Intelligent distribution station, intelligent robot and cooperation method thereof

Abstract

The invention relates to an intelligent distribution station, an intelligent robot and a matching method thereof. The method comprises the steps that a bin door of a target lattice of an intelligent distribution station is unlocked, so that a distribution user stores order goods into the target lattice, and an intelligent robot receives a dispatching instruction, sent by an intelligent distribution service system, of taking goods from the intelligent distribution station; the intelligent robot responds to the dispatching instruction and moves to a docking position of the intelligent distribution station; when the intelligent robot moves to the docking position and completes docking with the docking port of the intelligent distribution station, the intelligent robot sends a docking response message indicating that the intelligent robot is ready to the intelligent distribution service system; the intelligent distribution service system sends an object transmission instruction to the intelligent distribution station according to the docking response message; and the intelligent distribution station transmits the order goods in the target grid to a storage bin of the intelligent robot according to the goods transmission instruction.

Description

[0001] This application is a divisional application of a patent application with an application date of June 27, 2023, application number CN202310769084.4, and invention name “Intelligent distribution station, intelligent robot and its coordination method”. Technical Field

[0002] The embodiments of the present disclosure relate to the technical field of item delivery, and more specifically, to a method for coordinating an intelligent delivery station and an intelligent robot, an intelligent delivery station, and an intelligent robot. Background Art

[0003] Normally, delivery personnel can deliver goods to users’ homes after users place orders. However, some places restrict delivery personnel from entering these places directly to deliver goods to users in person. Delivery personnel need to store goods in lockers, and users need to pick up goods from the lockers, or wait for users to pick up goods in person at the agreed location. Users need to pick up goods in person, which is not convenient and friendly enough. Summary of the invention

[0004] One purpose of the embodiments of the present disclosure is to provide a new technical solution for delivering goods to users using smart devices.

[0005] According to a first aspect of the present disclosure, a method for cooperating between an intelligent distribution station and an intelligent robot is provided, the method comprising:

[0006] After the ordering user selects goods or meals through the ordering client and places an order, he / she selects the intelligent robot delivery method, so that the intelligent robot delivers the goods to the room designated by the ordering user or the floor where the room is located;

[0007] Unlock the door of the target compartment of the intelligent distribution station, so that the distribution user can deposit the ordered goods into the target compartment. The target compartment is the compartment that the intelligent distribution service system controls the intelligent distribution station to unlock after the distribution user chooses to open the cabinet;

[0008] The intelligent delivery service system receives a delivery request;

[0009] The intelligent delivery service system, in response to the delivery request, allocates an intelligent robot corresponding to the delivery order to the delivery order indicated by the delivery request, and sends a dispatch instruction to the allocated intelligent robot to obtain the ordered goods from the intelligent delivery station corresponding to the delivery order; wherein the delivery order is a delivery order for delivering the goods stored in the intelligent delivery station by the intelligent robot;

[0010] The intelligent robot receives the dispatch instruction sent by the intelligent delivery service system to pick up items from the intelligent delivery station;

[0011] The intelligent robot moves to the docking position of the intelligent distribution station in response to the dispatch instruction;

[0012] When the intelligent robot moves to the docking position and completes docking with the docking port of the intelligent delivery station, the intelligent robot sends a docking response message indicating readiness to the intelligent delivery service system;

[0013] The intelligent delivery service system sends a delivery instruction to the intelligent delivery station according to the docking response message; wherein the delivery instruction indicates the target slot where the ordered goods corresponding to the delivery order are located;

[0014] The intelligent distribution station transfers the ordered goods in the target compartment to the storage bin of the intelligent robot according to the transfer instruction.

[0015] Optionally, the intelligent distribution station transfers the ordered goods in the target slot to the storage bin of the intelligent robot according to the object transfer instruction, including:

[0016] The intelligent distribution station opens the door of the intelligent distribution station at the docking port according to the object transfer instruction, and sends a door opening instruction to the intelligent robot;

[0017] The intelligent robot responds to the door opening instruction and opens the door of the storage bin of the intelligent robot to receive the ordered goods in the target bin transmitted by the intelligent distribution station.

[0018] Optionally, before the intelligent delivery service system responds to the delivery request and assigns an intelligent robot corresponding to the delivery order to the delivery order indicated by the delivery request, the method further includes:

[0019] The intelligent distribution service system sends an item detection request for the target slot to the intelligent distribution station corresponding to the distribution request;

[0020] The intelligent distribution station detects, according to the item detection request, whether the ordered goods have been stored in the target slot indicated by the item detection request, and returns the detection result to the intelligent distribution service system;

[0021] The intelligent delivery service system receives the detection result returned by the intelligent delivery station, and when the detection result indicates that the ordered goods have been stored in the target compartment, confirms that the delivery request is valid and allocates an intelligent robot corresponding to the delivery order to the delivery order.

[0022] Optionally, after the intelligent robot opens the door of the storage bin, the method further includes:

[0023] The intelligent robot sends a door opening response message to the intelligent distribution station indicating successful door opening;

[0024] The intelligent distribution station retrieves the empty slot carrier from the storage bin of the intelligent robot according to the door opening response message;

[0025] After retrieving the empty slot carrier, the intelligent distribution station transfers the slot carrier carrying the ordered goods in the target slot indicated by the instruction to the storage bin of the intelligent robot;

[0026] When the intelligent robot senses that the storage bin has received the slot carrier carrying the ordered goods, the intelligent robot sends a receiving response message to the intelligent distribution station indicating that the ordered goods have been successfully received;

[0027] The intelligent distribution station reports a delivery completion message to the intelligent distribution service system based on the received response message.

[0028] Optionally, after reporting the object transfer completion message to the intelligent delivery service system, the method further includes:

[0029] The intelligent delivery service system sends a delivery instruction to the intelligent robot according to the object delivery completion message;

[0030] The intelligent robot responds to the delivery instruction and delivers the ordered goods according to the delivery information sent by the intelligent delivery service system; wherein the delivery information indicates the floor or room number of the delivery destination, and the delivery information is indicated by the scheduling instruction or the delivery instruction.

[0031] According to a second aspect of the present invention, a method for cooperating between an intelligent distribution station and an intelligent robot is provided, which is applicable to the intelligent robot, and the method comprises:

[0032] Receive dispatch instructions from the intelligent delivery service system to pick up items from the intelligent delivery station;

[0033] In response to the dispatch instruction, move to the docking position of the smart delivery station according to the navigation path corresponding to the smart delivery station indicated by the dispatch instruction;

[0034] When the intelligent robot reaches the docking position and completes docking with the docking port of the intelligent distribution station, a docking response message indicating readiness is sent to the intelligent distribution service system; wherein the docking response message is used to trigger the intelligent distribution service system to send a transfer instruction to the intelligent distribution station, the transfer instruction indicates the target slot where the order goods to be picked up corresponding to the dispatch instruction are located, and the transfer instruction is used to trigger the intelligent distribution station to open the warehouse door of the intelligent distribution station at the docking port, and send a door opening instruction to the intelligent robot;

[0035] Receiving a door opening instruction sent by the intelligent distribution station;

[0036] In response to the door opening instruction, the door of the storage bin of the intelligent robot is opened to receive the ordered goods corresponding to the dispatching instruction transmitted by the intelligent distribution station.

[0037] Optionally, after opening the door of the storage bin of the intelligent robot, the method further includes:

[0038] Sending a door opening response message indicating successful door opening to the intelligent distribution station; wherein the door opening response message is used to trigger the intelligent distribution station to retrieve an empty slot carrier from the storage bin of the intelligent robot, and to transfer the slot carrier carrying the ordered goods in the target slot to the storage bin of the intelligent robot;

[0039] When it is sensed that the storage bin receives the slot carrier carrying the ordered goods, the ordered goods are delivered according to the delivery information sent by the intelligent delivery service system, wherein the delivery information indicates the floor or room number of the delivery destination.

[0040] Optionally, after opening the door of the storage bin of the intelligent robot, the method further includes:

[0041] Sensing that the storage bin receives the slot carrier carrying the ordered goods transmitted by the intelligent distribution station, the storage bin sends a receiving response message to the intelligent distribution station indicating successful receipt of the ordered goods; wherein the receiving response message is used to trigger the intelligent distribution station to report a delivery completion message to the intelligent distribution service system;

[0042] Receiving a delivery instruction sent by the intelligent delivery service system according to the delivery completion message;

[0043] In response to the delivery instruction, the ordered goods are delivered according to the delivery information sent by the intelligent delivery service system; wherein the delivery information indicates the floor or room number of the delivery destination, and the delivery information is indicated by the scheduling instruction or the delivery instruction.

[0044] Optionally, the dispatch instruction is issued by the intelligent delivery service system after receiving a delivery request for a delivery order and confirming with the intelligent delivery station that the ordered goods have been stored in the target grid corresponding to the delivery order; wherein the delivery order is a delivery order for the goods stored in the intelligent delivery station to be delivered by an intelligent robot.

[0045] According to a third aspect of the present invention, a method for cooperating between an intelligent distribution station and an intelligent robot is provided, which is applicable to the intelligent distribution station, and the method comprises:

[0046] Unlock the door of the target compartment of the intelligent distribution station, and receive the delivery user to deposit the ordered goods into the target compartment. The target compartment is the compartment that the intelligent distribution service system controls the intelligent distribution station to unlock after the delivery user chooses to open the cabinet;

[0047] Receiving a transmission instruction sent by the intelligent distribution service system; wherein the transmission instruction is sent by the intelligent distribution service system according to a docking response message reported by the intelligent robot, the docking response message indicates that the intelligent robot has arrived at the docking position of the intelligent distribution station indicated by the dispatch instruction sent by the intelligent distribution service system, and the transmission instruction indicates the target grid where the ordered goods corresponding to the delivery order are located;

[0048] When the detection device of the intelligent distribution station senses that the ordered goods have been stored in the target compartment, the ordered goods in the target compartment are transferred to the storage bin of the intelligent robot according to the transfer instruction.

[0049] Optionally, the step of transferring the ordered goods in the target slot to the storage bin of the intelligent robot according to the object transfer instruction includes:

[0050] According to the object transfer instruction, the door at the docking port is opened, and a door opening instruction is sent to the intelligent robot; wherein the door opening instruction is used to trigger the intelligent robot to open the door of the storage bin to receive the ordered goods in the target bin.

[0051] Optionally, after sending the door opening instruction to the intelligent robot, the method further includes:

[0052] Receiving a door opening response message returned by the intelligent robot in response to the door opening instruction, indicating successful door opening;

[0053] Retrieving an empty compartment carrier in the storage bin of the intelligent robot according to the door opening response message;

[0054] After retrieving the empty slot carrier, the slot carrier carrying the ordered goods in the target slot indicated by the object transfer instruction is transferred to the storage bin of the intelligent robot, so that the intelligent robot can complete the delivery of the ordered goods according to the delivery information; wherein the delivery information includes the delivery floor and room number.

[0055] Optionally, after transferring the slot carrier carrying the ordered goods in the target slot indicated by the object transfer instruction to the storage bin of the intelligent robot, the method further includes:

[0056] Receiving a receiving response message sent by the intelligent robot indicating successful receipt of the ordered goods; wherein the receiving response message is sent by the intelligent robot when sensing that the storage bin receives the slot carrier carrying the ordered goods;

[0057] According to the received response message, a delivery completion message is reported to the intelligent delivery service system; wherein, the delivery completion message is used to trigger the intelligent delivery service system to send a delivery instruction to the intelligent robot, and the delivery instruction triggers the intelligent robot to deliver the ordered goods according to the delivery information sent by the intelligent delivery service system.

[0058] According to a fourth aspect of the present invention, a method for cooperating between an intelligent distribution station and an intelligent robot is provided, which is applicable to the intelligent distribution service system, and the method comprises:

[0059] After the delivery user chooses to open the cabinet, the intelligent delivery service system controls the door of the target compartment of the intelligent delivery station to unlock, so that the target compartment of the intelligent delivery station can receive the ordered goods deposited by the delivery user;

[0060] Receive delivery requests;

[0061] In response to the delivery request, an intelligent robot corresponding to the delivery order is assigned to the delivery order indicated by the delivery request, and a dispatch instruction is sent to the assigned intelligent robot to obtain the ordered goods from the intelligent delivery station corresponding to the delivery order; wherein the delivery order is a delivery order for delivering the goods stored in the intelligent delivery station by the intelligent robot;

[0062] According to the docking response message, a transfer instruction is sent to the intelligent distribution station, so that the intelligent distribution station can transfer the ordered goods in the target compartment to the storage bin of the intelligent robot according to the transfer instruction; wherein the transfer instruction indicates the target compartment where the ordered goods corresponding to the delivery order are located; the docking response message is that the intelligent robot receives the scheduling instruction sent by the intelligent distribution service system to pick up the items from the intelligent distribution station, responds to the scheduling instruction, moves to the docking position of the intelligent distribution station, and sends a message indicating readiness to the intelligent distribution service system when it moves to the docking position and completes docking with the docking port of the intelligent distribution station.

[0063] According to a fifth aspect of the present disclosure, an intelligent robot is also provided, comprising a memory and a processor, wherein the memory is used to store a computer program; and the processor is used to execute the computer program to implement the method described in the second aspect of the present disclosure.

[0064] According to the sixth aspect of the present disclosure, there is also provided an intelligent distribution station, comprising a memory and a processor, wherein the memory is used to store a computer program; the processor is used to execute the computer program to implement the method described in the third aspect of the present disclosure.

[0065] According to the seventh aspect of the present disclosure, there is also provided an intelligent delivery service system, comprising a memory and a processor, wherein the memory is used to store a computer program; the processor is used to execute the computer program to implement the method described in the fourth aspect of the present disclosure.

[0066] According to the eighth aspect of the present disclosure, a computer-readable storage medium is also provided, on which a computer program is stored. When the computer program is executed by a processor, the method described in the first aspect, the second aspect, the third aspect or the fourth aspect of the present disclosure is implemented.

[0067] One beneficial effect of the disclosed embodiment is that the intelligent delivery service system allocates a corresponding intelligent robot in response to a delivery request, and dispatches the intelligent robot to an intelligent delivery station where the ordered goods are stored. The intelligent delivery station cooperates with the intelligent robot to transport the ordered goods from the intelligent delivery station to the intelligent robot, so that the intelligent robot can deliver the ordered goods to the user. In the case of reducing direct contact between the deliveryman and the user, the ordered goods are delivered to the user by the intelligent robot, which can not only improve the user experience, but also improve the delivery efficiency of the deliveryman.

[0068] Other features and advantages of the embodiments of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the embodiments of the present disclosure.

[0070] Figure 1 It is a schematic diagram of the composition structure of an intelligent distribution service system to which the method for coordinating an intelligent distribution station and an intelligent robot according to an embodiment can be applied;

[0071] Figure 2 is a flow chart of a method for cooperation between an intelligent distribution station and an intelligent robot according to an embodiment;

[0072] Figure 3 is a flow chart of a method for cooperation between an intelligent distribution station and an intelligent robot according to another embodiment;

[0073] Figure 4 is a flow chart of a method for cooperation between an intelligent distribution station and an intelligent robot according to another embodiment;

[0074] Figure 5 is a flow chart of a method for cooperation between an intelligent distribution station and an intelligent robot according to another embodiment;

[0075] Figure 6 is a block diagram of an intelligent delivery service system according to another embodiment;

[0076] Figure 7 is a schematic diagram of the hardware structure of an intelligent delivery service system according to another embodiment;

[0077] Figure 8 is a block diagram of an intelligent robot according to another embodiment;

[0078] Fig. 9 is a schematic diagram of the hardware structure of an intelligent robot according to another embodiment;

[0079] Fig.10 is a block diagram of a smart distribution station according to another embodiment;

[0080] Fig.11 It is a schematic diagram of the hardware structure of an intelligent distribution station according to another embodiment. DETAILED DESCRIPTION

[0081] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure unless otherwise specifically stated.

[0082] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present disclosure, its application, or uses.

[0083] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0084] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0085] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0086] It should be noted that all actions of obtaining signals, instructions, information or data in the present disclosure are carried out in compliance with the relevant data protection laws and policies of the country where they are located, and with the authorization given by the owner of the corresponding device.

[0087] <Hardware configuration and application scenarios>

[0088] The disclosed embodiments involve a delivery person (i.e., a depositor) who can deposit ordered goods, such as food, goods, etc., through an intelligent delivery station to complete the deposit of the ordered goods. A user (i.e., a recipient) can receive an application scenario in which the ordered goods are delivered by an intelligent robot and taken out from the intelligent delivery station.

[0089] Figure 1 1 is a schematic diagram of the composition structure of an intelligent distribution service system that can be used to implement the method of cooperation between an intelligent distribution station and an intelligent robot in the embodiment of the present disclosure. The intelligent distribution service system can be applied as a whole to the use scenario of intelligent device distribution. Figure 1 As shown, the intelligent delivery service system is represented by a server 1000, and the intelligent devices may include an intelligent delivery station 2000 and an intelligent robot 3000. Among them, the terminal device 4000 is a terminal device used by a delivery user (i.e., a depositor), the terminal device 5000 is a terminal device used by a user (or an ordering user, i.e., a recipient), and the server 1000 is a server corresponding to the platform to which the intelligent delivery station 300 belongs.

[0090] The intelligent distribution station 2000, the intelligent robot 3000, the terminal device 4000 and the terminal device 5000 can be connected to the server 1000 through the same network or different networks to achieve information interaction.

[0091] The intelligent distribution station 2000 is in communication connection with the server 1000, and the server 1000 can send a cabinet opening instruction to the intelligent distribution station 2000 according to the cabinet opening request sent by the terminal device 4000 to complete the storage of the items. The intelligent distribution station 2000 can also open the corresponding compartment according to the character string input by the recipient to allow the recipient to take the items from the compartment. The intelligent distribution station 2000 can also send the ordered goods to the intelligent robot 3000 so that the intelligent robot 3000 can deliver the ordered goods to the room specified by the recipient or the floor where the room is located.

[0092] In some embodiments, the intelligent distribution station 2000 is equipped with a corresponding conveying device so that the ordered goods and the compartments storing the ordered goods can be delivered to the docking port of the intelligent distribution station 2000 together for the intelligent robot 3000 to pick up the items. For the docking port, there can be one docking port for each compartment, one docking port for multiple compartments, or one docking port for all compartments, and there is no special limitation here. Among them, the intelligent distribution station 2000 can be a single storage device as a site, or it can be a site composed of multiple storage devices. The above storage equipment can be a locker, a storage cart, a storage box, etc., and there is no special limitation here.

[0093] The intelligent robot 3000 is provided with one or more storage bins, each of which can store ordered goods. After arriving at the docking port of the intelligent distribution station 2000, the intelligent robot 3000 can receive the stored ordered goods and place the stored ordered goods in the vacant storage bins. The intelligent robot 3000 can deliver after receiving the delivery information of the room indicated by the server 1000 or the floor where the room is located. The intelligent robot 3000 can directly receive the delivery information sent by the server 1000, or the delivery information of the server 1000 can be forwarded by the intelligent distribution station 2000. The intelligent robot 3000 can also deliver after the management personnel in the hotel or business office building enter the received delivery information.

[0094] The terminal device 4000 runs a delivery client for delivery users, which can be a local application or a small program. The ordered goods delivered by the delivery user can be items ordered on the platform to which the smart delivery station 2000 belongs, or items ordered on other platforms and deposited in the smart delivery station 2000.

[0095] The terminal device 5000 runs an ordering client, which can be a local application or a small program. The ordering user can select goods or food and other items through the ordering client and place an order. When placing an order, the delivery method can be selected. If the intelligent robot delivery is selected, the intelligent robot can deliver the goods to the room specified by the ordering user or the floor where the room is located. After the ordering user places an order, the terminal device 5000 will send the information of the ordered goods to the server 1000 corresponding to the platform where the ordering client is located.

[0096] The server 1000 is a business point that provides processing, database, and communication facilities. The server 1000 can be an integral server, a distributed server across multiple computers, a computer data center, a cloud server, or a server cluster deployed in the cloud, etc. The order management and delivery management of the same platform can be managed by the same device in the server cluster, or by different devices in the server cluster, which is not limited here. The server can be of various types, such as but not limited to, a network server, a news server, a mail server, a message server, an advertising server, a file server, an application server, an interactive server, a database server, or a proxy server. In some embodiments, each server can include hardware, software, or an embedded logic component or a combination of two or more such components for executing the appropriate functions supported or implemented by the server. For example, the server is such as a blade server, a cloud server, etc., or it can be a server group consisting of multiple servers, which can include one or more of the above-mentioned types of servers, etc.

[0097] In some embodiments, Figure 1 As shown, the server 1000 may include a processor 1100 , a memory 1200 , an interface device 1300 , and a communication device 1400 .

[0098] The processor 1100 is used to execute a computer program, which can be written in an instruction set of an architecture such as x86, Arm, RISC, MIPS, SSE, etc. The memory 1200 includes, for example, a ROM (read-only memory), a RAM (random access memory), a non-volatile memory such as a hard disk, etc. The interface device 1300 includes, for example, various bus interfaces, such as a serial bus interface (including a USB interface), a parallel bus interface, etc. The communication device 1400 is capable of wired or wireless communication; the communication device 1400 may include, for example, any module for WLAN, GPRS, 3G / 4G / 5G remote communication.

[0099] In some embodiments, the memory 1200 of the server 1000 is used to store a computer program, which is used to control the processor 1100 to operate to implement the method for cooperating between the intelligent distribution station and the intelligent robot according to the embodiment of the present disclosure. A technician can design instructions according to the scheme disclosed in the present invention. How instructions control the processor to operate is well known in the art, so it will not be described in detail here.

[0100] The terminal device 4000 may be a mobile phone, a tablet computer, or other portable devices, etc. The terminal device 5000 may be a mobile phone, a tablet computer, a PC, etc., which is not limited here.

[0101] In some embodiments, Figure 1 As shown, the terminal device 4000 may include a processor 2100, a memory 2200, an interface device 2300, a communication device 2400, a display device 2500, an input device 2600, a speaker 2700, a microphone 2800, and the like.

[0102] The processor 2100 is used to execute a computer program, which can be written in an instruction set of an architecture such as x86, Arm, RISC, MIPS, SSE, etc. The memory 2200 includes, for example, a ROM (read-only memory), a RAM (random access memory), a non-volatile memory such as a hard disk, etc. The interface device 2300 includes, for example, a USB interface, a headphone interface, etc. The communication device 2400 is capable of wired or wireless communication, and the communication device 2400 may include at least one short-range communication module, for example, any module for short-range wireless communication based on short-range wireless communication protocols such as Hilink protocol, WiFi (IEEE 802.11 protocol), Mesh, Bluetooth, ZigBee, Thread, Z-Wave, NFC, UWB, LiFi, etc. The communication device 2400 may also include a remote communication module, for example, any module for WLAN, GPRS, 2G / 3G / 4G / 5G remote communication. The display device 2500 is, for example, a liquid crystal display, a touch display, etc. The input device 2600 may include, for example, a touch screen, a keyboard, etc. The speaker 2700 is used to output an audio signal. Microphone 2800 is used to collect audio signals.

[0103] In some embodiments, the memory 2200 of the terminal device 4000 is used to store a computer program, which is used to control the processor 2100 to operate so as to execute the method of cooperation between the intelligent distribution station and the intelligent robot according to the embodiment of the present disclosure.

[0104] The terminal device 5000 and the terminal device 4000 may have similar hardware structures, which will not be described in detail here.

[0105] In some embodiments, the intelligent distribution station 2000 takes a single locker as an example, and the single locker includes multiple locker openings, each of which is provided with a lock. Figure 1 As shown, the intelligent distribution station 2000 is also provided with a processor 2100, a memory 2200, an interface device 2300, a communication device 2400, etc. The intelligent distribution station 2000 can be connected to the server 1000 for communication, so as to open the corresponding cabinet opening according to the cabinet opening instruction issued by the server 1000, so as to allow the depositor to deposit items, etc.

[0106] In some embodiments, Figure 1 As shown, the intelligent robot 3000 is also provided with a processor 3100, a memory 3200, an interface device 3300, a communication device 3400, etc. The intelligent distribution station 3000 can be respectively connected to the server 1000 and the intelligent distribution station 3000 for communication, so as to move to the corresponding intelligent distribution station 3000 according to the dispatching instruction issued by the server 1000, so as to take out the ordered goods of the intelligent distribution station 3000 for distribution, etc.

[0107] It should be understood that although Figure 1 Only one server 1000, one intelligent delivery station 2000, one intelligent robot 3000, one terminal device 4000, and one terminal device 5000 are shown, but this does not mean that their respective quantities are limited. The intelligent delivery service system can include multiple servers, and the intelligent devices can include multiple intelligent delivery stations and multiple intelligent robots.

[0108] <Method Example 1>

[0109] Figure 2 The flowchart of the method for cooperating between an intelligent distribution station and an intelligent robot according to some embodiments is shown. The method of this embodiment involves an intelligent distribution service system, an intelligent robot and an intelligent distribution station. The intelligent distribution service system is composed of, for example, Figure 1 The server 1000 in is implemented, and the intelligent robot is, for example, Figure 1 The intelligent robot 3000 in the intelligent distribution station is, for example, Figure 1 The smart distribution station 2000.

[0110] like Figure 2 As shown, the cooperation method between the intelligent distribution station and the intelligent robot in this embodiment may include steps S210 to S270:

[0111] Step S210: The intelligent delivery service system receives a delivery request.

[0112] In this embodiment, the delivery request is triggered by the intelligent delivery service system according to the delivery user or the ordering user selecting the delivery method of the intelligent robot. That is, the ordering user can select the delivery request delivered by the intelligent robot in the ordering client, or the delivery user can select the delivery order of the ordering user in the delivery client and select the delivery request delivered by the intelligent robot. After the delivery request is sent by the terminal device of the delivery user or the ordering user, the intelligent delivery service system can receive the above delivery request.

[0113] Step S220, the intelligent delivery service system responds to the delivery request, allocates an intelligent robot corresponding to the delivery order for the delivery order indicated by the delivery request, and sends a dispatch instruction to the allocated intelligent robot to obtain the ordered goods from the intelligent delivery station corresponding to the delivery order. The delivery order is a delivery order for the goods stored in the intelligent delivery station to be delivered by the intelligent robot.

[0114] In this embodiment, after receiving the delivery request, the intelligent delivery service system can determine the intelligent robot corresponding to the delivery location in the delivery order according to the delivery request, and the intelligent robot here can be each intelligent robot active in the delivery location. The intelligent delivery service system can determine the more matching intelligent robot according to the delivery tasks, status, and work routes of each intelligent robot, and assign the delivery order indicated by the delivery request to the more matching intelligent robot.

[0115] In some examples, the delivery tasks of the intelligent robot may include other delivery tasks issued to the intelligent robot by the intelligent delivery service system and other tasks input to the intelligent robot by the managers in the venue. Other tasks may be tasks for navigating other customers, or for delivering or picking up items for the managers, which are not specifically limited here. The states of the intelligent robot can be divided into a fully loaded state, a not fully loaded state, and an empty state. The fully loaded state indicates that all storage bins of the intelligent robot contain items, the not fully loaded state indicates that at least one storage bin of the intelligent robot does not contain items, and the empty state indicates that all storage bins of the intelligent robot do not contain items. For example, the intelligent delivery service system can determine the intelligent robots that are not fully loaded and empty from among the various intelligent robots, and then determine the intelligent robot with the least delivery tasks from among these intelligent robots as a more matched intelligent robot, which can effectively improve the utilization rate of the intelligent robot's delivery resources.

[0116] In some examples, the intelligent delivery service system sends a dispatch instruction to the assigned intelligent robot to obtain the ordered goods from the intelligent delivery station corresponding to the delivery order. After receiving the dispatch instruction, the intelligent robot can add a delivery task to pick up the ordered goods from the intelligent delivery station corresponding to the delivery order.

[0117] In some examples, after the intelligent distribution service system determines the assigned intelligent robot, the cooperation method between the intelligent distribution station and the intelligent robot may also include the following steps: the intelligent distribution service system adjusts the working order of the intelligent robot according to the distribution tasks that have been issued by the assigned intelligent robot and the distribution tasks corresponding to the dispatching instructions. For example: when the rooms indicated by the distribution tasks that have been issued and the distribution tasks corresponding to the dispatching instructions are the same or on the same floor, and the intelligent robot has not reached the process of entering the elevator, the intelligent distribution service system can set the intelligent robot to return to the intelligent distribution station to take out the order goods indicated by the dispatching instructions, and send them out together with the order goods corresponding to the issued distribution tasks. In other words, the intelligent distribution service system can optimize the working order of the intelligent robot, which can effectively improve the distribution efficiency of the intelligent robot.

[0118] In some embodiments, the delivery user can unlock the door of the target compartment of the intelligent delivery station through the delivery client to deposit the ordered goods into the target compartment, that is, the target compartment can be the compartment that the intelligent delivery service system controls the intelligent delivery station to unlock after the delivery user chooses to open the cabinet on the delivery client. In one example, the intelligent delivery station can be provided with a detection device to sense whether the ordered goods are stored in each compartment to ensure whether the ordered goods are effectively deposited in the target compartment. In addition, the detection device can be a pressure sensor, an infrared sensor, or a camera, etc., which is not specifically limited here. For example, in order to ensure that the ordered goods can be accurately delivered to the ordering user, before the intelligent delivery service system sends a dispatch instruction to the assigned intelligent robot, the cooperation method between the intelligent delivery station and the intelligent robot can also include the following steps: the intelligent delivery station can send an item detection request for the target compartment to the intelligent delivery station corresponding to the delivery request. According to the item detection request, the intelligent delivery station detects whether the ordered goods have been stored in the target compartment indicated by the item detection request, and returns the detection result to the intelligent delivery service system. The intelligent delivery service system receives the test results returned by the intelligent delivery station, and when the test results indicate that the ordered goods have been stored in the target compartment, confirms that the delivery request is valid and allocates the intelligent robot corresponding to the delivery order to the delivery order.

[0119] In some examples, when the detection result shows that the target slot has the ordered goods stored, the intelligent delivery service system assigns an intelligent robot to the delivery order. When the detection result shows that the target slot has not the ordered goods stored, a prompt message indicating that the ordered goods corresponding to the delivery order have not been stored is fed back to the terminal device of the delivery user, so as to prompt the delivery user to deposit the goods again. In other words, before dispatching the intelligent robot, detecting the target slot can effectively reduce the occurrence of the intelligent robot delivering when the ordered goods are not stored, so as to improve the delivery efficiency of the intelligent robot.

[0120] Step S230: The intelligent robot receives a dispatch instruction sent by the intelligent delivery service system to pick up items from the intelligent delivery station.

[0121] Step S240: The intelligent robot moves to the docking position of the intelligent distribution station in response to the dispatch instruction.

[0122] In some examples, the docking position of the intelligent delivery station corresponds to the docking port of the above-mentioned intelligent delivery station, that is, when the intelligent robot moves to the docking position, it can take out the ordered goods from the docking port of the intelligent delivery station.

[0123] Step S250, when the intelligent robot moves to the docking position and completes docking with the docking port of the intelligent delivery station, it sends a docking response message indicating that it is ready to be docked to the intelligent delivery service system.

[0124] In some examples, the intelligent robot can be equipped with a sensing device, which can sense that the intelligent robot has moved to the docking position and sense whether the intelligent robot has completed docking with the docking port. The sensing device can feedback the detection result of successful docking to the intelligent robot after the intelligent robot and the docking port are docked. The intelligent robot can send a docking response message through the intelligent distribution station or directly to the intelligent distribution service system. In some examples, the docking response message includes information on the completion of the docking of the intelligent robot with the intelligent distribution station and whether the intelligent robot has a state in which other items can be stored, so that the intelligent distribution service system can determine whether the intelligent robot has the conditions to receive the ordered goods after receiving the docking response message, thereby reducing the waste of the distribution resources of the intelligent robot. Among them, the sensing device of the intelligent robot can be a camera, a proximity switch or an infrared sensor of the intelligent robot, etc., which is not specifically limited here.

[0125] Step S260: the intelligent delivery service system sends a delivery instruction to the intelligent delivery station according to the docking response message, wherein the delivery instruction indicates the target slot where the ordered goods corresponding to the delivery order are located.

[0126] In some embodiments, the intelligent delivery service system will parse the docking response message, and after determining that the docking between the intelligent robot and the intelligent delivery station is complete, it will first send a transfer instruction to the intelligent delivery station, so that the intelligent delivery station will transport the ordered goods to the docking port of the intelligent delivery station through the above-mentioned conveying device.

[0127] Step S270: The intelligent distribution station transfers the ordered goods in the target compartment to the storage bin of the intelligent robot according to the transfer instruction.

[0128] In some embodiments, the smart delivery station cooperates with the smart robot to transfer the ordered goods at the docking port to the storage warehouse of the smart robot.

[0129] In some embodiments, the smart delivery station in step S270 transfers the ordered goods in the target compartment to the storage bin of the smart robot according to the object transfer instruction, and may further include the following steps: the smart delivery station opens the door of the smart delivery station at the docking port according to the object transfer instruction, and sends a door opening instruction to the smart robot; and the smart robot opens the door of the storage bin of the smart robot in response to the door opening instruction to receive the ordered goods in the target compartment transferred by the smart delivery station.

[0130] In some embodiments, the intelligent distribution station can be connected to the intelligent robot in communication, so that the intelligent distribution station can directly control the intelligent robot. After receiving the object transfer instruction from the intelligent distribution service system, the intelligent distribution station controls the door at the docking port of the intelligent distribution station to open. At the same time, the intelligent distribution station controls the intelligent robot to open the door of the storage warehouse, so that the intelligent distribution station can deliver the ordered goods at the docking port to the storage warehouse. The pre-set object transfer program between the intelligent distribution station and the intelligent robot allows the intelligent distribution station and the intelligent robot to directly transfer objects, thereby reducing the occupation of computing resources of the intelligent distribution service system.

[0131] In some embodiments, after the intelligent robot opens the door of the storage warehouse, the cooperation method between the intelligent delivery station and the intelligent robot may further include the following steps: the intelligent robot sends a door opening response message to the intelligent delivery station indicating that the door is successfully opened; the intelligent delivery station retrieves the empty compartment carrier from the storage warehouse of the intelligent robot based on the door opening response message; after retrieving the empty compartment carrier, the intelligent delivery station transfers the compartment carrier carrying the ordered goods in the target compartment indicated by the instruction to the storage warehouse of the intelligent robot; when the intelligent robot senses that the storage warehouse has received the compartment carrier carrying the ordered goods, it sends a reception response message to the intelligent delivery station indicating that the ordered goods are successfully received; and, the intelligent delivery station reports a transfer completion message to the intelligent delivery service system based on the reception response message.

[0132] In some examples, a transmission channel for the movement of the grid carrier is provided in the intelligent distribution station. When the intelligent robot does not store the ordered goods, an empty grid carrier is placed in its storage bin. When the intelligent robot and the intelligent distribution station are docked, the grid carrier located in the storage bin of the intelligent robot can be moved to the docking port of the intelligent distribution station under the control of the intelligent robot, and the intelligent distribution station can control the grid carrier moved to the docking port to move to the designated target grid through a certain transmission channel. At the same time, the intelligent distribution station controls the grid carrier carrying the ordered goods in the target grid to move from another transmission channel to the docking port, and the grid carrier carrying the ordered goods can be moved to the storage bin of the intelligent robot. Then the intelligent robot can sense that the storage bin receives the grid carrier carrying the ordered goods, and the intelligent robot can send a receiving response message to the intelligent distribution station indicating the successful reception of the ordered goods. Subsequently, the intelligent distribution station reports the completion message of the transfer to the intelligent distribution service system according to the receiving response message, so that the intelligent robot can deliver the ordered goods under the instruction of the intelligent distribution service system.

[0133] In some examples, each slot in the intelligent robot and the intelligent distribution station corresponds to a slot carrier. In one example, the slot carrier can be a small car placed in the slot, and a corresponding motor is provided in the small car to drive the wheels of the small car to move in the storage bin of the intelligent robot or the intelligent distribution station, so that the slot carrier carrying the ordered goods can be moved from the slot of the intelligent distribution station to the storage bin of the intelligent robot, or the empty slot carrier can be moved from the storage bin of the intelligent robot to the slot of the intelligent distribution, so as to reduce the occurrence of scattering or damage of the ordered goods in the process of being directly delivered to the intelligent robot, improve the delivery quality, and improve the experience of the ordering users.

[0134] In some examples, when multiple intelligent robots receive ordered goods at the corresponding docking ports of the same intelligent distribution station, the multiple intelligent robots can respectively feedback the receipt response messages of the ordered goods to the intelligent distribution station. The intelligent distribution station then packages the receipt response messages sent by the multiple intelligent robots and reports the delivery completion information to the intelligent distribution service system, so as to reduce the waste of computing resources of the intelligent distribution service system.

[0135] In some embodiments, after the intelligent delivery station reports the delivery completion message to the intelligent delivery service system, the following steps are also included: the intelligent delivery service system sends a delivery instruction to the intelligent robot according to the delivery completion message. The intelligent robot responds to the delivery instruction and delivers the ordered goods according to the delivery information sent by the intelligent delivery service system; wherein the delivery information indicates the floor or room number of the delivery destination, and the delivery information is indicated by the dispatch instruction or the delivery instruction.

[0136] In some examples, after the intelligent delivery service system sends a delivery instruction to the intelligent robot, the intelligent robot delivers the ordered goods to the floor or room number indicated by the delivery user or the ordering user according to the delivery information sent by the intelligent delivery service system. In other words, the intelligent delivery station plays the role of a transfer station. When it is inconvenient for the ordering user to pick up the goods, the intelligent delivery station can pass the ordered goods to the intelligent robot, so that the intelligent robot can deliver the goods to the ordering user's door-to-door, thereby improving the user experience.

[0137] <Method Example 2>

[0138] Figure 3 The following is a schematic diagram of the interaction process of the intelligent distribution station and the intelligent robot according to some embodiments of the present invention. Figure 1 The intelligent robot is used as the execution subject to illustrate the cooperation method between the intelligent distribution station and the intelligent robot of this embodiment.

[0139] like Figure 3 As shown, the cooperation method between the intelligent distribution station and the intelligent robot may include steps S310 to S350:

[0140] Step S310, receiving a dispatch instruction for picking up items from an intelligent distribution station sent by the intelligent distribution service system.

[0141] Step S320, in response to the dispatch instruction, move to the docking position of the smart delivery station according to the navigation path corresponding to the smart delivery station indicated by the dispatch instruction.

[0142] Step S330, when the intelligent robot arrives at the docking position and completes the docking with the docking port of the intelligent distribution station, a docking response message indicating readiness is sent to the intelligent distribution service system; wherein the docking response message is used to trigger the intelligent distribution service system to send a material transfer instruction to the intelligent distribution station, the material transfer instruction indicates the target grid where the order goods to be picked up corresponding to the dispatch instruction are located, and the material transfer instruction is used to trigger the intelligent distribution station to open the warehouse door of the intelligent distribution station at the docking port, and send a door opening instruction to the intelligent robot.

[0143] Step S340, receiving the door opening instruction sent by the smart distribution station.

[0144] Step S350, in response to the door opening instruction, opens the door of the storage bin of the intelligent robot to receive the ordered goods corresponding to the dispatching instruction transmitted by the intelligent distribution station.

[0145] In some embodiments, after the intelligent robot opens the door of the storage warehouse, the cooperation method between the intelligent delivery station and the intelligent robot may also include the following steps: sending a door opening response message to the intelligent delivery station indicating that the door is successfully opened; wherein the door opening response message is used to trigger the intelligent delivery station to retrieve the empty compartment carrier from the storage warehouse of the intelligent robot, and transfer the compartment carrier carrying the ordered goods in the target compartment to the storage warehouse of the intelligent robot; when it is sensed that the storage warehouse body has received the compartment carrier carrying the ordered goods, the ordered goods are delivered according to the delivery information sent by the intelligent delivery service system, wherein the delivery information indicates the floor or room number of the delivery destination.

[0146] In some embodiments, after step S350, the storage warehouse senses that it has received a slot carrier carrying ordered goods transmitted by the intelligent distribution station, and sends a receiving response message to the intelligent distribution station indicating successful receipt of the ordered goods; wherein the receiving response message is used to trigger the intelligent distribution station to report a delivery completion message to the intelligent distribution service system. The delivery instruction sent by the intelligent distribution service system according to the delivery completion message is received. In response to the delivery instruction, the ordered goods are delivered according to the delivery information sent by the intelligent distribution service system; wherein the delivery information indicates the floor or room number of the delivery destination, and the delivery information is indicated by the dispatch instruction or the delivery instruction.

[0147] In some embodiments, the dispatch instruction is issued by the intelligent delivery service system after receiving a delivery request for a delivery order and confirming with the intelligent delivery station that the ordered goods have been stored in the target grid corresponding to the delivery order; wherein the delivery order is a delivery order for the goods stored in the intelligent delivery station to be delivered by intelligent robots.

[0148] according to Figure 3 The cooperation method between the intelligent distribution station and the intelligent robot shown in the figure can receive the ordered goods sent by the intelligent distribution station and deliver the ordered goods to the designated floor or room number, so that the intelligent robot can deliver the goods to the ordering user at the door, thereby improving the experience of the ordering user.

[0149] <Method Example 3>

[0150] Figure 4 The following is a schematic diagram of the interaction process of the intelligent distribution station and the intelligent robot according to some embodiments of the present invention. Figure 1 The intelligent distribution station is taken as the execution entity to illustrate the cooperation method between the intelligent distribution station and the intelligent robot of this embodiment.

[0151] like Figure 4 As shown, the cooperation method between the intelligent distribution station and the intelligent robot may include steps S410 to S450:

[0152] Step S410, receiving the object transfer instruction sent by the intelligent distribution service system; wherein, the object transfer instruction is sent by the intelligent distribution service system according to the docking response message reported by the intelligent robot, the docking response message indicates that the intelligent robot has arrived at the docking position of the intelligent distribution station indicated by the dispatch instruction sent by the intelligent distribution service system, and the object transfer instruction indicates the target grid where the order goods corresponding to the delivery order are located.

[0153] Step S420: According to the object transfer instruction, the ordered goods in the target compartment are transferred to the storage bin of the intelligent robot.

[0154] In some embodiments, step S420 specifically includes: opening the warehouse door at the docking port according to the object transfer instruction, and sending a door opening instruction to the intelligent robot; wherein the door opening instruction is used to trigger the intelligent robot to open the warehouse door of the storage warehouse to receive the ordered goods in the target compartment of the transfer.

[0155] In some embodiments, after sending the door opening instruction to the intelligent robot, the following steps are also included:

[0156] Step S430, receiving a door opening response message returned by the intelligent robot in response to the door opening command, indicating that the door is successfully opened.

[0157] Step S440, based on the door opening response message, retrieve the empty compartment carrier in the storage bin of the intelligent robot.

[0158] Step S450, after retrieving the empty slot carrier, the slot carrier carrying the ordered goods in the target slot indicated by the transfer instruction is transferred to the storage bin of the intelligent robot, so that the intelligent robot can complete the delivery of the ordered goods according to the delivery information; wherein the delivery information includes the delivery floor and room number.

[0159] In some embodiments, step S450 also includes the following: receiving a receiving response message sent by the intelligent robot indicating successful receipt of the ordered goods; wherein the receiving response message is sent by the intelligent robot when sensing that the storage bin receives a slot carrier carrying the ordered goods. According to the receiving response message, reporting a delivery completion message to the intelligent delivery service system; wherein the delivery completion message is used to trigger the intelligent delivery service system to send a delivery instruction to the intelligent robot, and the delivery instruction triggers the intelligent robot to deliver the ordered goods according to the delivery information sent by the intelligent delivery service system.

[0160] according to Figure 4The method of cooperation between the intelligent distribution station and the intelligent robot shown in the figure is that the intelligent distribution station can cooperate with the intelligent robot to deliver the ordered goods from the intelligent distribution station to the intelligent robot, so as to realize the intelligent distribution of the ordered goods by the intelligent robot. In this way, the ordered goods can be delivered to the user by the intelligent robot while reducing the direct contact between the delivery personnel and the user, which can reduce the direct contact between the ordering user and the delivery user.

[0161] <Method Example 4>

[0162] Figure 5 The following is a schematic diagram of the interaction process of the intelligent distribution station and the intelligent robot according to some embodiments of the present invention. Figure 1 The intelligent distribution service system is used as the execution entity to illustrate the cooperation method between the intelligent distribution station and the intelligent robot of this embodiment.

[0163] like Figure 5 As shown, the cooperation method between the intelligent distribution station and the intelligent robot may include steps S510 to S530:

[0164] Step S510, receiving a delivery request.

[0165] Step S520, in response to the delivery request, assigning an intelligent robot corresponding to the delivery order to the delivery order indicated by the delivery request, and sending a dispatch instruction to the assigned intelligent robot to obtain the ordered goods from the intelligent delivery station corresponding to the delivery order; wherein, the delivery order is an order for delivering the goods stored in the intelligent delivery station by the intelligent robot.

[0166] Step S530, according to the docking response message, sending a transfer instruction to the intelligent delivery station, so that the intelligent delivery station can transfer the ordered goods in the target compartment to the storage bin of the intelligent robot according to the transfer instruction; wherein the transfer instruction indicates the target compartment where the ordered goods corresponding to the delivery order are located; the docking response message is that the intelligent robot receives the scheduling instruction sent by the intelligent delivery service system to pick up the items from the intelligent delivery station, responds to the scheduling instruction, moves to the docking position of the intelligent delivery station, and sends a message indicating readiness to the intelligent delivery service system when it moves to the docking position and completes docking with the docking port of the intelligent delivery station.

[0167] according to Figure 5 The method of cooperation between the intelligent delivery station and the intelligent robot shown is that the intelligent robot can cooperate with the intelligent delivery station to deliver the ordered goods from the intelligent delivery station to the intelligent robot, so as to realize the intelligent delivery of the ordered goods by the intelligent robot. In this way, the ordered goods can be delivered to the user by the intelligent robot while reducing the direct contact between the delivery personnel and the user, thereby reducing the direct contact between the ordering user and the delivery user.

[0168] In some embodiments, the intelligent delivery service system responds to the delivery request in step S520 and before allocating the intelligent robot corresponding to the delivery order to the delivery order indicated by the delivery request, it can detect whether the ordered goods have been stored in the target grid, and if it detects that the target grid does not store the goods, it will not respond to the delivery order indicated by the delivery request, so as to avoid wasting delivery resources due to invalid scheduling of robots.

[0169] In these embodiments, the method may further include the following steps before step S520: sending an item detection request for a target grid to the intelligent distribution station corresponding to the delivery request, wherein the item detection request is used to trigger the intelligent distribution station to detect whether the ordered goods have been stored in the target grid indicated by the item detection request, and return the detection result to the intelligent distribution service system; and, receiving the detection result returned by the intelligent distribution station, and if the detection result indicates that the ordered goods have been stored in the target grid, confirming that the delivery request is valid, and allocating an intelligent robot corresponding to the delivery order to the delivery order.

[0170] <Equipment Example 1>

[0171] Figure 6 FIG. 1 is a block diagram of a smart delivery service system according to an embodiment. Figure 4 As shown, the intelligent distribution service system 600 may include a request receiving module 610 , a scheduling module 620 and a goods transfer module 630 .

[0172] The request receiving module 610 is used to receive a delivery request.

[0173] The scheduling module 620 is used to respond to the delivery request, allocate an intelligent robot corresponding to the delivery order for the delivery order indicated by the delivery request, and send a scheduling instruction to the allocated intelligent robot to obtain the ordered goods from the intelligent delivery station corresponding to the delivery order; wherein the delivery order is a delivery order for the goods stored in the intelligent delivery station to be delivered by the intelligent robot;

[0174] The object transfer module 630 is used to send an object transfer instruction to the intelligent distribution station according to the docking response message, so that the intelligent distribution station can transfer the ordered goods in the target compartment to the storage bin of the intelligent robot according to the object transfer instruction; wherein the object transfer instruction indicates the target compartment where the ordered goods corresponding to the delivery order are located; the docking response message is a message indicating that the intelligent robot receives a dispatch instruction sent by the intelligent distribution service system to pick up items from the intelligent distribution station, responds to the dispatch instruction, moves to the docking position of the intelligent distribution station, and sends a message indicating readiness to the intelligent distribution service system after moving to the docking position and completing docking with the docking port of the intelligent distribution station.

[0175] The intelligent delivery service system 600 may be Figure 1 Server 1000 in.

[0176] like Figure 7 As shown, the intelligent delivery service system 600 may include a memory 720 and a processor 710, the memory 720 stores a computer program, and the processor 710 is used to execute the cooperation method between the intelligent delivery station and the intelligent robot according to any method embodiment under the control of the computer program.

[0177] <Equipment Example 2>

[0178] The disclosed embodiment also provides an intelligent robot, such as Figure 8 As shown, the intelligent robot 3000 may include a scheduling instruction receiving module 810, a mobile docking module 820, an information sending module 830, a door opening instruction receiving module 840 and a warehouse door control module 850.

[0179] The dispatch instruction receiving module 810 is used to receive a dispatch instruction sent by the intelligent distribution service system to pick up items from the intelligent distribution station.

[0180] The mobile docking module 820 is used to respond to the dispatch instruction and move to the docking position of the smart distribution station according to the navigation path corresponding to the smart distribution station indicated by the dispatch instruction.

[0181] The information sending module 830 is used to send a docking response message indicating readiness to the intelligent distribution service system when the intelligent robot arrives at the docking position and completes docking with the docking port of the intelligent distribution station; wherein the docking response message is used to trigger the intelligent distribution service system to send a material transfer instruction to the intelligent distribution station, and the material transfer instruction indicates the target grid where the order goods to be picked up corresponding to the dispatch instruction are located, and the material transfer instruction is used to trigger the intelligent distribution station to open the warehouse door of the intelligent distribution station at the docking port, and send a door opening instruction to the intelligent robot.

[0182] The door opening instruction receiving module 840 is used to receive the door opening instruction sent by the intelligent distribution station.

[0183] The door control module 850 is used to open the door of the storage warehouse of the intelligent robot in response to the door opening instruction to receive the order goods corresponding to the scheduling instruction transmitted by the intelligent distribution station.

[0184] Optionally, the intelligent robot 3000 further includes a cargo delivery module, which is used to send a door opening response message to the intelligent delivery station indicating successful door opening; wherein the door opening response message is used to trigger the intelligent delivery station to retrieve an empty slot carrier from the storage bin of the intelligent robot, and transfer the slot carrier carrying the ordered goods in the target slot to the storage bin of the intelligent robot. When it is sensed that the storage bin receives the slot carrier carrying the ordered goods, the ordered goods are delivered according to the delivery information sent by the intelligent delivery service system, wherein the delivery information indicates the floor or room number of the delivery destination.

[0185] Optionally, the goods delivery module is further used to sense that the storage warehouse receives the slot carrier carrying the ordered goods transmitted by the intelligent delivery station, and sends a receiving response message to the intelligent delivery station indicating that the ordered goods are successfully received; wherein the receiving response message is used to trigger the intelligent delivery station to report the delivery completion message to the intelligent delivery service system. Receive the delivery instruction sent by the intelligent delivery service system according to the delivery completion message. In response to the delivery instruction, the ordered goods are delivered according to the delivery information sent by the intelligent delivery service system; wherein the delivery information indicates the floor or room number of the delivery destination, and the delivery information is indicated by the scheduling instruction or the delivery instruction.

[0186] like Fig. 9 As shown, the intelligent robot 3000 may include a memory 920 and a processor 910, the memory 920 stores a computer program, and the processor 910 is used to execute the cooperation method between the intelligent distribution station and the intelligent robot according to any method embodiment under the control of the computer program.

[0187] <Equipment Example 3>

[0188] The present disclosure also provides a smart distribution station, such as Fig.10 As shown, the intelligent distribution station 2000 may include a cargo transfer instruction receiving module 1010 and a cargo transfer module 1020 .

[0189] The object transfer instruction receiving module 1010 is used to receive the object transfer instruction sent by the intelligent distribution service system; wherein, the object transfer instruction is sent by the intelligent distribution service system based on the docking response message reported by the intelligent robot, and the docking response message indicates that the intelligent robot has arrived at the docking position of the intelligent distribution station indicated by the dispatching instruction sent by the intelligent distribution service system, and the object transfer instruction indicates the target grid where the order goods corresponding to the delivery order are located.

[0190] The cargo transfer module 1020 is used to transfer the ordered cargo in the target compartment to the storage bin of the intelligent robot according to the cargo transfer instruction.

[0191] Optionally, the cargo transfer module 1020 is also used to open the warehouse door at the docking port according to the cargo transfer instruction, and send a door opening instruction to the intelligent robot; wherein the door opening instruction is used to trigger the intelligent robot to open the warehouse door of the storage warehouse to receive the ordered cargo in the target compartment.

[0192] Optionally, the intelligent distribution station 2000 further includes a vehicle receiving module, which is used to receive a door opening response message returned by the intelligent robot in response to the door opening command, indicating that the door is successfully opened. According to the door opening response message, the empty compartment carrier in the storage bin of the intelligent robot is retrieved. After the empty compartment carrier is retrieved, the compartment carrier carrying the ordered goods in the target compartment indicated by the transfer instruction is transferred to the storage bin of the intelligent robot, so that the intelligent robot completes the delivery of the ordered goods according to the delivery information; wherein the delivery information includes the floor and room number of the delivery.

[0193] Optionally, the vehicle receiving module is further used to receive a receiving response message sent by the intelligent robot indicating successful receipt of the ordered goods; wherein the receiving response message is sent by the intelligent robot when sensing that the storage bin receives the slot carrier carrying the ordered goods. According to the receiving response message, a delivery completion message is reported to the intelligent delivery service system; wherein the delivery completion message is used to trigger the intelligent delivery service system to send a delivery instruction to the intelligent robot, and the delivery instruction triggers the intelligent robot to deliver the ordered goods according to the delivery information sent by the intelligent delivery service system.

[0194] like Fig.11 As shown, the intelligent distribution station 2000 may include a memory 1120 and a processor 1110, the memory 1120 stores a computer program, and the processor 1110 is used to execute the cooperation method between the intelligent distribution station and the intelligent robot according to any method embodiment under the control of the computer program.

[0195] The present disclosure also provides an embodiment of a computer storage medium, on which a computer program is stored. When the computer program is executed by a processor, the method for cooperating between an intelligent distribution station and an intelligent robot according to any embodiment of the present disclosure is implemented.

[0196] The present invention may be a system, a method and / or a computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for causing a processor to implement various aspects of the present invention.

[0197] A computer-readable storage medium may be a tangible device that can hold and store instructions used by an instruction execution device. A computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples of computer-readable storage media (a non-exhaustive list) include: 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, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination of the foregoing. As used herein, a computer-readable storage medium is not to be interpreted as a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through a wire.

[0198] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing / processing device.

[0199] The computer program instructions for performing the operation of the present invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages, such as Smalltalk, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. Computer-readable program instructions may be executed entirely on a user's computer, partially on a user's computer, as an independent software package, partially on a user's computer, partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., using an Internet service provider to connect via the Internet). In some embodiments, an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), may be personalized by utilizing the state information of the computer-readable program instructions, and the electronic circuit may execute the computer-readable program instructions, thereby realizing various aspects of the present invention.

[0200] Various aspects of the present invention are described herein with reference to the flow charts and / or block diagrams of the methods, devices (systems) and computer program products according to embodiments of the present invention. It should be understood that each box of the flow chart and / or block diagram and the combination of each box in the flow chart and / or block diagram can be implemented by computer-readable program instructions.

[0201] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processor of the computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0202] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operating steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0203] The flow charts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the systems, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a part of a module, a program segment or an instruction, and a part of the module, a program segment or an instruction contains one or more executable instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. It is well known to those skilled in the art that it is equivalent to implement it by hardware, implement it by software, and implement it by combining software and hardware.

[0204] Embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the marketplace, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present invention is defined by the appended claims.

Claims

1. A method for cooperating between an intelligent distribution station and an intelligent robot, characterized in that: include: Unlock the door of the target compartment of the intelligent distribution station, so that the delivery user can deposit the ordered goods into the target compartment. The target compartment is the compartment unlocked by the intelligent distribution station controlled by the intelligent distribution service system after the delivery user chooses to open the cabinet. The ordered goods are the ordered goods that the ordering user selects to be delivered by the intelligent robot to the room designated by the ordering user or the floor where the room is located after the ordering user selects the intelligent robot delivery method after purchasing goods or meals through the ordering client; The intelligent delivery service system, in response to the delivery request, allocates an intelligent robot corresponding to the delivery order to the delivery order, and sends a dispatch instruction to the allocated intelligent robot to obtain the ordered goods from the intelligent delivery station corresponding to the delivery order; wherein the delivery order is a delivery order for delivering the goods stored in the intelligent delivery station by the intelligent robot; The intelligent robot receives the dispatch instruction sent by the intelligent delivery service system to pick up items from the intelligent delivery station; The intelligent robot moves to the docking position of the intelligent distribution station in response to the dispatch instruction; When the intelligent robot moves to the docking position and completes docking with the docking port of the intelligent delivery station, the intelligent delivery service system sends a transfer instruction to the intelligent delivery station; wherein the transfer instruction indicates the target slot where the ordered goods corresponding to the delivery order are located; When the intelligent distribution station detection device senses that the ordered goods have been stored in the target compartment, the intelligent distribution station transfers the ordered goods in the target compartment to the storage bin of the intelligent robot according to the object transfer instruction.

2. The method according to claim 1, characterized in that: The intelligent distribution station transfers the ordered goods in the target slot to the storage bin of the intelligent robot according to the object transfer instruction, including: The intelligent distribution station opens the door of the intelligent distribution station at the docking port according to the object transfer instruction, and sends a door opening instruction to the intelligent robot; The intelligent robot responds to the door opening instruction and opens the door of the storage bin of the intelligent robot to receive the ordered goods in the target bin transmitted by the intelligent distribution station.

3. The method according to claim 1, characterized in that: Before the intelligent delivery service system responds to the delivery request and allocates an intelligent robot corresponding to the delivery order indicated by the delivery request, the method further includes: The intelligent distribution service system sends an item detection request for the target slot to the intelligent distribution station corresponding to the distribution request; The intelligent distribution station detects, according to the item detection request, whether the ordered goods have been stored in the target slot indicated by the item detection request, and returns the detection result to the intelligent distribution service system; The intelligent delivery service system receives the detection result returned by the intelligent delivery station, and when the detection result indicates that the ordered goods have been stored in the target compartment, confirms that the delivery request is valid and allocates an intelligent robot corresponding to the delivery order to the delivery order.

4. The method according to any one of claims 1 to 3, characterized in that After the intelligent robot opens the door of the storage bin, the method further includes: The intelligent robot sends a door opening response message to the intelligent distribution station indicating successful door opening; The intelligent distribution station retrieves the empty slot carrier from the storage bin of the intelligent robot according to the door opening response message; After retrieving the empty slot carrier, the intelligent distribution station transfers the slot carrier carrying the ordered goods in the target slot indicated by the object transfer instruction to the storage bin of the intelligent robot; When the intelligent robot senses that the storage bin has received the slot carrier carrying the ordered goods, the intelligent robot sends a receiving response message to the intelligent distribution station indicating that the ordered goods have been successfully received; The intelligent distribution station reports a delivery completion message to the intelligent distribution service system based on the received response message.

5. The method according to claim 4, characterized in that After reporting the object delivery completion message to the intelligent delivery service system, the method further includes: The intelligent delivery service system sends a delivery instruction to the intelligent robot according to the object delivery completion message; The intelligent robot responds to the delivery instruction and delivers the ordered goods according to the delivery information sent by the intelligent delivery service system; wherein the delivery information indicates the floor or room number of the delivery destination, and the delivery information is indicated by the scheduling instruction or the delivery instruction.

6. A method for cooperating between an intelligent distribution station and an intelligent robot, characterized in that: Applicable to the intelligent robot, the method comprises: Receive dispatch instructions from the intelligent delivery service system to pick up items from the intelligent delivery station; In response to the dispatch instruction, move to the docking position of the smart delivery station according to the navigation path corresponding to the smart delivery station indicated by the dispatch instruction; When the intelligent robot reaches the docking position and completes docking with the docking port of the intelligent distribution station, the intelligent distribution service system is triggered to send a transfer instruction to the intelligent distribution station, wherein the transfer instruction indicates the target slot where the order goods to be picked up corresponding to the dispatch instruction are located, and the transfer instruction is used to trigger the intelligent distribution station to open the warehouse door of the intelligent distribution station at the docking port and send a door opening instruction to the intelligent robot; Receiving a door opening instruction sent by the intelligent distribution station; In response to the door opening instruction, the door of the storage bin of the intelligent robot is opened to receive the ordered goods corresponding to the dispatching instruction transmitted by the intelligent distribution station.

7. The method according to claim 6, characterized in that After opening the door of the storage bin of the intelligent robot, the method further includes: Sending a door opening response message indicating successful door opening to the intelligent distribution station; wherein the door opening response message is used to trigger the intelligent distribution station to retrieve an empty slot carrier from the storage bin of the intelligent robot, and to transfer the slot carrier carrying the ordered goods in the target slot to the storage bin of the intelligent robot; When it is sensed that the storage bin receives the slot carrier carrying the ordered goods, the ordered goods are delivered according to the delivery information sent by the intelligent delivery service system, wherein the delivery information indicates the floor or room number of the delivery destination.

8. The method according to claim 6, characterized in that After opening the door of the storage bin of the intelligent robot, the method further includes: Sensing that the storage bin receives the slot carrier carrying the ordered goods transmitted by the intelligent distribution station, the storage bin sends a receiving response message to the intelligent distribution station indicating successful receipt of the ordered goods; wherein the receiving response message is used to trigger the intelligent distribution station to report a delivery completion message to the intelligent distribution service system; Receiving a delivery instruction sent by the intelligent delivery service system according to the delivery completion message; In response to the delivery instruction, the ordered goods are delivered according to the delivery information sent by the intelligent delivery service system; wherein the delivery information indicates the floor or room number of the delivery destination, and the delivery information is indicated by the scheduling instruction or the delivery instruction.

9. The method according to any one of claims 6 to 8, characterized in that The dispatch instruction is issued by the intelligent delivery service system after receiving a delivery request for a delivery order and confirming with the intelligent delivery station that the ordered goods have been stored in the target grid corresponding to the delivery order; wherein the delivery order is a delivery order for the goods stored in the intelligent delivery station to be delivered by an intelligent robot.

10. A method for cooperating between an intelligent distribution station and an intelligent robot, characterized in that: Applicable to the intelligent distribution station, the method includes: Unlock the door of the target compartment of the intelligent distribution station, and receive the delivery user to deposit the ordered goods into the target compartment. The target compartment is the compartment that the intelligent distribution service system controls the intelligent distribution station to unlock after the delivery user chooses to open the cabinet; Receiving a delivery instruction sent by the intelligent delivery service system; wherein the delivery instruction is sent by the intelligent delivery service system when the intelligent robot has reached a docking position coordinated with the intelligent delivery station, and the delivery instruction indicates a target slot where the ordered goods corresponding to the delivery order are located; When the intelligent distribution station detects that the ordered goods have been stored in the target compartment, the ordered goods in the target compartment are transferred to the storage bin of the intelligent robot according to the transfer instruction.

11. The method according to claim 10, characterized in that The step of transferring the ordered goods in the target slot to the storage bin of the intelligent robot according to the object transfer instruction includes: According to the object transfer instruction, the warehouse door at the docking port is opened, and a door opening instruction is sent to the intelligent robot; wherein the door opening instruction is used to trigger the intelligent robot to open the warehouse door of the storage warehouse to receive the ordered goods in the target compartment.

12. The method according to claim 11, characterized in that After sending the door opening instruction to the intelligent robot, the method further includes: Receiving a door opening response message returned by the intelligent robot in response to the door opening instruction, indicating successful door opening; Retrieving an empty compartment carrier in the storage bin of the intelligent robot according to the door opening response message; After retrieving the empty slot carrier, the slot carrier carrying the ordered goods in the target slot indicated by the object transfer instruction is transferred to the storage bin of the intelligent robot, so that the intelligent robot can complete the delivery of the ordered goods according to the delivery information; wherein the delivery information includes the delivery floor and room number.

13. The method according to claim 12, characterized in that After the slot carrier carrying the ordered goods in the target slot indicated by the object transfer instruction is transferred to the storage bin of the intelligent robot, the method further includes: Receiving a receiving response message sent by the intelligent robot indicating successful receipt of the ordered goods; wherein the receiving response message is sent by the intelligent robot when sensing that the storage bin receives a slot carrier carrying the ordered goods; According to the received response message, a delivery completion message is reported to the intelligent delivery service system; wherein, the delivery completion message is used to trigger the intelligent delivery service system to send a delivery instruction to the intelligent robot, and the delivery instruction triggers the intelligent robot to deliver the ordered goods according to the delivery information sent by the intelligent delivery service system.

14. A method for cooperating between an intelligent distribution station and an intelligent robot, characterized in that: Applicable to the intelligent distribution service system, the method comprises: After the delivery user chooses to open the cabinet, the intelligent delivery service system controls the door of the target compartment of the intelligent delivery station to unlock, so that the target compartment of the intelligent delivery station can receive the ordered goods deposited by the delivery user; In response to the delivery request, an intelligent robot corresponding to the delivery order is assigned to the delivery order indicated by the delivery request, and a dispatch instruction is sent to the assigned intelligent robot to obtain the ordered goods from the intelligent delivery station corresponding to the delivery order; wherein the delivery order is an order for delivering the goods stored in the intelligent delivery station by the intelligent robot, and the dispatch instruction is used to trigger the intelligent robot to move to the docking position of the intelligent delivery station; According to the docking response message, a transfer instruction is sent to the intelligent distribution station, so that the intelligent distribution station can transfer the ordered goods in the target compartment to the storage bin of the intelligent robot according to the transfer instruction; wherein the transfer instruction indicates the target compartment where the ordered goods corresponding to the delivery order are located; the docking response message is a message indicating readiness sent by the intelligent robot to the intelligent distribution service system when the intelligent robot moves to the docking position of the intelligent distribution station according to the dispatching instruction and completes the docking with the docking port of the intelligent distribution station.

15. An intelligent robot, characterized in that: It includes a processor and a memory, the memory stores programs or instructions that can be run on the processor, and when the program or instructions are executed by the processor, the method for cooperating between the intelligent distribution station and the intelligent robot as described in any one of claims 6 to 9 is implemented.

16. An intelligent distribution station, characterized in that: It includes a processor and a memory, the memory stores programs or instructions that can be run on the processor, and when the programs or instructions are executed by the processor, the method for cooperating between the intelligent distribution station and the intelligent robot as described in any one of claims 10 to 13 is implemented.

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