Distribution method and system

Abstract

The invention provides a distribution method and system, and the method comprises the steps: determining a first processing result of a first new waybill according to the information of the first new waybill and the information of the currently executed waybill if a robot is in an order receiving state and there is a currently executed waybill; if the first processing result is that the first new waybill and the executing waybill belong to the same delivery point, the first new waybill and the executing waybill are combined based on the waybill combining request instruction to obtain a first combined waybill, first order receiving confirmation information is reported to the server, and after a to-be-delivered article of the first combined waybill is carried in a first target cabin of the robot, the to-be-delivered article of the first combined waybill is sent to the server; and carrying out delivery according to the first joint waybill. According to the method and the device, the waybill can be newly added in a single delivery task, the situation that the robot executes the task for multiple times is reduced, and the multiple orders belonging to the same delivery point can be combined, so that the robot delivers the multiple orders of the same delivery point in the single task, the delivery efficiency of the single delivery point is improved, and the time consumption of multiple delivery is reduced.

Description

Technical Field

[0001] The present application belongs to the field of distribution technology, and in particular, relates to a distribution method and system. Background Art

[0002] At present, in the robot delivery solution, when a user places an order, the server directly dispatches the order to a robot that can perform the task. After receiving the order, the robot directly picks up the item and then directly delivers the item. This means that the robot can only deliver one item at a time, resulting in low efficiency of robot delivery. Summary of the invention

[0003] The embodiments of the present application provide a delivery method, system, robot, computer-readable storage medium, and computer program product, which can solve the problem of low efficiency in robot delivery.

[0004] In a first aspect, an embodiment of the present application provides a delivery method, which is applied to an autonomous delivery robot, comprising:

[0005] After receiving the first new waybill and the order-merging request instruction sent by the server, if the robot is in an order-accepting state and there is an order being executed, determining a first processing result of the first new waybill according to the information of the first new waybill and the information of the waybill being executed; the order-merging request instruction is used to request the robot to merge the waybill being executed with the first new waybill;

[0006] If the first processing result is that the first new waybill and the currently executed waybill belong to the same delivery point, based on the waybill combining request instruction, combining the first new waybill and the currently executed waybill to obtain a first combined waybill, and reporting first order confirmation information to the server;

[0007] After the robot's first target cabin carries the items to be delivered of the first combined waybill, delivery is performed according to the first combined waybill. The first target cabin is the cabin where the items to be delivered of the waybill being executed are placed. The items to be delivered of the first combined waybill include the items to be delivered of the first new waybill and the items to be delivered of the waybill being executed.

[0008] In a second aspect, an embodiment of the present application provides a distribution method, applied to a server, comprising:

[0009] After obtaining a new order, determine an order-taking robot, the order-taking status of the order-taking robot is a robot that can accept orders, and the new order is an order created after the user places an order or a replenishment order generated by a failed pickup;

[0010] If there is a target robot whose currently executing waybill and the new order belong to the same delivery point, sending the first new waybill and a merge request instruction to the target robot, wherein the merge request instruction is used to request the target robot to merge the currently executing waybill with the first new waybill;

[0011] After receiving the first confirmation order information from the target robot, the executing waybill is merged with the first new waybill to obtain a first combined waybill.

[0012] In a third aspect, an embodiment of the present application provides a delivery system comprising: a server and a plurality of autonomous delivery robots;

[0013] The server is used to determine an order-taking robot after obtaining a new order, wherein the order-taking robot is a robot that can accept orders, and the new order is an order created after the user places an order or a replenishment order generated by a failed pickup;

[0014] If there is a target robot whose currently executing waybill and the new order belong to the same delivery point, sending the first new waybill and a merge order request instruction to the target robot, wherein the merge order request instruction is used to instruct the target robot to merge the currently executing waybill with the first new waybill;

[0015] It is also used to merge the currently executed waybill with the first new waybill to obtain a first combined waybill after receiving the first confirmation order information from the target robot;

[0016] The target robot is configured to, after receiving the first new waybill and the order-combining request instruction sent by the server, determine a first processing result of the first new waybill according to information of the first new waybill and information of the waybill being executed if the robot is in an order-accepting state and there is a waybill being executed; the order-combining request instruction is configured to instruct the robot to combine the waybill being executed with the first new waybill;

[0017] and further configured to, if the first processing result is that the first new waybill and the currently executed waybill belong to the same delivery point, merge the first new waybill and the currently executed waybill to obtain a first combined waybill based on the combined waybill request instruction, and report first confirmation order information to the server;

[0018] It is also used for delivering the items to be delivered of the first combined waybill after the first target cabin of the robot carries the items to be delivered of the first combined waybill, the first target cabin being the cabin where the items to be delivered of the waybill being executed are placed, and the items to be delivered of the first combined waybill include the items to be delivered of the first new waybill and the items to be delivered of the waybill being executed.

[0019] In a fourth aspect, an embodiment of the present application provides a robot comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements a method as described in any one of the above-mentioned first aspects when executing the computer program.

[0020] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method as described in any one of the above-mentioned first aspects is implemented.

[0021] In a sixth aspect, an embodiment of the present application provides a computer program product, which, when executed on a robot, enables the robot to execute any of the methods described in the first aspect above.

[0022] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0023] After receiving the first new waybill and the combined order request instruction sent by the server, the embodiment of the present application determines, if the robot is in a state where it can accept orders and there is an existing waybill being executed, a first processing result of the first new waybill is determined based on the information of the first new waybill and the information of the existing waybill; the combined order request instruction is used to instruct the robot to combine the existing waybill with the first new waybill; if the first processing result is that the first new waybill and the existing waybill belong to the same delivery point, then based on the combined order request instruction, the first new waybill and the existing waybill are combined to obtain a first combined waybill, and the first confirmation order information is reported to the server, and at the first target of the robot After the cabin carries the items to be delivered of the first combined waybill, delivery is carried out according to the first combined waybill. The first target cabin is the cabin where the items to be delivered of the waybill being executed are placed. The items to be delivered of the first combined waybill include the items to be delivered of the first new waybill and the items to be delivered of the waybill being executed. New waybills can be added in a single delivery task to reduce the situation where the robot performs tasks multiple times, and multiple orders belonging to the same delivery point can be combined for processing without splitting them into multiple tasks. This allows the robot to deliver multiple orders of a delivery point in a single task, thereby improving the delivery efficiency of a single delivery point and reducing the time spent on multiple deliveries.

[0024] It can be understood that the beneficial effects of the second to sixth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0026] Figure 1 This is a first flow chart of a distribution method provided by an embodiment of the present application;

[0027] Figure 2 This is a second flow chart of the delivery method provided by an embodiment of the present application;

[0028] Figure 3 This is a third flow chart of the delivery method provided in one embodiment of the present application;

[0029] Figure 4 This is a fourth flow chart of the delivery method provided in one embodiment of the present application;

[0030] Figure 5 This is a fifth flow chart of the delivery method provided in one embodiment of the present application. DETAILED DESCRIPTION

[0031] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0032] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0033] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0034] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0035] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0036] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0037] In one embodiment, the system includes: a server and a plurality of autonomous delivery robots.

[0038] Among them, autonomous delivery robots refer to devices that can perform delivery tasks and deliver items to users. Delivery tasks can be tasks in which robots provide delivery services to users based on waybills. Delivery scenarios include restaurants, warehouses, airports, or hotels, etc. Delivery areas refer to pre-designated areas in delivery scenarios. Robots can move to the delivery area and notify users and wait for users to pick up items.

[0039] Each robot has identification information, such as an ID (Identity document), which is used to identify the robot.

[0040] The server is used to determine the order-taking robot after obtaining a new order. The order-taking robot is a robot that is able to accept orders. A new order is an order created after a user places an order or a replenishment order generated by a failed pickup.

[0041] In the application, users can place orders through the service system, which can be a telephone order or a mobile APP (Application) service system. After receiving the order information, the service system sends the order information to the server, and then the server generates a new order based on the user's order information.

[0042] For example, after checking into a hotel, a user can use the hotel's service system to place an order for food or daily necessities. The user enters the required items and the room number of the user in the service system to obtain the order information. The service system sends the order information to the hotel's platform system, and the platform system generates an order based on the order information, thereby obtaining a new order.

[0043] In the application, when the robot receives a waybill and goes to a pickup point to pick up the goods, if the pickup point cannot deliver the required quantity of a certain item on the waybill, it sends a message of failed delivery to the server. The server generates a corresponding replenishment order for the failed pickup of the item, and then obtains a new order.

[0044] For example, the waybill is to deliver 5 bottles of Coke to room number 607. After receiving the waybill, the robot goes to the pickup point set up inside the hotel. After arriving at the pickup point, the pickup point delivers the goods. The pickup point only delivers 3 bottles, missing 2 bottles, and sends a message to the server that the delivery of Coke has failed. The server generates a replenishment order for 2 bottles of Coke.

[0045] In the application, in order to improve the success rate of order execution, the robot in the distribution scene will report its own situation autonomously so that the server can find a robot that can meet the conditions for accepting orders. Among them, the conditions for accepting orders include that the power is greater than the minimum power, the emergency stop function of the robot is not activated, the positioning is successful, it is within the working contract period, the remote call switch is turned on, and the cabin type is the preset cabin type. The preset cabin type is a double cabin or a T-type cabin.

[0046] Every time the server receives a new order, it searches for a robot in the delivery scenario that is qualified to accept the order and determines the robot to accept the order.

[0047] It is also used to send the first new waybill and the merge order request instruction to the target robot if there is a target robot that is executing the waybill and the new order belongs to the same delivery point. The merge order request instruction is used to instruct the target robot to merge the currently executing waybill with the first new waybill.

[0048] In the application, when there is a target robot whose current waybill and the new order belong to the same delivery point, after the server generates a first new waybill according to the new order, it sends the first new waybill and the order-merging request instruction to the target robot through the order dispatching system according to the identification information of the target robot. The first new waybill is a waybill that can be merged with the current waybill. The target robot is the order-receiving robot.

[0049] When there is no order-taking robot that is executing the waybill and the new order to the same delivery point, the order-taking robot in an idle state can be determined as the target robot, and the first new waybill can be sent to the target robot through the order dispatching system to instruct the target robot to deliver according to the first new waybill.

[0050] It is also used to merge the currently executed waybill with the first new waybill to obtain a first combined waybill after receiving the first confirmation order information from the target robot.

[0051] In the application, the server receives the first confirmation order information, learns that the target robot has successfully accepted the first new waybill, and merges the currently executing waybill with the first new waybill into one waybill for delivery. The server merges the currently executing waybill with the first new waybill to obtain the first combined waybill. The server notifies the pickup point to ship the goods according to the first combined waybill.

[0052] The target robot is used to receive the first new waybill and the merge request instruction sent by the server. If the robot is in a state where it can accept orders and there is a waybill being executed, then a first processing result of the first new waybill is determined based on the information of the first new waybill and the information of the waybill being executed; the merge request instruction is used to instruct the robot to merge the waybill being executed with the first new waybill.

[0053] In the application, each time the target robot receives the first new waybill and the order combining request instruction, it first determines whether it can accept the first new waybill. If it determines that it is in a state where it can accept the order, it then determines whether there is an order being executed locally. If it determines that there is an order being executed locally, it determines whether the first new waybill and the order being executed can be combined to obtain the first processing result.

[0054] If it is determined that there is no waybill being executed locally, the first new waybill can be directly added and executed. If the robot is on the charging pile when the first new waybill is added, the robot will perform the unloading operation. After the robot unloads, it can display the order prompt information, and continue to work after the information is closed. By displaying the order prompt information after unloading, it can ensure that the robot has fallen off the charging pile and remind nearby personnel: the robot has started working, ensuring that the robot can successfully perform the delivery task, and improving the convenience and comfort of human-machine communication.

[0055] It is also used to merge the first new waybill and the being executed waybill to obtain a first combined waybill based on the order combining request instruction if the first processing result is that the first new waybill and the being executed waybill belong to the same delivery point, and report the first confirmation order information to the server.

[0056] In the application, the first processing result is that the first new waybill and the being executed waybill belong to the same delivery point, indicating that the first new waybill and the being executed waybill belong to the same delivery point, and the first new waybill is a subsequent waybill. Based on the waybill combining request instruction, the robot merges the information of the first new waybill into the information of the being executed waybill, discards the waybill number of the first new waybill, and obtains the first combined waybill.

[0057] The target robot reports the first confirmation order information to the server, informing the server that it has successfully accepted the first new waybill, and merges the currently executing waybill with the first new waybill into one waybill for delivery.

[0058] It is also used for delivering the items to be delivered on the first combined waybill after the first target cabin of the robot carries the items to be delivered on the first combined waybill. The first target cabin is the cabin where the items to be delivered on the waybill being executed are placed. The items to be delivered on the first combined waybill include the items to be delivered on the first new waybill and the items to be delivered on the waybill being executed.

[0059] In the application, after the first new waybill and the currently executed waybill are combined, the items to be delivered of the first combined waybill are loaded in the same cabin, so that the goods can be picked up in one go.

[0060] It is understandable that carrying all the items to be delivered in one compartment and picking them up at one time can save delivery time. At the same time, carrying all the items to be delivered in one compartment can reduce the situation where different compartments carry the items to be delivered of the first combined waybill, resulting in item confusion and delivery errors, and increase the number of empty compartments, providing a basis for accepting multiple waybills and improving robot utilization.

[0061] As well as users placing multiple orders, the robot will deliver the goods once, thus improving the delivery efficiency of a single delivery point and ensuring high-quality delivery services.

[0062] For example, the delivery scenario is a hotel, and the delivery area can be the room entrance area inside the hotel. The user places an order through the service system for 4 bottles of soda and 2 packs of snacks to be delivered to room 607. The server generates a new order based on the order information, and then generates a first new waybill based on the new order. The first new waybill: deliver 4 bottles of soda and 2 packs of snacks to room 607.

[0063] Since there is no robot's currently executing waybill that belongs to the same delivery point as the new order, the server selects the idle robot No. 1 that is qualified to accept the order as the target robot, and sends the first new waybill to the robot No. 1. Since the robot No. 1 determines that there is no locally executing waybill that belongs to the same delivery point as the first new waybill, it directly adds the first new waybill. After the robot accepts the first new waybill, it goes to the pickup point to pick up the goods. At this point, the target robot has an executing waybill.

[0064] Then the user places an order through the service system for 2 bottles of soda and 3 bottles of tea drinks to be delivered to Room 607. The server generates a new order based on the order information, and then generates a first new waybill based on the new order. The first new waybill: Deliver 2 bottles of soda and 3 bottles of tea drinks to Room 607.

[0065] Because there is a robot No. 1 that has an existing waybill and a new order that belong to the same delivery point, the server sends the first new waybill and a merge order request instruction to robot No. 1. Robot No. 1 determines that there is an existing waybill that belongs to the same delivery point as the new order locally, and based on the merge order request instruction, merges the first new waybill with the existing waybill, discards the first new waybill, and obtains the first merged waybill. The first merged waybill: Deliver 6 bottles of soda, 3 bottles of tea drinks, and 2 packs of snacks to room 607.

[0066] The server notifies the pickup point to take out the items on the first waybill, and the No. 1 robot carries the items to be delivered on the first waybill in the No. 1 cabin and delivers them according to the first waybill. The No. 1 cabin is the cabin where the items to be delivered on the waybill are placed.

[0067] After the No. 1 robot arrives at the door area of ​​Room 607, it can inform the user of the items to be delivered and the robot's location of the first waybill through voice messages or telephone communication. After the user confirms that the items delivered by the robot are the items he has ordered, he picks up the items delivered by the robot in the door area of ​​Room 607.

[0068] In this embodiment, the server sends a first new waybill to a target robot that has an ongoing waybill and a new order belonging to the same delivery point. After determining that the ongoing waybill and the first new waybill belong to the same delivery point, the target robot merges the ongoing waybill and the first new waybill to obtain a first combined waybill; after all items to be delivered are carried out according to the first combined waybill, delivery can be performed, and a new waybill can be added to a single delivery task to reduce the situation where the robot performs tasks multiple times, and multiple orders belonging to the same delivery point can be combined without splitting them into multiple tasks, so that the robot can deliver multiple orders of a delivery point in a single task, improve the delivery efficiency of a single delivery point, and reduce the time consumption of multiple deliveries.

[0069] In one embodiment, Figure 1 This is a schematic diagram of the first flow chart of the distribution method provided by an embodiment of the present application. Figure 1 As shown, the method, applied to a server, comprises:

[0070] S11: After obtaining a new order, determine the order-taking robot.

[0071] Among them, the order-taking robot is a robot that is able to accept orders, and the new order is an order created after the user places an order or a replenishment order generated when the pickup fails.

[0072] S12: If there is a target robot that is executing a waybill and a new order belonging to the same delivery point, a first new waybill and a combined order request instruction is sent to the target robot.

[0073] Among them, the merge request instruction is used to request the target robot to merge the currently executed waybill with the first new waybill.

[0074] In one possible implementation, in order to ensure that after the robot combines the waybill being executed with the first new waybill, one cabin can carry all the items to be delivered after the combined orders, the server determines whether the robot can combine the orders based on the capacity of the first target cabin.

[0075] Correspondingly, step S12 includes:

[0076] S121: If there is a target robot that is executing the waybill and the new order belonging to the same delivery point, determine whether the cabin capacity of the first target cabin of the target robot is greater than or equal to the total volume of the items to be delivered.

[0077] The total volume of items to be delivered includes the volume of items to be delivered of new orders and the volume of items to be delivered of waybills being executed, and the first target compartment is the compartment where the items to be delivered of waybills being executed are placed.

[0078] In the application, the robot will report its own cabin type and the volume information of various items pre-recorded by the server. The server will determine whether the cabin capacity of the first target cabin is sufficient based on the volume of all the items to be delivered after the order is combined.

[0079] S122: If the cabin capacity of the first target cabin is greater than or equal to the total volume of the items to be delivered, a first new waybill and combined waybill request instruction is sent to the target robot.

[0080] In the application, if the cabin capacity of the first target cabin is greater than or equal to the total volume of the items to be delivered, it means that the cabin capacity of the first target cabin is sufficient and the first target cabin of the target robot can carry all the items to be delivered. Then the server generates a combined order request instruction and a first new waybill based on the new order, and sends the first new waybill and combined order request instruction to the target robot.

[0081] By judging whether the cabin capacity of the first target cabin of the target robot is greater than or equal to the total volume of the items to be delivered, if the cabin capacity of the first target cabin is greater than or equal to the total volume of the items to be delivered, the first new waybill and the order combination request instruction are sent to the target robot to ensure that the target robot can successfully carry all the items to be delivered after combining the orders, thereby improving the probability of successful combined delivery, allowing the robot to deliver multiple orders to a delivery point in a single task, improving the delivery efficiency of a single delivery point, and reducing the time spent on multiple deliveries.

[0082] S13: After receiving the first confirmation order information from the target robot, the executing waybill is merged with the first new waybill to obtain a first combined waybill.

[0083] In the application, after the target robot determines that the first new waybill and the currently executed waybill can be combined according to its own situation, it sends the first confirmation order information to the server. Then the server combines the currently executed waybill with the first new waybill to obtain the first combined waybill to ensure the accuracy of the waybill.

[0084] In a possible implementation, after step S11, the method further includes:

[0085] After receiving the first order rejection information from the target robot, a corresponding operation is performed according to the type of the first new waybill.

[0086] In the application, after the target robot determines that the first new waybill and the currently executed waybill cannot be merged according to its own situation, it sends the first rejection order information to the server. Then the server determines the urgency according to the type of the first new waybill, and sends the first new waybill to other order-taking robots or puts it into the menu collection waiting for the robot to take it over autonomously.

[0087] For example, the first new waybill is generated based on the replenishment order, and the urgency is set high. It is necessary to determine the target robot among other order-taking robots and send the first new waybill to the target robot so that the target robot can directly perform the delivery task of the first new waybill.

[0088] After receiving the first order rejection information from the target robot, the corresponding operation is performed according to the type of the first new waybill. When the target robot cannot combine the order, the first new waybill can be processed in time to provide users with high-quality delivery services.

[0089] This embodiment determines the order-taking robot after obtaining the new order; if there is a target robot that is executing the waybill and the new order and belongs to the same delivery point, a first new waybill and a combined order request instruction are sent to the target robot, and after receiving the first confirmation order information from the target robot, the executing waybill and the first new waybill are merged to obtain a first combined waybill. New waybills can be added to a single delivery task to reduce the situation where the robot executes tasks multiple times, and multiple orders belonging to the same delivery point can be combined without splitting them into multiple tasks. This allows the robot to deliver multiple orders to a delivery point in a single task, thereby improving the delivery efficiency of a single delivery point and reducing the time spent on multiple deliveries.

[0090] In one embodiment, multiple types of pickup points may be set in the delivery scene according to the user's delivery needs and the scene's delivery capabilities, including a first pickup point and a second pickup point. The first pickup point is a pickup point where goods are stored and automatically docked with the robot. The second pickup point is a pickup point where goods are stored and manually docked with the robot.

[0091] Because the first pickup point cannot deliver goods flexibly, and the second pickup point can deliver goods flexibly and the item inventory at the second pickup point can meet user needs, when the new order is an order to pick up goods at the second pickup point, the cabin of the target robot can be flexibly adjusted and processed, so that when the target robot has an empty cabin, it can take on more new waybills and combined orders, and carry more new waybills and combined orders of items to be delivered.

[0092] It is understandable that when multiple types of pickup points are set up in the delivery scene, combined pickup can be achieved through multiple types of pickup points, which can ensure that users can place multiple orders and the delivery is successful once.

[0093] Correspondingly, Figure 2 1 is a second flow chart of the delivery method provided by an embodiment of the present application. Figure 2 As shown, the method further includes:

[0094] S14: If the cabin capacity of the first target cabin is smaller than the total volume of the items to be delivered, and the new order is an order to pick up the items at the second pickup point, a second new waybill is sent to the target robot.

[0095] In the application, the cabin capacity of the first target cabin is smaller than the total volume of the items to be delivered, which means that the first target cabin cannot carry all the items to be delivered in the order. If the target robot has an empty cabin and the new order is an order to pick up the goods at the second pickup point, the target robot can also accept the new waybill through the empty cabin. The server sends a second new waybill to the target robot so that the target robot can judge whether it can accept the new waybill based on its own situation.

[0096] S15: Receive the second confirmation order information from the target robot.

[0097] In the application, the server receives the second confirmation order information from the target robot, and learns that the target robot has successfully accepted the second new waybill.

[0098] In a possible implementation, after step S14, the method further includes:

[0099] If the cabin capacity of the first target cabin is smaller than the total volume of the items to be delivered, and the new order is an order to be picked up at the second pickup point, then after receiving the second order rejection information from the target robot, a second new waybill is sent to other order-taking robots.

[0100] By sending a second new waybill to other order-taking robots, the ongoing waybill and the second new waybill belonging to the same delivery point can be processed in a timely manner, providing users with high-quality delivery services.

[0101] And, the method further comprises:

[0102] S16: If the target robot has an existing waybill that is not executed by the same delivery point as the new order, and the new order is an order to be picked up at the second pickup point, a second new waybill is sent to the target robot.

[0103] In the application, if the target robot still has an empty cabin, it can continue to accept new waybills that do not belong to the same delivery point as the currently executed waybill and are picked up at the second pickup point. The server sends the second new waybill to the target robot.

[0104] S17: Receive the second confirmation order information from the target robot.

[0105] In the application, the server receives the second confirmation order information from the target robot, and learns that the target robot has successfully accepted the second new waybill.

[0106] In a possible implementation, after step S14, the method further includes:

[0107] If the target robot is executing a waybill that does not belong to the same delivery point as the new order, and the new order is an order to be picked up at the second pickup point, then after receiving the second order rejection information from the target robot, the second new waybill is uploaded to the menu set.

[0108] This embodiment sends the orders for pickup at the second pickup point to the target robot to increase the possibility of the target robot taking on more new waybills and combined orders. This can reduce the situation where multiple orders from the same delivery point are taken on by different robots, and enable the robot to deliver orders from multiple delivery points in a single mission, thereby improving the robot's delivery efficiency and improving the robot's utilization rate.

[0109] In one embodiment, the method further comprises:

[0110] After receiving the status information of each waybill from the target robot, the status information of the waybill is displayed to the corresponding user.

[0111] In the application, the server can display the status information of the waybill through the service system, and the user can obtain the status information of each waybill through the service system.

[0112] This embodiment exchanges information with the target robot in real time to obtain the status information of each waybill in a timely manner, so that the user can clearly know the status of the waybill related to himself, thereby improving the quality of the delivery service.

[0113] In one embodiment, Figure 3 FIG. 2 is a third flow chart of a distribution method provided in an embodiment of the present application. Figure 3 As shown, the method is applied to an autonomous delivery robot, comprising:

[0114] S21: After receiving the first new waybill and the combined order request instruction sent by the server, if the robot is in a state where it can accept orders and there is a waybill being executed, a first processing result of the first new waybill is determined based on the information of the first new waybill and the information of the waybill being executed.

[0115] Among them, the merge request instruction is used to request the robot to merge the currently executed waybill with the first new waybill.

[0116] In a possible implementation, multiple types of pickup points may be set in the delivery scene due to user delivery needs and scene delivery capabilities, including a first pickup point and a second pickup point. Among them, the first pickup point is a pickup point where goods are stored and automatically connected to the robot. The second pickup point is a pickup point where goods are stored and manually connected to the robot. Correspondingly, the waybill types include manual waybills, waybills for picking up goods at the first pickup point, and waybills for picking up goods at the second pickup point.

[0117] Because the first pickup point is automatically connected to the robot, and the second pickup point needs to be staffed, in order to better serve users, when a user places an order, a waybill for picking up the goods at the first pickup point is generated first. Because the first pickup point cannot flexibly ship, and the second pickup point can flexibly ship and the inventory of items at the second pickup point can meet user needs, when the first pickup point does not store certain types of items in the executing waybill or the shipping quantity is insufficient, the first new waybill is a waybill generated for the replenishment order of the executing waybill, and the first new waybill is a waybill for picking up the goods at the second pickup point.

[0118] It is understandable that when multiple types of pickup points are set up in the delivery scene, combined pickup can be achieved through multiple types of pickup points, which can ensure that users can place multiple orders and the delivery is successful once.

[0119] For example, in a hotel scenario, the first pickup point can be a container, which automatically delivers and receives goods to the robot without human intervention. The second pickup point can be the front desk, which is staffed and manually docks with the robot.

[0120] When both the current waybill and the first new waybill are waybill for picking up goods at the first pickup point, the first pickup point cannot deliver goods flexibly because it is automatically connected to the robot. When the first pickup point delivers goods, the robot will deliver the goods. At this time, the robot cannot return to the first pickup point to pick up goods to execute the new waybill for picking up goods at the first pickup point. Based on this, the robot will accept the new waybill for picking up goods at the first pickup point before the first pickup point delivers goods.

[0121] Correspondingly, confirming that the robot is in a state where it can accept orders includes:

[0122] S31: Determine the robot's order acceptance status based on the robot's status.

[0123] In the application, when the robot status is that the power level is greater than the minimum power level, the emergency stop function of the robot is not activated, the positioning is successful, it is within the work contract period, the remote call switch is turned on, the cabin type is the preset cabin type, etc., it is determined that the robot is ready to accept orders.

[0124] If the robot status is not that the battery level is greater than the minimum battery level, the emergency stop function of the robot is not activated, the positioning is successful, it is within the work contract period, the remote call switch is turned on, the cabin type is the preset cabin type, etc., it is determined that the robot's order acceptance status is not available.

[0125] S32: If the order acceptance status is that the order can be accepted, and no information indicating that the shipment from the first pickup point has been completed is received, it is determined that the robot is in a state where the order can be accepted.

[0126] In the application, when the order acceptance status is acceptable, it means that the robot is sure that it can perform the delivery task. At the same time, the robot has not received the information indicating that the first pickup point has finished shipping, which means that the robot is in the pickup state and can continue to carry the items to be delivered of the first new waybill, which means that the robot is in the order acceptance state.

[0127] If the robot receives information indicating that the shipment from the first pickup point has been completed, it can no longer accept new waybills for pickup from the first pickup point and sends a first order rejection message to the server.

[0128] In a possible implementation, the working status of the first pickup point can be known through information interaction response between the robot and the first pickup point.

[0129] Specifically, after the robot reaches the first pickup point, it sends arrival information to the server. The server notifies the first pickup point to ship the goods. The first pickup point sends the shipping information to the robot through the server. After the first pickup point completes the shipping, the server sends the shipping completion information to the robot.

[0130] By determining the robot's order acceptance status based on the robot's status, if the robot is able to accept orders and has not received information indicating that the shipment from the first pickup point is complete, it is determined that the robot is in a state where it can accept orders. This double-judges whether the robot can accept new waybills for pickup at the first pickup point, thereby ensuring that the robot successfully accepts the delivery task corresponding to the first new waybill, and enabling the robot to deliver multiple orders to a distribution point in a single task when both the currently executing waybill and the first new waybill are waybills for pickup at the first pickup point, thereby improving the delivery efficiency of a single distribution point.

[0131] Also, when the currently executing waybill and the first new waybill are both waybill for picking up goods at the first pickup point, since the first pickup point is automatically connected to the robot and cannot ship goods flexibly, the first pickup point cannot ship items from two waybills at different delivery points.

[0132] Correspondingly, after step S21, the following steps are also included:

[0133] S33: If the first processing result is that the first new waybill and the currently executed waybill do not belong to the same delivery point, first order rejection information is reported to the server.

[0134] In the application, if the first new waybill and the currently executing waybill do not belong to the same delivery point, it means that the first new waybill and the currently executing waybill cannot be combined. At the same time, for the waybill of the new first pickup point, the first pickup point cannot deliver the goods, and the robot directly reports the first rejection order information to the server.

[0135] When both the currently executing waybill and the first new waybill are waybill for picking up the goods at the first pickup point, if the first processing result is that the first new waybill and the currently executing waybill do not belong to the same delivery point, the first order rejection information is reported to the server to prevent the situation where the first pickup point fails to ship after the robot takes over the new waybill for picking up the goods at the first pickup point, resulting in delivery failure, thereby providing users with high-quality delivery services.

[0136] When the first new waybill is a waybill for picking up goods at the second pickup point, the second pickup point can be manually connected to the robot, which can flexibly ship goods and the inventory of goods at the second pickup point can meet user needs, so that when the robot can accept the order, it can carry the new waybill to be delivered for picking up goods at the second pickup point, and the waybill for picking up goods at the second pickup point is not affected by where the current waybill is picked up. Based on this, when the robot's order acceptance situation is that it can accept the order, it can accept the new waybill for picking up goods at the second pickup point.

[0137] Correspondingly, confirming that the robot is in a state where it can accept orders includes:

[0138] S31`: Determine the robot's order acceptance status based on the robot's status.

[0139] The specific process of determining the robot's order acceptance is the same as described above, so I will not go into details here.

[0140] S32`: If the order acceptance status is that the order can be accepted, it is determined that the robot is in a state where the order can be accepted.

[0141] In the application, when the order acceptance status is acceptable, it means that the robot has determined that it can perform the delivery task and is in a state where it can accept orders.

[0142] The robot's order acceptance status is determined based on the robot's status; if the order acceptance status is that the robot can accept the order, it is determined that the robot is in a state where the robot can accept the order, so that the robot can successfully accept the new waybill for picking up the goods at the second pickup point.

[0143] S22: If the first processing result is that the first new waybill and the being executed waybill belong to the same delivery point, based on the order combining request instruction, the first new waybill and the being executed waybill are combined to obtain a first combined waybill, and the first confirmation order information is reported to the server.

[0144] In a possible implementation, step S22 includes:

[0145] S221: Determine whether the parent waybill of the first new waybill is the same as the parent waybill of the waybill being executed, or determine whether the delivery point of the first new waybill is the same as the delivery point of the waybill being executed.

[0146] In the application, it can be determined whether they belong to the same delivery point based on the parent waybill number of the first new waybill and the parent waybill number of the waybill being executed.

[0147] Correspondingly, if the server determines that there is a target robot that is executing the waybill and the new order and belongs to the same delivery point, when the server generates the first new waybill based on the new order, it sets the parent waybill number of the first new waybill according to the parent waybill number of the currently executing waybill.

[0148] Alternatively, the respective delivery addresses may be obtained from the first new waybill and the currently executed waybill, and it may be determined whether they belong to the same delivery point based on the delivery addresses of the waybills.

[0149] S222: If they are the same, then determining the first processing result is that the first new waybill and the currently executed waybill belong to the same delivery point.

[0150] S223: If they are not the same, then determining the first processing result is that the first new waybill and the currently executed waybill do not belong to the same delivery point.

[0151] By providing different ways to determine whether the first new waybill and the currently executing waybill belong to the same delivery point, it can adapt to more scenarios and improve applicability. And by using the situation between the parent waybill of the first new waybill and the parent waybill of the currently executing waybill as the basis for judgment, a simple judgment method is provided to accurately determine whether they belong to the same delivery point.

[0152] S23: After the first target cabin of the robot carries the items to be delivered on the first combined waybill, delivery is performed according to the first combined waybill.

[0153] The first target compartment is a compartment for placing the items to be delivered of the waybill being executed, and the items to be delivered of the first combined waybill include the items to be delivered of the first new waybill and the items to be delivered of the waybill being executed.

[0154] In the application, the robot will not accept user cancellation of orders during the delivery process according to the first combined shipping order, so as to avoid malicious cancellation of delivery tasks and abnormal delivery of items caused by cancellation.

[0155] In one possible implementation, when the first new waybill is a waybill generated from a replenishment order, and the first new waybill is a waybill for picking up goods at the second pickup point, the first new waybill can be associated with the being executed waybill through the parent waybill number of the first new waybill and the parent waybill number of the being executed waybill, so that after the first new waybill and the being executed waybill are combined, the cabin corresponding to the combined cabin is the cabin where the items to be delivered of the being executed waybill are placed, thereby ensuring that the items to be delivered of the first new waybill are placed in the first target cabin.

[0156] After receiving the first new waybill and the merge request instruction sent by the server, this embodiment determines the first processing result of the first new waybill based on the information of the first new waybill and the information of the waybill being executed after the robot is in a state of being able to accept orders; the merge request instruction is used to instruct the robot to merge the waybill being executed with the first new waybill; if the first processing result is that the first new waybill and the waybill being executed belong to the same delivery point, then based on the merge request instruction, the first new waybill and the waybill being executed are merged to obtain a first merged waybill, and the first confirmation order information is reported to the server, and the robot is placed in the first target cabin of the robot. After the first target cabin carries the items to be delivered of the first combined waybill, delivery is carried out according to the first combined waybill. The first target cabin is the cabin where the items to be delivered of the waybill being executed are placed. The items to be delivered of the first combined waybill include the items to be delivered of the first new waybill and the items to be delivered of the waybill being executed. New waybills can be added in a single delivery task to reduce the situation where the robot performs tasks multiple times, and multiple orders belonging to the same delivery point can be combined for processing without splitting them into multiple tasks. This allows the robot to deliver multiple orders of a delivery point in a single task, thereby improving the delivery efficiency of a single delivery point and reducing the time spent on multiple deliveries.

[0157] In one embodiment, Figure 4 This is a fourth flow chart of the delivery method provided by an embodiment of the present application. Figure 4 As shown, the method further includes:

[0158] S24: After receiving the second new waybill sent by the server, if there is a waybill being executed, the second processing result of the second new waybill is determined according to the number of executed orders, the number of cabins and the cabin type of the robot.

[0159] The second new waybill is a waybill that cannot be combined with the currently executed waybill. The second new waybill may be a waybill that does not belong to the same delivery point as the currently executed waybill, or may be a waybill that belongs to the same delivery point as the currently executed waybill but the first target cabin cannot carry all the items to be delivered.

[0160] In the application, the second pickup point can be manually connected with the robot to enable flexible shipment. When the number of empty cabins is not zero, the robot can accept the second new waybill. After receiving the second new waybill, the robot determines whether the number of cabins executing the robot is greater than the order quantity, whether the cabin type is the preset cabin type, and whether the second new waybill is the waybill for picking up goods at the second pickup point.

[0161] S25: If the second processing result is that the number of cabins of the robot is greater than the number of executed orders, the cabin type is the preset cabin type and the second new waybill is a waybill for picking up the goods at the second pickup point, then the second new waybill is received and the second confirmation order information is reported to the server.

[0162] In the application, the second processing result is that the number of cabins of the robot is greater than the number of executed orders, the cabin type is the preset cabin type and the second new waybill is a waybill for picking up goods at the second pickup point. At this time, the robot has an empty cabin to accept the second new waybill. The robot receives the second new waybill and reports the second confirmation order information to the server.

[0163] In the present embodiment, if there is an executing waybill, the second processing result of the second new waybill is determined according to the number of executed orders, the number of cabins of the robot, and the cabin type; if the second processing result is that the number of cabins of the robot is greater than the number of executed orders, the cabin type is the preset cabin type and the second new waybill is a waybill for picking up the goods at the second pickup point, the second new waybill is received, and the second confirmation order information is reported to the server, so as to be able to accept more new waybill and combined orders, reduce the situation where multiple orders for the same delivery point are accepted by different robots, and enable the robot to deliver orders from multiple delivery points in a single task, thereby improving the robot's delivery efficiency and improving the robot's utilization rate.

[0164] In one embodiment, Figure 5 is a fifth flow chart of the delivery method provided by an embodiment of the present application. Figure 5 As shown, when the robot arrives at the second pickup point, it also includes:

[0165] S41: When it is determined that the robot has an empty cabin, a target query waybill is obtained from the menu set, and the target query waybill is an unlocked and non-timed waybill.

[0166] In the application, the position of the robot can be used to determine whether the robot has reached the second pickup point.

[0167] After the robot arrives at the second pickup point, when it is determined that the robot has an empty cabin, indicating that the robot can continue to accept new waybills, the robot selects a target waybill from the menu set to query the waybill.

[0168] Among them, unlocked waybills are waybills that have not been successfully accepted by other order-taking robots. Waybills that have not timed out are waybills that have not exceeded the preset time. Specifically, the timer starts when the user places an order, and the timer duration is less than the preset time.

[0169] S42: After obtaining the second target cabin of the target query waybill, the target query waybill is locked.

[0170] In the application, after obtaining the target query waybill, the cabin for placing the items on the target query waybill can be obtained by manual selection or robot autonomous selection, so that the robot can successfully accept the target query waybill.

[0171] After the target query waybill is locked, the robot can deliver according to the target query waybill. If the target query waybill is not locked, the robot cannot deliver.

[0172] By locking the target query waybill, it can prevent the target query waybill from being taken over by multiple robots, resulting in duplicate delivery, wasting robot resources and reducing the quality of delivery services.

[0173] S43: After obtaining the third target compartment of the second new waybill, check whether the second new waybill is timed out.

[0174] In the application, the third target cabin can be obtained by manually selecting or the robot autonomously selecting the cabin where the items of the second new waybill are placed. The second new waybill is judged whether it has timed out based on the timing time. The robot can only perform the task of the second new waybill if it has not timed out. If it has timed out, the second new waybill is cancelled and the robot does not perform the task of the second new waybill, so that the user can choose the subsequent operation according to his own situation in time.

[0175] S44: Place the items to be delivered of the first combined waybill in the first target compartment, place the items to be delivered of the target query waybill in the second target compartment, place the items to be delivered of the second new waybill in the third target compartment, and after receiving the delivery instruction, check whether there is an unexecuted designated order.

[0176] In the application, at the second pickup point, staff place the items to be delivered of the first combined waybill in the first target compartment, the items to be delivered of the target query waybill in the second target compartment, and the items to be delivered of the second new waybill in the third target compartment.

[0177] When the first new waybill is generated according to the replenishment order, the first new waybill is a waybill for picking up goods at the second pickup point, and the staff is required to place the items to be delivered of the first combined waybill in the first target cabin.

[0178] The designated order is the waybill that the robot executes first, for example: the waybill is generated based on the replenishment order, and the server specifies the waybill to be executed by the robot. When all the items to be delivered are placed, the staff inputs the delivery instruction to the robot and checks whether there are any waybills that have not been executed by the robot.

[0179] S45: If it is determined that there is no unexecuted designated waybill and the second new waybill has not timed out, the items are delivered according to the first combined waybill, the second new waybill and the target query waybill.

[0180] In the application, it is determined that there is no unexecuted designated order and the second new waybill has not timed out, indicating that there is no abnormality in the delivery and the robot can deliver the items.

[0181] If it is determined that the designated order has not been executed or the second new waybill has timed out, it indicates that there is an abnormality in the delivery and the robot cannot deliver the items until the staff handles it.

[0182] This embodiment determines that there is an empty cabin of the robot and obtains the target query waybill from the menu set, so that the robot can take on more waybills in a single mission, thereby improving the robot's delivery efficiency.

[0183] And after obtaining the second target compartment of the target query waybill, locking the target query waybill; after obtaining the third target compartment of the second new waybill, checking whether the second new waybill has timed out; placing the items to be delivered of the first combined waybill in the first target compartment, placing the items to be delivered of the target query waybill in the second target compartment, placing the items to be delivered of the second new waybill in the third target compartment and after receiving the delivery instruction, checking whether there is an unexecuted designated order; if it is determined that there is no unexecuted designated order and the second new waybill has not timed out, delivering the items according to the first combined waybill, the second new waybill and the target query waybill, so as to ensure that there is no abnormality in a single delivery and provide users with high-quality delivery services.

[0184] In one embodiment, the method further comprises:

[0185] Report the status information of each waybill to the server.

[0186] By reporting the status information of each waybill to the server, a basis is provided for users to promptly obtain the status information of their own waybills.

[0187] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0188] An embodiment of the present application provides a robot, which includes: a shell for carrying items, a mobile chassis, a function controller that provides user operations, a bottom controller for map generation and path planning, and an element controller that controls a mobile unit and an environment detection unit; the mobile chassis is provided with at least two sets of drive wheels, each set of drive wheels is located on one side of the mobile chassis; the element controller controls the travel speed of the drive wheels.

[0189] The bottom-level controller includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the method described in any of the above embodiments is implemented.

[0190] The robot is equipped with a laser radar system, which emits laser signals to detect surrounding objects, thereby realizing autonomous delivery by the robot.

[0191] Optionally, the robot further includes a voice module, which is electrically connected to the component controller; when the robot turns, the component controller controls the voice module to issue a voice prompt message.

[0192] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0193] An embodiment of the present application provides a computer program product. When the computer program product runs on a robot, the robot can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0194] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium can at least include: any entity or device that can carry the computer program code to the camera / terminal device, recording medium, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), electric carrier signal, telecommunication signal and software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some cases, the computer-readable medium cannot be an electric carrier signal and a telecommunication signal.

[0195] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0196] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0197] In the embodiments provided in the present application, it should be understood that the disclosed devices / network equipment and methods can be implemented in other ways. For example, the device / network equipment embodiments described above are merely schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0198] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0199] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A distribution method, characterized in that: Robots used for autonomous delivery include: After receiving the first new waybill and the order-merging request instruction sent by the server, if the robot is in an order-accepting state and there is an order being executed, determining a first processing result of the first new waybill according to the information of the first new waybill and the information of the waybill being executed; the order-merging request instruction is used to request the robot to merge the waybill being executed with the first new waybill; If the first processing result is that the first new waybill and the currently executed waybill belong to the same delivery point, based on the waybill combining request instruction, combining the first new waybill and the currently executed waybill to obtain a first combined waybill, and reporting first order confirmation information to the server; After the robot's first target cabin carries the items to be delivered of the first combined waybill, delivery is performed according to the first combined waybill. The first target cabin is the cabin where the items to be delivered of the waybill being executed are placed. The items to be delivered of the first combined waybill include the items to be delivered of the first new waybill and the items to be delivered of the waybill being executed.

2. The method according to claim 1, characterized in that The currently executed waybill and the first new waybill are both waybill for picking up the goods at the first pickup point; Determining that the robot is in a state capable of accepting orders includes: Determine the order acceptance status of the robot according to the robot status; If the order acceptance status is that the order can be accepted, and no information indicating that the delivery of the first pickup point has been completed is received, it is determined that the robot is in a state where the order can be accepted; Among them, the first pickup point is a pickup point where goods are stored and is automatically docked with the robot.

3. The method according to claim 1, characterized in that The currently executed waybill and the first new waybill are both waybill for picking up the goods at the first pickup point; After determining the first processing result of the first new waybill, the method further includes: If the first processing result is that the first new waybill and the being executed waybill do not belong to the same delivery point, first order rejection information is reported to the server.

4. The method according to claim 1, characterized in that: The first new waybill is a waybill for picking up goods at the second pickup point; and determining that the robot is in a state capable of accepting orders includes: Determining the order acceptance status of the robot according to the robot status; If the order acceptance status is that the robot can accept the order, determining that the robot is in a state where the robot can accept the order; Among them, the second pickup point is a pickup point where goods are stored and manually docked with the robot.

5. The method according to claim 2 or 4, characterized in that: The determining the first processing result according to the information of the first new waybill and the information of the waybill being executed includes: Determine whether the parent waybill of the first new waybill is the same as the parent waybill of the waybill being executed, or determine whether the delivery point of the first new waybill is the same as the delivery point of the waybill being executed; If they are the same, determining that the first processing result is that the first new waybill and the currently executed waybill belong to the same delivery point; If they are not the same, it is determined that the first processing result is that the first new waybill and the currently executed waybill do not belong to the same delivery point.

6. The method according to claim 1, characterized in that Also includes: After receiving the second new waybill sent by the server, if there is an executing waybill, determining a second processing result of the second new waybill according to the number of executed orders, the number of cabins and cabin type of the robot; If the second processing result is that the number of cabins of the robot is greater than the number of executed orders, the cabin type is the preset cabin type and the second new waybill is a waybill for picking up the goods at the second pickup point, then the second new waybill is received and the second confirmation order information is reported to the server.

7. The method according to claim 6, characterized in that When the robot arrives at the second pickup point, the method further includes: When it is determined that the robot has an empty cabin, a target query waybill is obtained from a menu set, where the target query waybill is an unlocked and non-timed waybill; After obtaining the second target cabin of the target query waybill, locking the target query waybill; After obtaining the third destination cabin of the second new waybill, checking whether the second new waybill has timed out; Place the items to be delivered of the first combined waybill in the first target compartment, place the items to be delivered of the target query waybill in the second target compartment, place the items to be delivered of the second new waybill in the third target compartment, and after receiving the delivery instruction, check whether there is an unexecuted designated order; If it is determined that there is no unexecuted designated waybill and the second new waybill has not timed out, the items are delivered according to the first combined waybill, the second new waybill and the target query waybill.

8. A distribution method, characterized in that: Applicable to servers, including: After obtaining a new order, determine an order-taking robot, wherein the order-taking robot is a robot that can accept orders, and the new order is an order created after the user places an order or a replenishment order generated by a failed pickup; If there is a target robot whose currently executing waybill and the new order belong to the same delivery point, sending the first new waybill and a merge order request instruction to the target robot, wherein the merge order request instruction is used to request the target robot to merge the currently executing waybill with the first new waybill; After receiving the first confirmation order information from the target robot, the executing waybill is merged with the first new waybill to obtain a first combined waybill.

9. The method according to claim 8, characterized in that If the target robot has a waybill being executed that belongs to the same delivery point as the new order, a first new waybill and a combined order request instruction is sent to the target robot, including: If there is a target robot whose executing waybill and the new order belong to the same delivery point, determine whether the cabin capacity of the first target cabin of the target robot is greater than or equal to the total volume of the items to be delivered, the total volume of the items to be delivered includes the volume of the items to be delivered of the new order and the volume of the items to be delivered of the executing waybill, and the first target cabin is the cabin for placing the items to be delivered of the executing waybill; If the cabin capacity of the first target cabin is greater than or equal to the total volume of the items to be delivered, a first new waybill and combined waybill request instruction is sent to the target robot.

10. The method according to claim 9, characterized in that Also includes: If the cabin capacity of the first target cabin is smaller than the total volume of the items to be delivered, and the new order is an order to pick up the items at the second pickup point, sending a second new waybill to the target robot; Receiving second order confirmation information from the target robot; Among them, the second pickup point is a pickup point where goods are stored and manually docked with the robot.

11. The method according to any one of claims 8 to 10, characterized in that: Also includes: If the target robot has the shipping order being executed and the new order does not belong to the same delivery point, and the new order is an order to pick up the goods at the second pickup point, sending a second new shipping order to the target robot; Receiving second order confirmation information from the target robot; Among them, the second pickup point is a pickup point where goods are stored and manually docked with the robot.

12. A distribution system, characterized in that: include: Servers and multiple autonomous delivery robots; The server is used to determine an order-taking robot after obtaining a new order, wherein the order-taking robot is a robot that is capable of accepting orders, and the new order is an order created after the user places an order or a replenishment order generated by a failed pickup; If there is a target robot whose currently executing waybill and the new order belong to the same delivery point, sending the first new waybill and a merge order request instruction to the target robot, wherein the merge order request instruction is used to instruct the target robot to merge the currently executing waybill with the first new waybill; It is also used to merge the currently executed waybill with the first new waybill to obtain a first combined waybill after receiving the first confirmation order information from the target robot; The target robot is configured to, after receiving the first new waybill and the order-merging request instruction sent by the server, determine a first processing result of the first new waybill according to information of the first new waybill and information of the waybill being executed if the robot is in an order-accepting state and the waybill being executed exists; the order-merging request instruction is configured to instruct the robot to merge the waybill being executed with the first new waybill; and further configured to combine the first new waybill and the currently executed waybill to obtain a first combined waybill based on the combined waybill request instruction if the first processing result is that the first new waybill and the currently executed waybill belong to the same delivery point, and report first confirmation order information to the server. It is also used for delivering the items to be delivered of the first combined waybill after the first target cabin of the robot carries the items to be delivered of the first combined waybill, the first target cabin being the cabin where the items to be delivered of the waybill being executed are placed, and the items to be delivered of the first combined waybill include the items to be delivered of the first new waybill and the items to be delivered of the waybill being executed.

13. A robot comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

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