layer has a bearing surface and a target bottom surface opposite to the bearing surface, the bearing surface is used to place the items to be delivered, and the detection module includes at least one laser radar, which is arranged on the bearing surface of the storage layer and away from the target bottom surface; The detecting of items in the storage space formed on the storage layer includes: Determining data information of a storage space formed on the storage layer according to radar point cloud data collected by the at least one laser radar; The storage state of the storage layer is determined according to the data information to determine whether there are items to be delivered placed on the storage layer.

11. A delivery system, characterized in that: include: A delivery robot, an ordering system and a platform system, wherein the delivery robot is communicatively connected to the platform system, and the platform system is communicatively connected to the ordering system; The ordering system is used to determine the order information input by the ordering user according to the ordering operation of the ordering user, and send the order information to the platform system; The order information includes the target delivery item ordered by the ordering user and the estimated delivery location of the ordering user; The platform system is used to generate a target delivery task for the ordering user according to the target delivery item and the estimated delivery location in the order information, and send the target delivery task to the delivery robot, wherein the target delivery task includes the target delivery item and the estimated delivery location that establishes a first matching relationship with the target delivery item, so that the delivery robot detects whether the items to be delivered placed on each storage layer are delivered to the same location based on the target delivery task; The delivery robot is used to detect whether the items to be delivered placed on each layer of the storage layer are delivered to the same position under the condition that it is detected that the storage layer on which the items to be delivered are placed is not configured with a delivery position; if the items to be delivered placed on each layer of the storage layer are delivered to the same position, then according to the configured delivery position of the storage layer on which the items to be delivered are placed, a delivery position is configured for the storage layer on which the items to be delivered are placed but which is not configured with a delivery position.

12. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor communicates with the memory via the bus, and the processor executes the machine-readable instructions to perform the steps of the control method as described in any one of claims 1 to 10.

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