Intelligent distribution station, intelligent robot and cooperation method thereof

Abstract

The present disclosure relates to an intelligent distribution station, an intelligent robot and a cooperation method thereof. The method comprises: unlocking a warehouse door of a target compartment of the intelligent distribution station, so that a distribution user stores order goods into the target compartment; the intelligent robot receives a dispatch instruction for picking up the order goods from the intelligent distribution station sent by an intelligent distribution service system; the intelligent robot moves to a docking position of the intelligent distribution station in response to the dispatch instruction; the intelligent robot sends a docking response message indicating readiness to the intelligent distribution service system when moving to the docking position and completing docking with a docking port of the intelligent distribution station; the intelligent distribution service system sends a delivery instruction to the intelligent distribution station according to the docking response message; and the intelligent distribution station delivers the order goods in the target compartment to a storage bin of the intelligent robot according to the delivery instruction.

Description

[0001] This application is a divisional application of the patent application with the application date of June 27, 2023, the application number of CN202310769084.4, and the invention name of "Intelligent distribution station, intelligent robot and cooperation method thereof". TECHNICAL FIELD

[0002] Embodiments of the present disclosure relate to the technical field of article distribution, and more particularly, to a cooperation method of an intelligent distribution station and an intelligent robot, an intelligent distribution station, and an intelligent robot. BACKGROUND

[0003] Generally, a delivery person can deliver goods to a user after the user places an order for the goods. However, some places restrict the delivery person from directly entering the places to deliver the goods to the user in person. The delivery person needs to store the goods in a storage cabinet, and the user needs to go to the storage cabinet to pick up the goods, or wait for the user to go to an agreed location to pick up the goods in person. The user needs to go to pick up the goods, and the experience is not convenient and friendly enough. SUMMARY

[0004] An object of embodiments of the present disclosure is to provide a new technical solution for delivering goods to a user by using an intelligent device.

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

[0006] After a user places an order for goods or food through an order client, the user selects a delivery method by an intelligent robot to deliver the goods to a designated room of the user or a floor where the room is located;

[0007] Unlocking a warehouse door of a target compartment of the intelligent distribution station for a delivery user to store order goods in the target compartment, the target compartment being a compartment unlocked by the intelligent distribution station under the control of an intelligent distribution service system after the delivery user selects to open the cabinet;

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

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

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

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

[0012] The intelligent robot sends a docking response message indicating readiness to the intelligent distribution service system in the case of moving to the docking position and completing docking with the docking port of the intelligent distribution station.

[0013] The intelligent distribution service system sends a delivery instruction to the intelligent distribution station according to the docking response message; wherein the delivery instruction indicates the target compartment of the order goods corresponding to the delivery order.

[0014] The intelligent distribution station delivers the order goods in the target compartment to the storage compartment of the intelligent robot according to the delivery instruction.

[0015] Optionally, the intelligent distribution station delivers the order goods in the target compartment to the storage compartment of the intelligent robot according to the delivery instruction, comprising:

[0016] The intelligent distribution station opens the compartment door of the intelligent distribution station at the docking port according to the delivery instruction, and sends an open door instruction to the intelligent robot.

[0017] The intelligent robot opens the compartment door of the storage compartment body of the intelligent robot in response to the open door instruction, to receive the order goods in the target compartment delivered by the intelligent distribution station.

[0018] Optionally, before the intelligent distribution service system allocates the intelligent robot corresponding to the delivery order for the delivery order indicated by the delivery request, the method further comprises:

[0019] The intelligent distribution service system sends an article detection request for the target compartment to the intelligent distribution station corresponding to the delivery request;

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

[0021] The intelligent distribution service system receives the detection result returned by the intelligent distribution station, and confirms that the delivery request is valid and allocates the intelligent robot corresponding to the delivery order for the delivery order in the case that the detection result indicates that the target compartment has stored the order goods.

[0022] Optionally, after the intelligent robot opens the compartment door of the storage compartment body, the method further comprises:

[0023] The intelligent robot sends an open door response message indicating successful opening of the door to the intelligent delivery station;

[0024] The intelligent delivery station retrieves an empty slot carrier from the storage compartment of the intelligent robot according to the open door response message;

[0025] After retrieving the empty slot carrier, the intelligent delivery station delivers a slot carrier carrying order goods in the target slot indicated by the instruction to the storage compartment of the intelligent robot;

[0026] The intelligent robot sends a receiving response message indicating successful receiving of the order goods to the intelligent delivery station when it senses that the storage compartment body receives the slot carrier carrying order goods;

[0027] The intelligent delivery station reports a delivery completion message to the intelligent delivery service system according to the receiving response message.

[0028] Optionally, after the delivery completion message is reported to the intelligent delivery service system, the method further comprises:

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

[0030] The intelligent robot responds to the delivery instruction and delivers order 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 dispatching instruction or the delivery instruction.

[0031] According to a second aspect of the present application, a cooperation method of an intelligent delivery station and an intelligent robot is provided, which is suitable for the intelligent robot, and the method comprises:

[0032] Receiving a dispatching instruction for taking goods from the intelligent delivery station sent by an intelligent delivery service system;

[0033] In response to the dispatching instruction, moving to the docking position of the intelligent delivery station according to the navigation path corresponding to the intelligent delivery station indicated by the dispatching instruction;

[0034] In a case that the intelligent robot reaches the docking position and completes docking with the docking port of the intelligent distribution station, a docking response message indicating preparation 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 delivery instruction to the intelligent distribution station, the delivery instruction indicating a target compartment of the order goods corresponding to the dispatch instruction, the delivery instruction being used to trigger the intelligent distribution station to open a warehouse door of the intelligent distribution station at the docking port, and send an opening instruction to the intelligent robot;

[0035] The opening instruction sent by the intelligent distribution station is received;

[0036] In response to the opening instruction, a warehouse door of the storage warehouse body of the intelligent robot is opened to receive the order goods corresponding to the dispatch instruction delivered by the intelligent distribution station.

[0037] Optionally, after the warehouse door of the storage warehouse body of the intelligent robot is opened, the method further comprises:

[0038] A door opening response message indicating successful opening of the door is sent to the intelligent distribution station; wherein the door opening response message is used to trigger the intelligent distribution station to retrieve an empty compartment carrier from the storage warehouse of the intelligent robot, and deliver a compartment carrier carrying order goods in the target compartment to the storage warehouse of the intelligent robot;

[0039] In a case that the storage warehouse body receives the compartment carrier carrying order goods, order goods are delivered according to delivery information sent by the intelligent distribution service system, wherein the delivery information indicates a floor or a room number of a delivery destination.

[0040] Optionally, after the warehouse door of the storage warehouse body of the intelligent robot is opened, the method further comprises:

[0041] In a case that the storage warehouse body receives the compartment carrier carrying order goods delivered by the intelligent distribution station, a receiving response message indicating successful reception of the order goods is sent to the intelligent distribution station; 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] A delivery instruction sent by the intelligent distribution service system according to the delivery completion message is received;

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

[0044] Optionally, the dispatching instruction is sent by the intelligent distribution service system after receiving a distribution request for a distribution order, and in a case where the intelligent distribution station confirms that the order goods corresponding to the distribution order are stored in the target compartment.

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

[0046] unlocking the compartment door of the target compartment of the intelligent distribution station, and receiving the order goods of the distribution user to be stored in the target compartment, the target compartment being the compartment unlocked by the intelligent distribution station under the control of the intelligent distribution service system after the distribution user selects 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 indicating 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 transmission instruction indicating the target compartment where the order goods corresponding to the distribution order are located;

[0048] transmitting the order goods in the target compartment to the storage compartment of the intelligent robot according to the transmission instruction, when the intelligent distribution station detects that the target compartment has stored the order goods.

[0049] Optionally, the transmission of the order goods in the target compartment to the storage compartment of the intelligent robot according to the transmission instruction comprises:

[0050] opening the compartment door at the docking port according to the transmission instruction, and sending an opening door instruction to the intelligent robot, wherein the opening door instruction is used to trigger the intelligent robot to open the compartment door of the storage compartment body to receive the transmitted order goods in the target compartment.

[0051] Optionally, after the opening door instruction is sent to the intelligent robot, the method further comprises:

[0052] receiving an opening door response message returned by the intelligent robot in response to the opening door instruction, the opening door response message indicating that the opening door is successful;

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

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

[0055] Optionally, after the slot carrier carrying the order goods in the target slot indicated by the object transfer instruction is transferred into the storage compartment of the intelligent robot, the method further comprises:

[0056] receiving a receiving response message indicating successful reception of order goods sent by the intelligent robot; wherein the receiving response message is sent by the intelligent robot when the intelligent robot senses that the storage compartment body receives the slot carrier carrying the order goods;

[0057] According to the receiving response message, a object transfer completion message is reported to the intelligent delivery service system; wherein the object transfer 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 order goods according to the delivery information sent by the intelligent delivery service system.

[0058] According to a fourth aspect of the present application, a cooperation method of an intelligent delivery station and an intelligent robot is provided, which is suitable for the intelligent delivery service system, and the method comprises:

[0059] The intelligent delivery service system controls the door of the target slot of the intelligent delivery station to be unlocked after the delivery user selects to open the cabinet, so that the target slot of the intelligent delivery station receives the order goods stored by the delivery user;

[0060] receiving a delivery request;

[0061] In response to the delivery request, an intelligent robot corresponding to the delivery order indicated by the delivery request is allocated for the delivery order, and a dispatch instruction for retrieving order goods from the intelligent delivery station corresponding to the delivery order is sent to the allocated intelligent robot; 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 delivery instruction is sent to the intelligent delivery station, so that the intelligent delivery station delivers the order goods in the target bin to the storage bin of the intelligent robot according to the delivery instruction; wherein the delivery instruction indicates the target bin where the order goods corresponding to the delivery order are located; the docking response message is that the intelligent robot receives the dispatch instruction sent by the intelligent delivery service system to pick up the goods from the intelligent delivery station, and moves to the docking position of the intelligent delivery station in response to the dispatch instruction and completes docking with the connection port of the intelligent delivery station. In the case of moving to the docking position and completing docking with the connection port of the intelligent delivery station, a message indicating readiness is sent to the intelligent delivery service system.

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

[0064] According to a sixth aspect of the present disclosure, an intelligent delivery station is also provided, comprising a memory and a processor, the memory being configured to store a computer program; and the processor being configured to execute the computer program to implement the method according to the third aspect of the present disclosure.

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

[0066] According to an eighth aspect of the present disclosure, a computer readable storage medium is also provided, the computer readable storage medium storing a computer program, the computer program being configured to implement the method according to the first aspect, the second aspect, the third aspect or the fourth aspect of the present disclosure when executed by a processor.

[0067] An advantage of the present disclosure is that the intelligent delivery service system assigns a corresponding intelligent robot in response to a delivery request, and dispatches the intelligent robot to the intelligent delivery station where the order goods are stored. The intelligent delivery station cooperates with the intelligent robot to deliver the order goods from the intelligent delivery station to the intelligent robot, so that the intelligent robot can deliver the order goods to the user. In the case of reducing direct contact between the delivery personnel and the user, the order goods are delivered to the user by the intelligent robot, which can improve the user's experience and improve the delivery efficiency of the delivery personnel.

[0068] Other features and advantages of the present disclosure will become apparent from the following detailed description of exemplary embodiments thereof, taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0069] The accompanying drawings, which are incorporated in and constitute a part of this 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 is a schematic diagram of a structure of an intelligent delivery service system to which a cooperation method of an intelligent delivery station and an intelligent robot according to an embodiment can be applied;

[0071] Figure 2 is a flowchart of a cooperation method of an intelligent delivery station and an intelligent robot according to an embodiment;

[0072] Figure 3 is a flowchart of a cooperation method of an intelligent delivery station and an intelligent robot according to another embodiment;

[0073] Figure 4 is a flowchart of a cooperation method of an intelligent delivery station and an intelligent robot according to another embodiment;

[0074] Figure 5 is a flowchart of a cooperation method of an intelligent delivery 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 a 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] Figure 9 is a schematic diagram of a hardware structure of an intelligent robot according to another embodiment;

[0079] Figure 10 is a block diagram of an intelligent delivery station according to another embodiment;

[0080] Figure 11 is a schematic diagram of a hardware structure of an intelligent delivery 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. Note that the relative arrangement, numerical expressions, and numerical values of components and steps set forth in these embodiments are not limiting to the scope of the present disclosure unless otherwise specifically stated.

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

[0083] Techniques, methods, and devices known to those of ordinary skill in the relevant art can not be discussed in detail herein. However, where appropriate, such techniques, methods, and devices can be considered part of the description of the present disclosure.

[0084] In all of the examples shown and discussed herein, any specific values should be interpreted as merely exemplary, and not as a limitation. Thus, other examples of exemplary embodiments can have different values.

[0085] It should be noted that like reference numerals and letters in the various figures indicate like elements, and thus, discussions of some items in one figure can not be repeated in a later figure.

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

[0087] <Hardware configuration and application scenario>

[0088] Embodiments of the present disclosure relate to a delivery person (i.e., a storage person) who can store order goods, such as food, goods, etc., through an intelligent delivery station to complete the storage of order goods. A user (i.e., a recipient) can receive order goods taken out from the intelligent delivery station by an intelligent robot to complete the application scenario of taking out order goods.

[0089] Figure 1 is a schematic diagram of the composition structure of an intelligent delivery service system that can be used to implement the cooperation method of the intelligent delivery station and the intelligent robot in the embodiments of the present disclosure. The intelligent delivery service system can be applied to the use scenario of intelligent device delivery as a whole. As shown in Figure 1 , the intelligent delivery service system is represented as a server 1000, and the intelligent device can 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 storage person), the terminal device 5000 is a terminal device used by a user (or also called an order 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 delivery station 2000, the intelligent robot 3000, the terminal device 4000, and the terminal device 5000 can be in communication connection with the server 1000 through the same network or different networks to realize information interaction.

[0091] The intelligent distribution station 2000 is in communication connection with the server 1000. The server 1000 can send an opening cabinet instruction to the intelligent distribution station 2000 according to the opening cabinet request sent by the terminal device 4000, so as to complete the storage of the goods. The intelligent distribution station 2000 can also open the corresponding grid according to the pick-up string input by the recipient, so that the pick-up person can take the goods from the grid. The intelligent distribution station 2000 can also send the order goods to the intelligent robot 3000, so that the intelligent robot 3000 can deliver the order goods to the room designated by the recipient or the floor where the room is located.

[0092] In some embodiments, the intelligent distribution station 2000 is configured with corresponding conveying devices, so that the order goods and the grid storing the order goods can be sent together to the docking port of the intelligent distribution station 2000 for the intelligent robot 3000 to pick up. The docking port can correspond to one grid, a plurality of grids can share one docking port, or all grids can share one docking port, which is not particularly limited here. The intelligent distribution station 2000 can be a single storage device as a station, or a station composed of a plurality of storage devices. The storage device can be a storage cabinet, a storage vehicle, a storage box, etc., which is not particularly limited here.

[0093] The intelligent robot 3000 is provided with one or more storage compartments, each of which can store order goods. The intelligent robot 3000 can receive the stored order goods after reaching the docking port of the intelligent distribution station 2000, and place the stored order goods in the empty storage compartment. 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 intelligent distribution station 2000 can transfer the delivery information of the server 1000. The intelligent robot 3000 can also deliver after the management personnel in the hotel or the commercial office building enter the delivery information received by them.

[0094] The terminal device 4000 runs a delivery client for delivery users, which can be a local application or a mini-program. The order goods delivered by the delivery user can be goods ordered on the platform to which the intelligent distribution station 2000 belongs, or goods ordered on other platforms and stored in the intelligent distribution station 2000.

[0095] The terminal device 5000 runs an order placement client, which can be a local application or a mini-program. The order placement user can select and purchase goods, food, or other items through the order placement client, and place an order. When placing an order, the user can choose a delivery method, and when choosing an intelligent robot delivery, the order can be delivered to the room specified by the user or the floor on which the room is located by the intelligent robot. After the order placement user places an order, the terminal device 5000 sends the information of the ordered goods to the server 1000 corresponding to the platform on which the order placement client is located.

[0096] The server 1000 is a service point for providing processing, databases, and communication facilities. The server 1000 can be an integrated server, a distributed server across multiple computers, a computer data center, a cloud server, or a server cluster deployed in the cloud, etc. Order management and delivery management of the same platform can be handled by the same device in the server cluster, or by different devices in the server cluster, which is not limited herein. The server can be of various types, such as but not limited to, a web server, a news server, a mail server, a message server, an advertisement 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 embedded logic components or a combination of two or more such components for performing appropriate functions supported or implemented by the server. For example, a server such as a blade server, a cloud server, etc., or a server group composed of multiple servers, can include one or more of the above types of servers, etc.

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

[0098] The processor 1100 is configured to execute a computer program, which can be written in an instruction set 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, for example; the communication device 1400 can include any module for WLAN, GPRS, 3G / 4G / 5G remote communication, etc.

[0099] ​In some embodiments, the memory 1200 of the server 1000 is configured to store a computer program for controlling the processor 1100 to operate to implement the method for cooperation between the intelligent distribution station and the intelligent robot according to the embodiments of the present disclosure. The skilled person can design the instructions according to the disclosed solutions. How the instructions control the processor to operate is known in the art, and thus is not described in detail here.

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

[0101] In some embodiments, as shown in FIG. 4, the terminal device 4000 can include a processor 2100, a memory 2200, an interface device 2300, a communication device 2400, a display device 2500, an input device 2600, a loudspeaker 2700, a microphone 2800, etc. Figure 1

[0102] The processor 2100 is configured 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 nonvolatile memory such as a hard disk, etc. The interface device 2300 includes, for example, a USB interface, a headset interface, etc. The communication device 2400 is capable of wired or wireless communication, for example, and can include at least one short-range communication module, such as any module for short-range wireless communication based on a Hilink protocol, a WiFi (IEEE 802.11 protocol), a Mesh, a Bluetooth, a ZigBee, a Thread, a Z-Wave, an NFC, a UWB, a LiFi, etc., and can also include a long-range communication module, such as any module for WLAN, GPRS, 2G / 3G / 4G / 5G long-range communication. The display device 2500 is, for example, a liquid crystal display screen, a touch display screen, etc. The input device 2600 can include, for example, a touch screen, a keyboard, etc. The loudspeaker 2700 is configured to output an audio signal. The microphone 2800 is configured to acquire an audio signal.

[0103] In some embodiments, the memory 2200 of the terminal device 4000 is configured to store a computer program for controlling the processor 2100 to operate to perform the method for cooperation between the intelligent distribution station and the intelligent robot according to the embodiments of the present disclosure.

[0104] The terminal device 5000 can have a similar hardware structure as the terminal device 4000, which is not described in detail here.

[0105] ​In some embodiments, the smart delivery station 2000 takes the example of a single locker, which includes a plurality of locker openings, and each locker opening is provided with a lock. As shown in Figure 1 The smart delivery station 2000 is also provided with a processor 2100, a memory 2200, an interface device 2300, and a communication device 2400, etc. The smart delivery station 2000 can be in communication connection with the server 1000 to open the corresponding locker opening according to the locker opening instruction issued by the server 1000, so as to store the goods by the storage person, etc.

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

[0107] It should be understood that, although Figure 1 only one server 1000, one smart delivery station 2000, one smart robot 3000, one terminal device 4000, and one terminal device 5000 are shown, it does not mean to limit the number of each, and the smart delivery service system can include multiple servers, and the smart device can include multiple smart delivery stations and multiple smart robots.

[0108] <Method Embodiment One>

[0109] Figure 2 A flowchart of the cooperation method of the smart delivery station and the smart robot according to some embodiments is shown, the method of the present embodiment involves a smart delivery service system, a smart robot, and a smart delivery station. The smart delivery service system is implemented by the server 1000 in Figure 1 , the smart robot is the smart robot 3000 in Figure 1 , and the smart delivery station is the smart delivery station 2000 in Figure 1 .

[0110] As shown in Figure 2 The cooperation method of the smart delivery station and the smart robot of the present embodiment can include steps S210 to S270:

[0111] Step S210, the smart 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 way of selecting the intelligent robot for delivery by the delivery user or the ordering user. That is, the ordering user can select the delivery request for delivery 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 for delivery by the intelligent robot. After the delivery request is sent through the terminal device of the delivery user or the ordering user, the intelligent delivery service system can receive the above-mentioned delivery request.

[0113] In step S220, the intelligent delivery service system allocates the intelligent robot corresponding to the delivery order for the delivery order indicated by the delivery request, and sends a scheduling instruction to the allocated intelligent robot to take the order 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 and 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. The intelligent robot here can be each intelligent robot active in the delivery location. The intelligent delivery service system can determine the more matched intelligent robot according to the delivery task, state and working route of each intelligent robot, and allocate the delivery order indicated by the delivery request to the more matched intelligent robot.

[0115] In some examples, the delivery task of the intelligent robot can include other delivery tasks issued by the intelligent delivery service system to the intelligent robot and other tasks input by the on-site manager to the intelligent robot. The other tasks can be tasks for navigating other customers, or tasks for delivering or picking up goods for the manager, which are not specially limited here. The state of the intelligent robot can be divided into full load state, non-full load state and empty load state. The full load state means that all storage compartments of the intelligent robot store goods, the non-full load state means that at least one storage compartment of the intelligent robot does not store goods, and the empty load state means that all storage compartments of the intelligent robot do not store goods. For example, the intelligent delivery service system can determine the intelligent robots in the non-full load state and the empty load state from the intelligent robots, and then determine the intelligent robot with the least delivery task from these intelligent robots as the more matched intelligent robot, which can effectively improve the utilization rate of intelligent robot delivery resources.

[0116] In some examples, the intelligent delivery service system sends a scheduling instruction to the allocated intelligent robot to take the order goods from the intelligent delivery station corresponding to the delivery order. After receiving the scheduling instruction, the intelligent robot can add the delivery task of taking the order goods from the intelligent delivery station corresponding to the delivery order.

[0117] In some examples, after determining the assigned intelligent robot, the method of cooperation between the intelligent distribution station and the intelligent robot can further include the following steps: the intelligent distribution service system adjusts the working order of the intelligent robot according to the distribution task corresponding to the issued distribution task and the dispatching instruction of the assigned intelligent robot. For example, in the case that the indicated room of the distribution task corresponding to the issued distribution task is the same or the same floor, and the intelligent robot does not reach 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 instruction, and deliver the order goods corresponding to the issued distribution task together. In other words, the intelligent distribution service system can optimize the working order of the intelligent robot, and can effectively improve the delivery efficiency of the intelligent robot.

[0118] In some embodiments, the delivery user can unlock the warehouse door of the target compartment of the intelligent distribution station through the delivery client to store the order goods into the target compartment, that is, the target compartment can be the compartment that the delivery user selects to open the cabinet through the delivery client, and the intelligent distribution station controlled by the intelligent distribution service system unlocks. In one example, the intelligent distribution station can be provided with a detection device to sense whether each compartment stores order goods, so as to ensure that the order goods are effectively stored in the target compartment. And the detection device can be a pressure sensor, an infrared sensor or a camera, etc., which is not specially limited here. For example, in order to ensure that the order goods can be accurately delivered to the ordering user, the method of cooperation between the intelligent distribution station and the intelligent robot can further include the following steps before the intelligent distribution service system sends the dispatching instruction to the assigned intelligent robot: the intelligent distribution station can send an article detection request for the target compartment to the intelligent distribution station corresponding to the delivery request. The intelligent distribution station detects whether the order goods have been stored in the target compartment indicated by the article detection request according to the article detection request, and returns the detection result to the intelligent distribution service system. The intelligent distribution service system receives the detection result returned by the intelligent distribution station, and confirms that the delivery request is valid and assigns the intelligent robot corresponding to the delivery order to the delivery order in the case that the detection result indicates that the target compartment has stored the order goods.

[0119] In some examples, the intelligent distribution service system assigns the intelligent robot to the delivery order in the case that the detection result indicates that the target compartment stores the order goods. In the case that the detection result indicates that the target compartment does not store the order goods, the terminal device of the delivery user is fed back prompt information that the order goods corresponding to the delivery order are not stored, so as to prompt the delivery user to store the goods again. In other words, detecting the target compartment before dispatching the intelligent robot can effectively reduce the case that the intelligent robot delivers the order goods without storing, so as to improve the delivery efficiency of the intelligent robot.

[0120] Step S230, the intelligent robot receives the dispatching instruction of taking the order goods from the intelligent distribution station sent by the intelligent distribution service system.

[0121] Step S240, the intelligent robot moves to the docking position of the intelligent distribution station in response to the dispatching instruction.

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

[0123] Step S250, the intelligent robot sends a docking response message indicating readiness to the intelligent distribution service system when moving to the docking position and completing docking with the docking port of the intelligent distribution station.

[0124] In some examples, the intelligent robot can be configured with a sensing device that can sense the movement of the intelligent robot to the docking position and sense whether the intelligent robot has completed docking with the docking port. The sensing device can feed back the detection result of successful docking to the intelligent robot after the intelligent robot and the docking port have completed docking. The intelligent robot can send the docking response message to the intelligent distribution service system through the intelligent distribution station or directly. In some examples, the docking response message includes information of the intelligent robot completing docking with the intelligent distribution station and information of the state of the intelligent robot whether it has storage space for other items, so that the intelligent distribution service system can determine whether the intelligent robot has the condition to receive the order goods when receiving the docking response message, thereby reducing the waste of distribution resources of the intelligent robot. The sensing device of the intelligent robot can be a camera, a proximity switch, an infrared sensor, etc., which are not particularly limited here.

[0125] Step S260, the intelligent distribution service system sends a transfer object instruction to the intelligent distribution station according to the docking response message. The transfer object instruction indicates the target compartment of the order goods corresponding to the distribution order.

[0126] In some embodiments, the intelligent distribution service system analyzes the docking response message and sends a transfer object instruction to the intelligent distribution station after determining that the intelligent robot and the intelligent distribution station have completed docking, so that the intelligent distribution station transports the order goods to the docking port of the intelligent distribution station through the above-mentioned conveying device.

[0127] Step S270, the intelligent distribution station transfers the order goods in the target compartment to the storage compartment of the intelligent robot according to the transfer object instruction.

[0128] In some embodiments, the intelligent distribution station cooperates with the intelligent robot to transfer the order goods of the docking port to the storage compartment of the intelligent robot.

[0129] In some embodiments, the smart delivery station delivering the order goods in the target bin to the storage compartment of the smart robot according to the delivery instruction of step S270 can further include the following steps: the smart delivery station opening the bin door of the smart delivery station at the docking port according to the delivery instruction, and sending an opening door instruction to the smart robot; and the smart robot opening the bin door of the storage compartment body of the smart robot to receive the order goods in the target bin delivered by the smart delivery station in response to the opening door instruction.

[0130] In some embodiments, the smart delivery station can be communicatively connected with the smart robot, so that the smart delivery station can directly control the smart robot. After the smart delivery station receives the delivery instruction of the smart delivery service system, the smart delivery station controls the bin door at the docking port of the smart delivery station to open, and at the same time, the smart delivery station controls the smart robot to open the bin door of the storage compartment body, so that the smart delivery station delivers the order goods at the docking port into the storage compartment body. The pre-set delivery program between the smart delivery station and the smart robot enables direct delivery between the smart delivery station and the smart robot, so as to reduce the occupation of the computing resources of the smart delivery service system.

[0131] In some embodiments, after the smart robot opens the bin door of the storage compartment body, the cooperation method of the smart delivery station and the smart robot can further include the following steps: the smart robot sends an opening door response message indicating successful opening of the bin door to the smart delivery station; the smart delivery station retrieves the empty bin carrier from the storage compartment of the smart robot according to the opening door response message; the smart delivery station delivers the bin carrier carrying the order goods in the target bin indicated by the instruction into the storage compartment of the smart robot after retrieving the empty bin carrier; the smart robot sends a receiving response message indicating successful receiving of the order goods to the smart delivery station when sensing that the storage compartment body receives the bin carrier carrying the order goods; and the smart delivery station reports a delivery completion message to the smart delivery service system according to the receiving response message.

[0132] In some examples, a conveying channel is arranged in the smart delivery station for the movement of the grid carriers. The smart robot is provided with an empty grid carrier in the storage compartment without storing the order goods. After the smart robot is docked with the smart delivery station, the grid carrier in the storage compartment of the smart robot can move to the docking port of the smart delivery station under the control of the smart robot. The smart delivery station can control the grid carrier moved to the docking port to move to a designated target grid through a conveying channel. At the same time, the smart delivery station controls the grid carrier carrying the order goods in the target grid to move to the docking port from another conveying channel. The grid carrier carrying the order goods can move to the storage compartment of the smart robot. Then, the smart robot can sense that the storage compartment receives the grid carrier carrying the order goods, and the smart robot can send a receiving response message indicating successful reception of the order goods to the smart delivery station. Then, the smart delivery station reports a delivery completion message to the smart delivery service system according to the receiving response message, so that the smart robot can deliver the order goods under the instruction of the smart delivery service system.

[0133] In some examples, each grid in the smart robot and the smart delivery station corresponds to a grid carrier. In one example, the grid carrier can be a trolley that can be placed in the grid. The trolley is provided with a corresponding motor to drive the wheels of the trolley to move in the storage compartment of the smart robot or in the smart delivery station, so that the grid carrier carrying the order goods can move from the grid of the smart delivery station to the storage compartment of the smart robot, or the empty grid carrier can move from the storage compartment of the smart robot to the grid of the smart delivery station, to reduce the situation of scattering or damage during the process of directly delivering the order goods to the smart robot, improve the delivery quality, and improve the experience of the ordering user.

[0134] In some examples, when multiple smart robots receive order goods at the docking ports corresponding to the same smart delivery station, the multiple smart robots can respectively feed back receiving response messages of the order goods to the smart delivery station, and the smart delivery station can package the receiving response messages sent by the multiple smart robots and report delivery completion information to the smart delivery service system, to reduce the waste of computing resources of the smart delivery service system.

[0135] In some embodiments, after the smart delivery station reports the delivery completion message to the smart delivery service system, the process further includes the following steps: the smart delivery service system sends a delivery instruction to the smart robot according to the delivery completion message. The smart robot responds to the delivery instruction and delivers the order goods according to the delivery information sent by the smart 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 dispatching instruction or the delivery instruction.

[0136] In some examples, after the intelligent distribution service system sends the distribution instruction to the intelligent robot, the intelligent robot distributes the order goods to the floor or room number indicated by the distribution user or the ordering user according to the distribution information sent by the intelligent distribution service system. In other words, the intelligent distribution station plays the role of a transit station. In the case that the ordering user is not convenient to pick up the goods, the intelligent distribution station can pass the order goods to the intelligent robot to deliver to the ordering user by the intelligent robot to improve the user experience.

[0137] <Method Embodiment Two>

[0138] Figure 3 An interaction flow diagram of the cooperation method of the intelligent distribution station and the intelligent robot according to some embodiments is shown. The following takes the intelligent robot of Figure 1 as the execution subject to explain the cooperation method of the intelligent distribution station and the intelligent robot of the present embodiment.

[0139] As shown in Figure 3 , the cooperation method of the intelligent distribution station and the intelligent robot can include steps S310 to S350:

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

[0141] Step S320, in response to the dispatch instruction, moving to the docking position of the intelligent distribution station according to the navigation path corresponding to the intelligent distribution station indicated by the dispatch instruction.

[0142] Step S330, in the case that the intelligent robot arrives at the docking position and completes the docking with the docking port of the intelligent distribution station, sending a docking response message indicating readiness to the intelligent distribution service system; wherein the docking response message is used to trigger the intelligent distribution service system to send a transmission instruction to the intelligent distribution station, the transmission instruction indicating the target compartment of the order goods to be picked up corresponding to the dispatch instruction, and the transmission 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 an opening instruction to the intelligent robot.

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

[0144] Step S350, in response to the opening instruction, opening the warehouse door of the storage compartment body of the intelligent robot to receive the order goods corresponding to the dispatch instruction transmitted by the intelligent distribution station.

[0145] In some embodiments, after the smart robot opens the door of the storage compartment body, the cooperation method of the smart delivery station and the smart robot can further include the following steps: sending an opening door response message indicating successful opening of the door to the smart delivery station; wherein the opening door response message is used to trigger the smart delivery station to retrieve the empty slot carrier from the storage compartment of the smart robot, and deliver the slot carrier carrying the order goods in the target slot to the storage compartment of the smart robot; in the case of sensing that the storage compartment body receives the slot carrier carrying the order goods, delivering the order goods according to the delivery information sent by the smart delivery service system, wherein the delivery information indicates the floor or room number of the delivery destination.

[0146] In some embodiments, after step S350, in the case of sensing that the storage compartment body receives the slot carrier carrying the order goods delivered by the smart delivery station, a receiving response message indicating successful reception of the order goods is sent to the smart delivery station; wherein the receiving response message is used to trigger the smart delivery station to report a delivery completion message to the smart delivery service system. The smart delivery service system receives the delivery instruction sent according to the delivery completion message. In response to the delivery instruction, the order goods are delivered according to the delivery information sent by the smart 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 dispatching instruction or the delivery instruction.

[0147] In some embodiments, the dispatching instruction is issued by the smart delivery service system after receiving a delivery request for a delivery order, and confirming that the order goods have been stored in the target slot corresponding to the delivery order in the smart delivery station; wherein the delivery order is a delivery order for the goods stored in the smart delivery station by the smart robot.

[0148] According to Figure 3 the cooperation method of the smart delivery station and the smart robot, the smart robot cooperates with the smart delivery station, can receive the order goods delivered by the smart delivery station, and deliver the order goods to the specified floor or room number, so as to realize the smart robot's on-site delivery to the user, and improve the user's experience.

[0149] <Method Embodiment Three>

[0150] Figure 4 The interaction flow diagram of the cooperation method of the smart delivery station and the smart robot according to some embodiments is shown, and the cooperation method of the smart delivery station and the smart robot according to some embodiments is described below with the smart delivery station of Figure 1 as the execution subject.

[0151] As shown in Figure 4 , the cooperation method of the smart delivery station and the smart robot can include steps S410 to S450:

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

[0153] Step S420, delivering the order goods in the target bin into the storage compartment of the intelligent robot according to the delivery instruction.

[0154] In some embodiments, step S420 specifically includes: opening the compartment door at the docking port according to the delivery instruction, and sending an opening instruction to the intelligent robot; wherein the opening instruction is used to trigger the intelligent robot to open the compartment door of the storage compartment body to receive the delivered order goods in the target bin.

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

[0156] Step S430, receiving an opening response message returned by the intelligent robot in response to the opening instruction, the opening response message indicating that the opening is successful.

[0157] Step S440, retrieving an empty bin carrier in the storage compartment of the intelligent robot according to the opening response message.

[0158] Step S450, after retrieving the empty bin carrier, delivering the bin carrier carrying the order goods in the target bin indicated by the delivery instruction into the storage compartment of the intelligent robot, so that the intelligent robot completes the delivery of the order goods according to the delivery information; wherein the delivery information includes the floor and room number of the delivery.

[0159] In some embodiments, step S450 further includes the following: receiving a receiving response message sent by the intelligent robot, the receiving response message indicating that the order goods are successfully received; wherein the receiving response message is sent by the intelligent robot when the intelligent robot senses that the storage compartment body receives the bin carrier carrying the order 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, the delivery instruction triggering the intelligent robot to deliver the order goods according to the delivery information sent by the intelligent delivery service system.

[0160] According to Figure 4The cooperation method of the intelligent distribution station and the intelligent robot shown can cooperate with the intelligent robot, send the order goods from the intelligent distribution station to the intelligent robot, and realize intelligent distribution of the order goods by the intelligent robot, so as to reduce direct contact between the ordering user and the delivery user.

[0161] <Method embodiment four>

[0162] Figure 5 The interaction flow diagram of the cooperation method of the intelligent distribution station and the intelligent robot according to some embodiments is shown, and the cooperation method of the intelligent distribution station and the intelligent robot according to some embodiments is shown. Figure 1 The cooperation method of the intelligent distribution station and the intelligent robot according to some embodiments is shown.

[0163] As shown in Figure 5 The cooperation method of the intelligent distribution station and the intelligent robot can include steps S510 to S530:

[0164] Step S510, receiving a distribution request.

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

[0166] Step S530, according to the docking response message, sending a transfer instruction to the intelligent distribution station, so that the intelligent distribution station transfers the order goods in the target compartment to the storage compartment of the intelligent robot according to the transfer instruction; wherein the transfer instruction indicates the target compartment where the order goods corresponding to the distribution 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 goods from the intelligent distribution station, moves to the docking position of the intelligent distribution station in response to the scheduling instruction, and sends a message indicating readiness to the intelligent distribution service system in the case of moving to the docking position and completing docking with the connection port of the intelligent distribution station.

[0167] According to Figure 5 The cooperation method of the intelligent distribution station and the intelligent robot shown can cooperate with the intelligent robot, send the order goods from the intelligent distribution station to the intelligent robot, and realize intelligent distribution of the order goods by the intelligent robot, so as to reduce direct contact between the ordering user and the delivery user.

[0168] In some embodiments, before the intelligent delivery service system responds to the delivery request in step S520 and assigns an intelligent robot to the delivery order indicated by the delivery request, it may detect whether the target compartment has already stored the ordered goods. If the target compartment is not found to have stored the goods, the system may not respond to the delivery order indicated by the delivery request, so as to avoid wasting delivery resources due to ineffective 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 compartment to the smart delivery station corresponding to the delivery request, wherein the item detection request is used to trigger the smart delivery station to detect whether the ordered goods have been stored in the target compartment indicated by the item detection request, and returning the detection result to the smart delivery service system; and receiving the detection result returned by the smart delivery station, and if the detection result indicates that the ordered goods have been stored in the target compartment, confirming that the delivery request is valid, and assigning a smart robot corresponding to the delivery order to the delivery order.

[0170] <Equipment Example 1>

[0171] Figure 6 This is a schematic diagram of an intelligent delivery service system according to one embodiment. Figure 4 As shown, the intelligent delivery service system 600 may include a request receiving module 610, a scheduling module 620, and a delivery module 630.

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

[0173] The scheduling module 620 is used to respond to a delivery request, allocate a smart robot corresponding to the delivery order indicated by the delivery request, and send a scheduling instruction to the allocated smart robot to retrieve the goods of the order from the smart delivery station corresponding to the delivery order; wherein, the delivery order is a delivery order for delivering goods stored in the smart delivery station by a smart robot;

[0174] The transfer module 630 is used to send a transfer instruction to the smart delivery station according to the docking response message, so that the smart delivery station can transfer the order goods in the target compartment to the storage compartment of the smart robot according to the transfer instruction. The transfer instruction indicates the target compartment where the order goods corresponding to the delivery order are located. The docking response message is a message sent by the smart robot to the smart delivery service system to pick up the package from the smart delivery station. In response to the scheduling instruction, the robot moves to the docking position of the smart delivery station. After moving to the docking position and completing docking with the docking port of the smart delivery station, the robot sends a message to the smart delivery service system indicating that it is ready.

[0175] The intelligent delivery service system 600 can beFigure 1 The server 1000 in the system 1000.

[0176] As shown in Figure 7 The intelligent distribution service system 600 can include a memory 720 and a processor 710, the memory 720 stores a computer program, and the processor 710 is configured to execute the cooperation method of the intelligent distribution station and the intelligent robot according to any method embodiment under the control of the computer program.

[0177] <Device Embodiment Two>

[0178] The present disclosure also provides an intelligent robot, as shown in Figure 8 The intelligent robot 3000 can include a scheduling instruction receiving module 810, a moving docking module 820, an information sending module 830, an opening door instruction receiving module 840, and a warehouse door control module 850.

[0179] The scheduling instruction receiving module 810 is configured to receive a scheduling instruction for picking up an order from an intelligent distribution station sent by an intelligent distribution service system.

[0180] The moving docking module 820 is configured to move to a docking position of the intelligent distribution station according to a navigation path corresponding to the intelligent distribution station indicated by the scheduling instruction in response to the scheduling instruction.

[0181] The information sending module 830 is configured 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 delivery instruction to the intelligent distribution station, the delivery instruction indicating a target compartment corresponding to an order to be picked up corresponding to the scheduling instruction, and the delivery instruction is used to trigger the intelligent distribution station to open a warehouse door of the intelligent distribution station at the docking port and send an opening door instruction to the intelligent robot.

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

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

[0184] Optionally, the smart robot 3000 further comprises a goods delivery module, configured to send, to the smart delivery station, an open door response message indicating successful opening of the door; wherein the open door response message is configured to trigger the smart delivery station to retrieve the empty slot carrier from the storage compartment of the smart robot, and to deliver the slot carrier carrying the order goods in the target slot to the storage compartment of the smart robot. In the case that the storage compartment body receives the slot carrier carrying the order goods, the order goods are delivered according to the delivery information sent by the smart 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 configured to, in the case that the storage compartment body receives the slot carrier carrying the order goods delivered by the smart delivery station, send, to the smart delivery station, a receiving response message indicating successful receiving of the order goods; wherein the receiving response message is configured to trigger the smart delivery station to report a delivery completion message to the smart delivery service system. The smart delivery service system receives the delivery instruction sent according to the delivery completion message. In response to the delivery instruction, the order goods are delivered according to the delivery information sent by the smart 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 dispatching instruction or the delivery instruction.

[0186] As shown in Figure 9 The smart robot 3000 can comprise a memory 920 and a processor 910, the memory 920 stores a computer program, and the processor 910 is configured to execute the cooperation method of the smart delivery station and the smart robot according to any method embodiment under the control of the computer program.

[0187] <Device Embodiment Three>

[0188] The present disclosure further provides a smart delivery station, as shown in Figure 10 The smart delivery station 2000 can comprise a delivery instruction receiving module 1010 and a goods delivery module 1020.

[0189] The delivery instruction receiving module 1010 is configured to receive a delivery instruction sent by the smart delivery service system; wherein the delivery instruction is sent by the smart delivery service system according to the docking response message reported by the smart robot, the docking response message indicates that the smart robot has arrived at the docking position of the smart delivery station indicated by the dispatching instruction sent by the smart delivery service system, and the delivery instruction indicates the target slot where the order goods corresponding to the delivery order are located.

[0190] The goods delivery module 1020 is configured to deliver the order goods in the target slot to the storage compartment of the smart robot according to the delivery instruction.

[0191] Optionally, the cargo conveying module 1020 is further configured to open a warehouse door at the docking port according to the cargo conveying instruction, and send an opening door instruction to the intelligent robot; wherein the opening door instruction is used to trigger the intelligent robot to open the warehouse door of the storage warehouse body to receive the conveyed order cargo in the target bin.

[0192] Optionally, the intelligent distribution station 2000 further comprises a carrier collection module, which is configured to receive an opening door response message returned by the intelligent robot in response to the opening door instruction, the opening door response message indicating successful opening of the warehouse door. According to the opening door response message, the empty bin carrier in the storage warehouse of the intelligent robot is retrieved. After retrieving the empty bin carrier, the bin carrier carrying the order cargo in the target bin indicated by the cargo conveying instruction is conveyed into the storage warehouse of the intelligent robot, so that the intelligent robot completes the distribution of the order cargo according to the distribution information; wherein the distribution information comprises the floor and room number of the distribution.

[0193] Optionally, the carrier collection module is further configured to receive a receiving response message sent by the intelligent robot, the receiving response message indicating successful reception of the order cargo; wherein the receiving response message is sent by the intelligent robot when the intelligent robot senses that the storage warehouse body receives the bin carrier carrying the order cargo. According to the receiving response message, a cargo conveying completion message is reported to the intelligent distribution service system; wherein the cargo conveying completion message is used to trigger the intelligent distribution service system to send a distribution instruction to the intelligent robot, the distribution instruction triggering the intelligent robot to distribute the order cargo according to the distribution information sent by the intelligent distribution service system.

[0194] As shown in Figure 11 The intelligent distribution station 2000 can comprise a memory 1120 and a processor 1110, the memory 1120 stores a computer program, and the processor 1110 is configured to execute the cooperation method of 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, the storage medium stores a computer program, and the computer program implements the cooperation method of the intelligent distribution station and the intelligent robot according to any embodiment of the present disclosure when executed by a processor.

[0196] The present application can be a system, a method, and / or a computer program product. The computer program product can include a computer readable storage medium having computer readable program instructions embodied therewith, which cause a processor to carry out various aspects of the present application.

[0197] Computer readable storage media can be tangible storage media which can retain and store instructions for use by an instruction execution device. Computer readable storage media can be, for example, but is not limited to, an electronic 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 (a non-exhaustive list) of computer readable storage media include the following: a portable computer diskette, 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 disc read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanically encoded device such as punch-cards or raised structures in a groove having instructions recorded thereon, and any suitable combination of the foregoing. A computer readable storage medium, as used herein, is not to be construed as being transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission media (e.g., light pulses passing through a fiber-optic cable), or electrical signals transmitted through a wire.

[0198] Computer readable program instructions described herein can be downloaded to respective computing / processing devices from a computer readable storage medium or to an external computer or external storage device via a network, for example, the Internet, a local area network, a wide area network and / or a wireless network. The network can comprise copper transmission cables, optical transmission fibers, wireless transmission, routers, firewalls, switches, gateway computers and / or edge servers. A network adapter card or network interface in each computing / processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium within the respective computing / processing device.

[0199] Computer readable program instructions for carrying out operations of the present application can be assembler instructions, instruction-set-architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state-setting data, or either source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer readable program instructions can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider). In some embodiments, electronic circuitry including, for example, programmable logic circuitry, field-programmable gate array (FPGA), or programmable logic array (PLA) can execute the computer readable program instructions by utilizing state information of the computer readable program instructions to personalize the electronic circuitry, in order to perform aspects of the present application.

[0200] The computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0201] These computer readable program instructions can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks. These computer readable program instructions can also be stored in a computer readable storage medium that can include random access memory (RAM), read only memory (ROM), electrically erasable programmable read only memory (EEPROM), flash memory or nonvolatile memory, or a suitable combination of the different types of computer readable storage media. The computer readable program instructions can also be downloaded to a computer, other programmable data processing apparatus, or other device from a computer readable storage medium or to an external computer or external storage device via a data signal that can be transmitted for example via a wired medium or a wireless medium such as the Internet or Wireless Application Protocol (WAP) signaling.

[0202] The computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus or other device to produce a computer implemented process such that the instructions which execute on the computer, other programmable data processing apparatus, or other device implement the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0203] The flow diagrams and the block diagrams in the drawings are meant as possible implementations of a system, method, or computer program product according to the application. It should be noted that each block of the flow diagrams and / or block diagrams and combinations thereof can be implemented by hardware that performs the specified functions or acts, or combinations of hardware and computer program product(s). For instance, the functions can be performed by one or more operatively activated processors (e.g., CPUs, ASICs, FPGAs, etc.). Each block can also represent a portion of a computer program product that includes one or more computer program instructions (e.g., a logical expression) that embody some or all of the described functionality, or a portion thereof. The computer program instructions can be written in any of various languages, scripting languages, or programming languages, including C, C++, Java, Visual Basic, etc. The computer program instructions can be compiled or interpreted as desired. Each block can also represent a logical expression, a logical expression, or a portion thereof.

[0204] Embodiments of the application have been described above, and the description is intended to be illustrative of the embodiments of the application and not exhaustive. Numerous modifications and adaptations thereof will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The scope of the application is defined by the appended claims.

Claims

1. A method for cooperation between an intelligent distribution station and an intelligent robot, characterized in that, The method comprises the following steps: unlocking the bin door of the target compartment of the intelligent distribution station for the distribution user to store the order goods into the target compartment, the target compartment being the compartment unlocked by the intelligent distribution service system after the distribution user selects the cabinet, and the order goods being the order goods selected by the ordering user through the ordering client and then distributed to the room or floor designated by the ordering user through the intelligent robot; the intelligent distribution service system assigns the intelligent robot corresponding to the distribution order in response to the distribution request, and sends a dispatch instruction to the assigned intelligent robot to take the order goods from the intelligent distribution station corresponding to the distribution order; wherein the distribution order is a distribution order for the goods stored in the intelligent distribution station through the intelligent robot distribution; the intelligent robot receives the dispatch instruction sent by the intelligent distribution service system to take the goods from the intelligent distribution station; the intelligent robot moves to the docking position of the intelligent distribution station in response to the dispatch instruction; the intelligent distribution service system sends a transfer instruction to 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; wherein the transfer instruction indicates the target compartment where the order goods corresponding to the distribution order are located; the intelligent distribution station transfers the order goods in the target compartment to the storage compartment of the intelligent robot according to the transfer instruction when the target compartment is detected to have stored the order goods.

2. The method of claim 1, wherein, The method for the intelligent distribution station to transfer the order goods in the target compartment to the storage compartment of the intelligent robot according to the transfer instruction comprises the following steps: the intelligent distribution station opens the bin door at the docking port according to the transfer instruction, and sends an open door instruction to the intelligent robot; the intelligent robot opens the bin door of the storage compartment body in response to the open door instruction to receive the order goods in the target compartment transferred by the intelligent distribution station.

3. The method of claim 1, wherein, Before the intelligent distribution service system assigns the intelligent robot corresponding to the distribution order in response to the distribution request, the method further comprises the following steps: the intelligent distribution service system sends an article detection request for the target compartment to the intelligent distribution station corresponding to the distribution request; the intelligent distribution station detects whether the order goods have been stored in the target compartment indicated by the article detection request according to the article detection request, and returns the detection result to the intelligent distribution service system; the intelligent distribution service system receives the detection result returned by the intelligent distribution station, and confirms that the distribution request is valid and assigns the intelligent robot corresponding to the distribution order in the case that the detection result indicates that the target compartment has stored the order goods.

4. The method according to any one of claims 1 to 3, characterized in that, After the intelligent robot opens the bin door of the storage compartment body, the method further comprises the following steps: the intelligent robot sends an open door response message indicating successful opening of the door to the intelligent distribution station; The intelligent distribution station retrieves an empty slot carrier from the storage compartment of the intelligent robot according to the door opening response message; After retrieving the empty slot carrier, the intelligent distribution station transfers a slot carrier carrying order goods in a target slot indicated by the object transfer instruction into the storage compartment of the intelligent robot; The intelligent robot sends a receiving response message indicating successful reception of the order goods to the intelligent distribution station when sensing that the storage compartment body receives the slot carrier carrying order goods; The intelligent distribution station reports an object transfer completion message to the intelligent distribution service system according to the receiving response message.

5. The method of claim 4, wherein, After reporting the object transfer completion message to the intelligent distribution service system, the method further comprises: The intelligent distribution service system sends a distribution instruction to the intelligent robot according to the object transfer completion message; The intelligent robot responds to the distribution instruction and distributes order goods according to the distribution information sent by the intelligent distribution service system, wherein the distribution information indicates the floor or room number of the distribution destination, and the distribution information is indicated by the dispatch instruction or the distribution instruction. 6.A method for cooperation between an intelligent distribution station and an intelligent robot, characterized in that, The method suitable for the intelligent robot comprises: Receiving a dispatch instruction sent by the intelligent distribution service system to pick up from the intelligent distribution station; In response to the dispatch instruction, moving to the docking position of the intelligent distribution station according to the navigation path corresponding to the intelligent distribution station indicated by the dispatch instruction; When the intelligent robot arrives at the docking position and completes docking with the docking port of the intelligent distribution station, triggering the intelligent distribution service system to send an object transfer instruction to the intelligent distribution station, the object transfer instruction indicating a target slot where order goods to be picked up corresponding to the dispatch instruction are located, and the object transfer instruction being used to trigger the intelligent distribution station to open a compartment door of the intelligent distribution station at the docking port and send a door opening instruction to the intelligent robot; Receiving the door opening instruction sent by the intelligent distribution station; In response to the door opening instruction, opening the compartment door of the storage compartment body of the intelligent robot to receive the order goods corresponding to the dispatch instruction transferred by the intelligent distribution station.

7. The method of claim 6, wherein, After opening the compartment door of the storage compartment body of the intelligent robot, the method further comprises: 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 compartment of the intelligent robot and transfer a slot carrier carrying order goods in a target slot into the storage compartment of the intelligent robot; When sensing that the storage compartment body receives the slot carrier carrying order goods, distributing order goods according to the distribution information sent by the intelligent distribution service system, wherein the distribution information indicates the floor or room number of the distribution destination.

8. The method of claim 6, wherein, After opening the compartment door of the storage compartment body of the intelligent robot, the method further comprises: In response to the delivery instruction, delivering the order goods according to delivery information sent by the intelligent delivery service system; wherein, the delivery information indicates a floor or a room number of a delivery destination, and the delivery information is indicated by the dispatch instruction or the delivery instruction. The dispatch instruction is sent by the intelligent delivery service system after receiving a delivery request for a delivery order and confirming that the order goods are stored in the target compartment corresponding to the delivery order in the intelligent delivery station. The method is suitable for the intelligent delivery station, and the method comprises:

9. The method according to any one of claims 6 to 8, characterized in that, Unlocking a compartment door of a target compartment of the intelligent delivery station, receiving order goods stored in the target compartment by a delivery user, and the target compartment is a compartment unlocked by the intelligent delivery station controlled by the intelligent delivery service system after the delivery user selects to open the cabinet; 10.A method for cooperation between an intelligent distribution station and an intelligent robot, characterized in that, Receiving a delivery instruction sent by the intelligent delivery service system; wherein, the delivery instruction is sent by the intelligent delivery service system according to the case that the intelligent robot has arrived at a docking position cooperating with the intelligent delivery station, and the delivery instruction indicates a target compartment in which order goods corresponding to a delivery order are located. In the case that the intelligent delivery station detects that the target compartment has stored the order goods, the intelligent delivery station delivers the order goods in the target compartment to the storage compartment of the intelligent robot according to the delivery instruction. The delivery of the order goods in the target compartment to the storage compartment of the intelligent robot according to the delivery instruction comprises: According to the delivery instruction, opening a compartment door at the docking port and sending an opening instruction to the intelligent robot; wherein, the opening instruction is used to trigger the intelligent robot to open a compartment door of a storage compartment body to receive the delivered order goods in the target compartment.

11. The method of claim 10, wherein, After the opening instruction is sent to the intelligent robot, the method further comprises: Receiving an opening response message returned by the intelligent robot in response to the opening instruction, the opening response message indicating successful opening of the compartment door; 12. The method of claim 11, wherein, According to the opening response message, retrieving an empty compartment carrier in the storage compartment of the intelligent robot; After the empty compartment carrier is retrieved, a compartment carrier carrying order goods in the target compartment indicated by the delivery instruction is delivered into the storage compartment of the intelligent robot, so that the intelligent robot completes delivery of the order goods according to delivery information; wherein, the delivery information includes a floor and a room number of the delivery. After the compartment carrier carrying the order goods in the target compartment indicated by the delivery instruction is delivered into the storage compartment of the intelligent robot, the method further comprises: ​ 13. The method of claim 12, wherein, ​ receive a receiving response message sent by the intelligent robot, the receiving response message indicating that the order goods are successfully received, wherein the receiving response message is sent by the intelligent robot when the intelligent robot senses that the storage bin body receives the compartment carrier carrying the order goods; report a delivery completion message to the intelligent delivery service system according to the receiving response message, 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 order goods according to the delivery information sent by the intelligent delivery service system.

14. A method for cooperation between an intelligent distribution station and an intelligent robot, characterized in that, The method is suitable for an intelligent delivery service system, and the method comprises: The intelligent delivery service system controls the door of the target compartment of the intelligent delivery station to be unlocked after the delivery user selects to open the cabinet, so that the target compartment of the intelligent delivery station receives the order goods stored by the delivery user; In response to the delivery request, an intelligent robot corresponding to a delivery order indicated by the delivery request is allocated for the delivery order, and a dispatch instruction for taking order goods from the intelligent delivery station corresponding to the delivery order is sent to the allocated intelligent robot; wherein the delivery order is a delivery order for delivering 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 a docking position of the intelligent delivery station; According to the docking response message, a delivery instruction is sent to the intelligent delivery station, so that the intelligent delivery station delivers the order goods in the target compartment to the storage bin of the intelligent robot according to the delivery instruction; wherein the delivery instruction indicates the target compartment where the order goods corresponding to the delivery order are located; and the docking response message is a message indicating that the intelligent robot is ready for use, which is sent by the intelligent robot to the intelligent delivery service system when the intelligent robot moves to the docking position of the intelligent delivery station according to the dispatch instruction and completes docking with the docking port of the intelligent delivery station.

15. An intelligent robot, characterized in that, The intelligent delivery station comprises a processor and a memory, the memory stores programs or instructions executable on the processor, and the programs or instructions are executed by the processor to implement the cooperation method of the intelligent delivery station and the intelligent robot according to any one of claims 6 to 9.

16. An intelligent dispensing station, characterized by The intelligent delivery station comprises a processor and a memory, the memory stores programs or instructions executable on the processor, and the programs or instructions are executed by the processor to implement the cooperation method of the intelligent delivery station and the intelligent robot according to any one of claims 10 to 13.

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