Distribution control method, robot and storage medium

Abstract

The embodiment of the invention relates to the technical field of robots, in particular to a distribution control method, a robot and a storage medium, the method is applied to the robot, and the robot comprises a first warehouse, a second warehouse and a partition plate arranged between the first warehouse and the second warehouse; the method comprises the steps that in response to a selection instruction of a storage mode, a partition plate is controlled to be in an open state or a closed state, when the partition plate is in the open state, a first warehouse communicates with a second warehouse, and when the partition plate is in the closed state, the partition plate isolates the first warehouse from the second warehouse; the storage mode comprises a single-bin mode and a double-bin mode, when the storage mode is the single-bin mode, the partition plate is controlled to be in an open state, and when the storage mode is the double-bin mode, the partition plate is controlled to be in a closed state. According to the method, the storage mode is flexibly selected, and the partition plate is controlled to be in the open state or the closed state, so that the method adapts to distribution of objects of different sizes, the distribution cost is reduced, the distribution efficiency of the robot is improved, and the user experience is improved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of robot technology, and in particular to a distribution control method, a robot and a storage medium. Background Art

[0002] Robots are mechanical devices that can automatically perform tasks. They can run pre-programmed programs to complete a variety of different types of tasks. With the development of mobile Internet and artificial intelligence technology, robots are widely used in various service places to provide customers with services such as navigation, item delivery, reception consultation, collaborative operations and sales of goods.

[0003] As robots are used more and more widely, delivery efficiency has always been a concern for everyone. Currently, many robots are made into double warehouses, triple warehouses, and quad warehouses to increase the number of items that the robot can deliver at one time. However, due to the limitation of the robot's size, multi-warehouse robots can only reduce the size of each warehouse while keeping the size unchanged. However, this has caused a new problem. The smaller warehouse cannot hold large items, resulting in the use of other robots that can deliver large items, which increases the delivery cost and also reduces the robot's delivery efficiency. Summary of the invention

[0004] In view of this, an object of an embodiment of the present invention is to provide a delivery control method, a robot and a storage medium, aiming to solve the technical problems of high delivery cost and low delivery efficiency in the prior art.

[0005] To solve the above technical problems, the embodiments of the present invention provide the following technical solutions:

[0006] In a first aspect, an embodiment of the present invention provides a distribution control method, which is applied to a robot, wherein the robot includes a first cargo bin, a second cargo bin, and a partition disposed between the first cargo bin and the second cargo bin;

[0007] The method comprises:

[0008] In response to a selection instruction of a storage mode, the partition is controlled to be in an open state or a closed state, when the partition is in an open state, the first cargo warehouse and the second cargo warehouse are connected, and when the partition is in a closed state, the partition separates the first cargo warehouse and the second cargo warehouse;

[0009] Among them, the storage mode includes a single-bin mode and a double-bin mode. When the storage mode is the single-bin mode, the partition is controlled to be in an open state, and when the storage mode is the double-bin mode, the partition is controlled to be in a closed state.

[0010] In some embodiments, the method further comprises:

[0011] In response to the cargo storage instruction, the door of the first cargo warehouse and / or the door of the second cargo warehouse are controlled to open; when the storage mode is the single-warehouse mode, the door of the first cargo warehouse and the door of the second cargo warehouse are controlled to open; when the storage mode is the double-warehouse mode, the door of the first cargo warehouse or the door of the second cargo warehouse are controlled to open.

[0012] In some embodiments, the dual-bin mode includes a first bin mode and a second bin mode.

[0013] When the storage mode is the first cargo warehouse mode, in response to a cargo storage instruction, controlling the door of the first cargo warehouse to open;

[0014] When the storage mode is the second cargo hold mode, in response to a cargo storage instruction, the door of the second cargo hold is controlled to open.

[0015] In some embodiments, the method further comprises:

[0016] In response to the storage completion instruction, the door of the first cargo warehouse and / or the door of the second cargo warehouse are controlled to be closed, wherein when the storage mode is the single-warehouse mode, the door of the first cargo warehouse and the door of the second cargo warehouse are controlled to be closed, when the storage mode is the first cargo warehouse mode, the door of the first cargo warehouse is controlled to be closed, and when the storage mode is the second cargo warehouse mode, the door of the second cargo warehouse is controlled to be closed.

[0017] In some embodiments, the method further comprises:

[0018] In response to the delivery instruction, delivering the goods to the target location corresponding to the delivery instruction;

[0019] Travel from the target position back to the preset docking position of the robot.

[0020] In some embodiments, the method further comprises:

[0021] After the robot drives back to the preset parking position, if the partition is in an open state, the partition is controlled to be in a closed state.

[0022] In some embodiments, before controlling the partition to be in an open state or a closed state in response to the selection instruction of the storage mode, the method further comprises:

[0023] Acquire delivery data of the items to be delivered, and determine the storage mode of the robot based on the delivery data, wherein the delivery data includes the volume of the items to be delivered;

[0024] According to the storage mode, a selection instruction for the storage mode is generated.

[0025] In some embodiments, the first volume of the first cargo bin is equal to the second volume of the second cargo bin, and determining the storage mode of the robot based on the delivery data includes:

[0026] If the volume of the items to be delivered is less than or equal to the first volume or the second volume, determining that the storage mode of the robot is a dual-storage mode;

[0027] If the volume of the item to be delivered is greater than the first volume or the second volume, and is less than or equal to the sum of the first volume and the second volume, it is determined that the storage mode of the robot is a single-warehouse mode.

[0028] In a second aspect, an embodiment of the present invention provides a robot, comprising:

[0029] A controller, and a first cargo compartment, a second cargo compartment and a partition electrically connected to the controller, respectively, wherein the partition is disposed between the first cargo compartment and the second cargo compartment;

[0030] The controller comprises:

[0031] A processor and a memory communicatively connected to the processor;

[0032] The memory stores computer program instructions executable by the processor, and when the computer program instructions are called by the processor, the processor executes any one of the delivery control methods proposed in the first aspect, or executes the steps in any one of the implementations of any one of the delivery control methods proposed in the first aspect.

[0033] In a third aspect, an embodiment of the present invention provides a computer-readable storage medium, on which is stored computer program instructions executable by a processor, wherein when the computer program instructions are called by the processor, the processor executes any one of the delivery control methods proposed in the first aspect, or executes the steps in any one of the implementations of any one of the delivery control methods proposed in the first aspect.

[0034] Beneficial effects of the embodiments of the present invention: Different from the prior art, the distribution control method provided by the embodiments of the present invention is applied to a robot, wherein the robot includes a first warehouse, a second warehouse and a partition arranged between the first warehouse and the second warehouse; the method includes: in response to a selection instruction of a storage mode, controlling the partition to be in an open state or a closed state, when the partition is in an open state, the first warehouse and the second warehouse are connected, and when the partition is in a closed state, the partition separates the first warehouse and the second warehouse; wherein the storage mode includes a single warehouse mode and a double warehouse mode, when the storage mode is the single warehouse mode, the partition is controlled to be in an open state, and when the storage mode is the double warehouse mode, the partition is controlled to be in a closed state.

[0035] In an embodiment of the present invention, the method flexibly selects a storage mode and controls the partition to be in an open state or a closed state to adapt to the delivery of items of different sizes, thereby reducing delivery costs, improving the delivery efficiency of the robot, and enhancing user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following is a brief introduction to the drawings required for the description of the prior art or the embodiments. Obviously, the drawings described below only illustrate certain embodiments of the present invention and should not be regarded as limiting the scope of protection. For those of ordinary skill in the art, other related drawings can also be obtained based on these drawings without creative work.

[0037] Figure 1 is a schematic diagram of an application scenario of a delivery control method provided by some embodiments of the present invention;

[0038] Figure 2 is a schematic diagram of the structure of a robot provided by some embodiments of the present invention;

[0039] Figure 3 is a schematic diagram of the structure of a controller in a robot provided by some embodiments of the present invention;

[0040] Figure 4 is a flow chart of a delivery control method provided by some embodiments of the present invention;

[0041] Figure 5 is a flow chart of a distribution control method provided by other embodiments of the present invention;

[0042] Figure 6 is a flow chart of a delivery control method provided by some other embodiments of the present invention;

[0043] Figure 7 It is a schematic diagram of the structure of a distribution control device provided in some embodiments of the present invention. DETAILED DESCRIPTION

[0044] In order to make the purpose and advantages of the embodiments of the present invention easier to understand, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The detailed description of the embodiments of the present invention in the drawings below does not limit the scope of protection claimed by the present invention, but only represents the selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0045] It should be noted that, if no conflict is constituted, the various technical features involved in the embodiments of the present invention described below can be combined with each other, and are all within the scope of protection of the present invention. In addition, although the functional modules are divided in the device or structural schematic diagram, and the logical order is shown in the flow chart, in some cases, the steps shown or described can be performed in a different order than the module division in the device, or in a different order than in the flow chart. In addition, the "first", "second", "third" and other similar expressions used herein do not limit the data and execution order, but are only for the purpose of convenience of explanation and to distinguish between the same or similar items with basically the same functions and effects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features.

[0046] Unless otherwise defined, the technical terms and scientific terms used in this specification have the same meanings as those generally understood by those of ordinary skill in the art of the present invention. The terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. It should be understood that the term "and / or" used in this specification includes any and all combinations of one or more of the related listed items.

[0047] See also Figure 1 , Figure 1 The following is a schematic diagram showing application scenarios of the delivery control methods provided by some embodiments of the present invention.

[0048] like Figure 1 As shown, the application scenario includes: a robot 100, wherein the robot 100 includes a first cargo warehouse 10, a second cargo warehouse 20, and a partition 30, and the partition 30 is arranged between the first cargo warehouse 10 and the second cargo warehouse 20. When the partition 30 is opened, the first cargo warehouse 10 and the second cargo warehouse 20 are connected to form a cargo warehouse with a larger space. When the partition 30 is closed, the first cargo warehouse 10 and the second cargo warehouse 20 are separated.

[0049] When receiving an item delivery task, the robot 100 selects and determines the storage mode to be adopted according to the volume of the items 200 to be delivered in the item delivery task, and generates a corresponding selection instruction according to the selected storage mode, and then responds to the selection instruction, controls the partition 40 to be in an open state or a closed state, so that the first warehouse 10 and the second warehouse 20 are connected or separated, so as to adaptively deliver items of different volume sizes.

[0050] In the embodiment of the present invention, the storage mode includes a single warehouse mode and a dual warehouse mode. When the robot 100 selects the single warehouse mode as the storage mode, the control partition 40 is in an open state to connect the first warehouse 10 and the second warehouse 20 to form a warehouse with a larger space to load the larger volume of the to-be-delivered items 200. When the robot 100 selects the dual warehouse mode as the storage mode, the control partition 40 is in a closed state to separate the first warehouse 10 and the second warehouse 20, and the first warehouse 10 or the second warehouse 20 is selected to load the to-be-delivered items 200.

[0051] After controlling the partition 40 to be in an open state or a closed state, the robot 100 controls the door of the first warehouse 10 and / or the door of the second warehouse 20 to be opened according to the cargo storage instruction. That is, if the storage mode is the single warehouse mode (at this time, the control partition 40 is in an open state), the door of the first warehouse 10 and the door of the second warehouse 20 are controlled to be opened. Through the opened doors of the first warehouse 10 and the second warehouse 20, the user can put the to-be-delivered articles 200 into the warehouse with a larger space formed by the connected first warehouse 10 and the second warehouse 20.

[0052] If the storage mode is the dual warehouse mode (at this time, the control partition 40 is in the closed state), the warehouse door of the first warehouse 10 is controlled to be opened and the warehouse door of the second warehouse 20 is controlled to be closed, or the warehouse door of the first warehouse 10 is controlled to be closed and the warehouse door of the second warehouse 20 is controlled to be opened. The user puts the items 200 to be delivered into the first warehouse 10 or the second warehouse 20 through the opened warehouse door of the first warehouse 10 or the opened warehouse door of the second warehouse 20.

[0053] After receiving the to-be-delivered item 200, the robot 100 delivers the to-be-delivered item 200 to the target location, and completes the item delivery task.

[0054] It should be understood that Figure 1 The application scenario shown is only a schematic illustration of a situation in which the robot 100 controls the partition to be in an open state or a closed state to utilize the first warehouse and / or the second warehouse to perform an item delivery task, and does not impose any limitation on any situation such as the structure and type of the robot 100 in other application scenarios or embodiments. The robots in other application scenarios or embodiments may include: Figure 1 The robot 100 shown may have more or fewer components, or may have the same Figure 1 The robot 100 is shown in different configurations. For example, in some other application scenarios or embodiments, the robot 100 may also include a greater number (eg, 3) of cargo bins and a greater number (eg, 2) of partitions.

[0055] To facilitate understanding of the delivery control method provided by the embodiment of the present invention, the robot provided by the embodiment of the present invention is first introduced in detail.

[0056] See also Figure 2 , Figure 2 The structural diagram of the robot 100 provided in some embodiments of the present invention is schematically shown.

[0057] Specifically, Figure 2 As shown, the robot 100 includes a first cargo warehouse 10, a second cargo warehouse 20, a partition 30 and a controller 40, wherein the partition 30 is disposed between the first cargo warehouse 10 and the second cargo warehouse 20. The first cargo warehouse 10, the second cargo warehouse 20 and the partition 30 are electrically connected to the controller 40, respectively. The first cargo warehouse 10 and the second cargo warehouse 20 are used to accommodate goods or articles, and the partition 30 is used to connect or isolate the first cargo warehouse 10 and the second cargo warehouse 20. The controller 40 is used to coordinate and control various components (i.e., the first cargo warehouse 10, the second cargo warehouse 20 and the partition 30) to work in coordination and complete the work task.

[0058] It is understandable that the robot 100 also includes some other necessary components or devices, such as a transmission component and a drive device. The drive device is electrically connected to the transmission component, and the transmission component is connected to the first cargo hold 10, the second cargo hold 20 and the partition 30. When controlling the opening or closing of the first cargo hold 10, the second cargo hold 20 and the partition 30, the drive device provides a driving force to drive the transmission component, thereby driving the first cargo hold 10, the second cargo hold 20 and the partition 30 to move, and then completing the opening or closing of the first cargo hold 10, the second cargo hold 20 and the partition 30. Of course, in order to complete the task of item delivery, the robot 100 may also include other components or devices. For the sake of brevity, the embodiment of the present invention omits a detailed description of some structures and specific functions of the robot 100. Those skilled in the art may adjust, add or delete components, devices and components of the robot 100 according to actual needs, and the embodiment of the present invention does not impose any limitation on this.

[0059] See also Figure 3 , Figure 3 The schematic diagram shows the structure of the controller 40 in the robot 100 provided in some embodiments of the present invention.

[0060] like Figure 3 As shown, the controller 40 includes at least one processor 41 and a memory 42 that are communicatively connected. Figure 3 In the example, the bus system 43 is connected to a processor. The various components in the controller 40 are coupled together through the bus system 43, and the bus system 43 is used to realize the connection and communication between these components. It is easy to understand that the bus system 43 includes not only a data bus, but also a power bus, a control bus, and a status signal bus. However, for the sake of clarity and brevity, Figure 3In the figure, various buses are labeled as bus system 43. It can be understood that Figure 3 The structure shown in the embodiment is only for illustration and does not impose any limitation on the structure of the controller 40. For example, the controller 40 may also include Figure 3 More or fewer components as shown, or with Figure 3 Different configurations shown.

[0061] Specifically, the processor 41 is used to provide computing and control capabilities to control the controller 40 to perform corresponding tasks. For example, the robot 100 is controlled to perform any one of the delivery control methods provided in the embodiments of the present invention, or to perform any one of the steps in any one of the possible implementations of the delivery control method provided in the embodiments of the present invention. Those skilled in the art will appreciate that the processor 41 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.

[0062] The memory 42 is a non-transitory computer-readable storage medium, which can be used to store non-transitory software programs, non-transitory computer executable programs, instructions and modules, for example, programs, instructions and modules corresponding to the distribution control method in the embodiment of the present invention. In some embodiments, the memory 42 may include a storage program area and a storage data area, and the storage program area may store an operating system, an application required for at least one function; the storage data area may store data created according to the use of the processor 41, etc. The processor 41 executes various functional applications and data processing of the controller 40 by running the non-transitory software programs, instructions and modules stored in the memory 42 to implement any distribution control method provided in the embodiment of the present invention, or execute any step in any possible implementation of any distribution control method provided in the embodiment of the present invention. Among them, the memory 42 may include a high-speed random access memory, and may also include a non-transitory memory. For example, at least one disk storage device, a flash memory device or other non-transitory solid-state storage device. In some embodiments, the memory 42 may also include a memory remotely arranged relative to the processor 41, and these remote memories may be connected to the processor 41 via a communication network. It should be understood that examples of the above-mentioned communication network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network and a combination thereof.

[0063] It can be understood from the above that the delivery control method provided by the embodiment of the present invention can be implemented by various suitable types of robots with certain computing and control capabilities, for example, it can be implemented by the above robot 100. In some embodiments, any delivery control method provided by the embodiment of the present invention can be implemented by a processor calling a computer program instruction stored in a memory. The delivery control method provided by the embodiment of the present invention will be described in detail below in conjunction with the exemplary application and implementation of the robot provided by the embodiment of the present invention.

[0064] See also Figure 4 , Figure 4 The flowchart of the distribution control method provided by some embodiments of the present invention is schematically shown.

[0065] Those skilled in the art will appreciate that the delivery control method provided in the embodiment of the present invention can be applied to the above-mentioned robot (eg, robot 100). Specifically, the execution subject of the delivery control method is one or at least two processors of the robot.

[0066] like Figure 4 As shown, the distribution control method includes but is not limited to the following steps S100:

[0067] S100: In response to the selection instruction of the storage mode, the partition is controlled to be in an open state or a closed state. When the partition is in an open state, the first cargo hold and the second cargo hold are connected. When the partition is in a closed state, the partition separates the first cargo hold and the second cargo hold. The storage mode includes a single-warehouse mode and a double-warehouse mode. When the storage mode is a single-warehouse mode, the partition is controlled to be in an open state. When the storage mode is a double-warehouse mode, the partition is controlled to be in a closed state.

[0068] The selection instruction may be triggered by the user through the operation of a button, touch screen or control screen set on the robot; or the robot control system may automatically trigger the generation of the selection instruction after determining the storage mode; or the cloud (such as a cloud server) may trigger the generation of the selection instruction based on the information of the items to be delivered in the item delivery task. Of course, there may be other suitable ways to generate the selection instruction of the storage mode, and the embodiments of the present invention do not limit this in any way.

[0069] Specifically, after receiving the selection instruction of the storage mode, the robot parses the selection instruction, extracts the required information, and determines the selected storage mode (i.e., single-warehouse mode or double-warehouse mode). Then, according to the determined storage mode, the state of the partition is adjusted. That is, if the selected storage mode is the single-warehouse mode, the motor or actuator controls the partition to move and open, and is in an open state, so that the first warehouse and the second warehouse are connected, and a larger storage space can be used. If the selected storage mode is the double-warehouse mode, the motor or actuator controls the partition to move and close, and is in a closed state, so that the first warehouse and the second warehouse are isolated from each other, and the first warehouse and the second warehouse work independently, thereby improving the flexibility of item distribution.

[0070] Through the above method, the storage space of items can be flexibly adjusted according to different delivery needs to adapt to different delivery tasks, thereby improving the work efficiency and adaptability of the robot.

[0071] In some embodiments, the robot obtains the volume of the items to be delivered, selects and determines the storage mode according to the volume of the items to be delivered, and then generates a storage mode selection instruction based on the selected storage mode, so that the partition can be controlled to be in an open state or a closed state in response to the storage mode selection instruction.

[0072] See also Figure 5 , Figure 5 The flowchart of the distribution control method provided by some other embodiments of the present invention is schematically shown.

[0073] like Figure 5 As shown, in some embodiments, before controlling the partition to be in an open state or a closed state in response to the selection instruction of the storage mode, the distribution control method further includes but is not limited to the following steps S101-S102:

[0074] S101: Obtain delivery data of items to be delivered, and determine a storage mode of the robot based on the delivery data, wherein the delivery data includes the volume of the items to be delivered.

[0075] Specifically, the delivery data of the items to be delivered can be input by the user by operating the buttons, touch screen or control screen set on the robot, so that the robot obtains the delivery data of the items to be delivered. Alternatively, the cloud (such as a cloud server) can parse the item delivery task according to the item delivery task to obtain the delivery data of the items to be delivered, and send the delivery data of the items to be delivered to the robot through a suitable communication method (such as Wi-Fi, 5G or 4G), so that the robot can obtain the delivery data of the items to be delivered. Of course, there can be other suitable ways to obtain the delivery data of the items to be delivered, such as using a barcode scanning device (such as a camera, a laser radar, etc.) equipped on the robot to identify the barcode, QR code, etc. on the items to be delivered, so as to read and obtain the delivery data of the items to be delivered. Those skilled in the art can select a suitable method to obtain the delivery data of the items to be delivered according to actual needs, and the embodiment of the present invention does not make any limitation on this. In the embodiment of the present invention, the delivery data of the items to be delivered includes information such as volume, quantity and shape. It is easy to understand that the delivery data of the items to be delivered can also include other information such as weight and type, and the embodiment of the present invention does not make any limitation on this.

[0076] After obtaining the delivery data of the items to be delivered, the storage mode of the robot is determined according to the obtained delivery data. In the embodiment of the present invention, the storage mode of the robot is determined according to the volume of the items to be delivered. That is, the volume of the items to be delivered is compared with a preset volume threshold to determine the most appropriate storage mode.

[0077] In some embodiments, if the volume of the items to be delivered exceeds a preset volume threshold, the selected storage mode is a single-warehouse mode to accommodate larger items to be delivered. If the volume of the items to be delivered does not exceed the preset volume threshold, the selected storage mode is a double-warehouse mode to improve the flexibility of item delivery.

[0078] In some embodiments, the first volume of the first warehouse is equal to the second volume of the second warehouse, so the volume of the items to be delivered can be compared with the first volume and the second volume to determine the storage mode of the robot.

[0079] Exemplarily, in some embodiments, determining the storage mode of the robot based on the delivery data specifically includes but is not limited to the following steps S1011-S1012:

[0080] S1011: If the volume of the items to be delivered is less than or equal to the first volume or the second volume, determine that the storage mode of the robot is a dual-warehouse mode.

[0081] In some embodiments, the first volume of the first warehouse is equal to the second volume of the second warehouse. After obtaining the volume of the item to be delivered, the volume of the item to be delivered is compared with the first volume and the second volume. If the volume of the item to be delivered is less than or equal to the first volume or the second volume, that is, the first warehouse or the second warehouse can accommodate the item to be delivered, the storage mode of the robot is determined to be the dual warehouse mode. In the dual warehouse mode, the robot controls the partition to close, so that the first warehouse and the second warehouse are isolated from each other, and the items to be delivered are only loaded through the first warehouse or the second warehouse.

[0082] S1012: If the volume of the item to be delivered is greater than the first volume or the second volume, and is less than or equal to the sum of the first volume and the second volume, then the storage mode of the robot is determined to be the single-warehouse mode.

[0083] In some embodiments, if the volume of the items to be delivered is greater than the first volume or the second volume, and less than or equal to the sum of the first volume and the second volume, that is, the larger warehouse formed by the connection between the first warehouse and the second warehouse is required to accommodate the items to be delivered, then the storage mode of the robot is determined to be the single warehouse mode. In the single warehouse mode, the robot controls the partition to open and is in an open state, so that the first warehouse and the second warehouse are connected, so that the items to be delivered are loaded through the larger warehouse formed by the connection between the first warehouse and the second warehouse.

[0084] S102: Generate a storage mode selection instruction according to the storage mode.

[0085] Specifically, the selection instructions corresponding to each storage mode are predefined. For example, the selection instruction corresponding to the single-bin mode can be set to A10, and the selection instruction corresponding to the double-bin mode can be set to B10. After the storage mode of the robot is determined, the corresponding selection instruction is generated according to the determined storage mode.

[0086] In some embodiments, the selection instruction corresponding to the single-warehouse mode is A10, and the selection instruction corresponding to the dual-warehouse mode is B10. If the determined storage mode is the single-warehouse mode, the generated storage mode selection instruction is A10, and if the determined storage mode is the dual-warehouse mode, the generated storage mode selection instruction is B10. In some embodiments, the format of the generated storage mode selection instruction is converted into a format or form that can be recognized by the robot control system, such as a string, an enumeration value, or a specific data structure, and then the selection instruction is sent to the control system to facilitate the subsequent execution of the corresponding partition control operation.

[0087] In some embodiments, after controlling the partition to be in an open state or a closed state, according to the cargo storage instruction, the warehouse door of the first warehouse and / or the warehouse door of the second warehouse are controlled to open so that the user can place the cargo in the first warehouse and / or the second warehouse.

[0088] See also Figure 6 , Figure 6 The flowchart of the distribution control method provided by some other embodiments of the present invention is schematically shown.

[0089] like Figure 6 As shown, the distribution control method also includes but is not limited to the following steps S200:

[0090] S200: In response to the cargo storage instruction, control the door of the first warehouse and / or the door of the second warehouse to open. When the storage mode is the single-warehouse mode, control the door of the first warehouse and the door of the second warehouse to open. When the storage mode is the double-warehouse mode, control the door of the first warehouse or the door of the second warehouse to open.

[0091] Among them, the cargo storage instruction can be triggered by the user by operating the button, touch screen or control screen set on the robot; or the robot control system can automatically trigger the generation of cargo storage instructions after controlling the partition to be in an open state or a closed state according to the storage mode; or the cloud (such as a cloud server) can trigger the generation of cargo storage instructions after monitoring and determining that the robot controls the partition to be in an open state or a closed state, and then send the cargo storage instructions to the robot through a suitable communication method (such as Wi-Fi, 5G or 4G, etc.). It is easy to understand that there can be other suitable ways to generate cargo storage instructions, and the embodiments of the present invention do not limit this in any way.

[0092] Specifically, after receiving the cargo storage instruction, the robot parses the cargo storage instruction, extracts the required information, and determines the selected storage mode (i.e., single warehouse mode or dual warehouse mode). Then, according to the determined storage mode, the state of the warehouse door of the first warehouse and / or the warehouse door of the second warehouse is adjusted. That is, if the storage mode is the single warehouse mode, the motor or actuator controls the warehouse door of the first warehouse and the warehouse door of the second warehouse to move and open at the same time, and are in an open state, so that the user can place the items to be delivered in the warehouse formed after the first warehouse and the second warehouse are connected. If the storage mode is the dual warehouse mode, the motor or actuator controls the warehouse door of the first warehouse or the warehouse door of the second warehouse to move and close, and makes the warehouse door of the first warehouse or the warehouse door of the second warehouse in a closed state, so that the user can place the items to be delivered in the first warehouse or the second warehouse.

[0093] In some embodiments, the dual-bin mode includes a first bin mode and a second bin mode, the first bin mode corresponds to controlling a bin door of the first bin, and the second bin mode corresponds to controlling a bin door of the second bin.

[0094] In some embodiments, when the storage mode is the dual-bin mode, controlling the bin door of the first bin or the bin door of the second bin to open specifically includes but is not limited to the following steps S210-S220:

[0095] S210: When the storage mode is the first cargo warehouse mode, in response to a cargo storage instruction, control the door of the first cargo warehouse to open.

[0096] Specifically, if the selected warehousing mode is the first warehouse mode, it means that the items to be delivered need to be stored in the first warehouse. The robot responds to the cargo storage instruction, controls the movement and opening of the warehouse door of the first warehouse through a motor or actuator, and keeps the warehouse door of the first warehouse in an open state, so that the user can place the items to be delivered in the first warehouse.

[0097] S220: When the storage mode is the second cargo hold mode, in response to the cargo storage instruction, control the door of the second cargo hold to open.

[0098] Specifically, if the selected warehousing mode is the second warehouse mode, it means that the items to be delivered need to be stored in the second warehouse. The robot responds to the cargo storage instruction, controls the movement and opening of the warehouse door of the second warehouse through a motor or actuator, and keeps the warehouse door of the second warehouse in an open state, so that the user can place the items to be delivered in the second warehouse.

[0099] In some embodiments, after the user places the goods in the first warehouse and / or the second warehouse, the warehouse door of the first warehouse and / or the warehouse door of the second warehouse are controlled to close according to the storage completion instruction, so that the goods can be delivered subsequently.

[0100] In some embodiments, the delivery control method further includes but is not limited to the following steps S300:

[0101] S300: In response to the storage completion instruction, control the door of the first warehouse and / or the door of the second warehouse to close, wherein when the storage mode is the single warehouse mode, control the door of the first warehouse and the door of the second warehouse to close; when the storage mode is the first warehouse mode, control the door of the first warehouse to close; when the storage mode is the second warehouse mode, control the door of the second warehouse to close.

[0102] The storage completion instruction may be triggered by the user through the operation of a button, touch screen or control screen set on the robot; or the robot control system may automatically trigger the generation of the storage completion instruction after determining through sensor detection that the user has stored the items to be delivered in the first warehouse and / or the second warehouse; or the user may trigger the generation of the storage completion instruction by operating the touch screen or control screen of other electronic devices (e.g., smart phones, tablet computers, etc.), and then send the storage completion instruction to the robot through a suitable communication method (e.g., Bluetooth, Wi-Fi, 5G or 4G, etc.). It is easy to understand that there may be other suitable ways to generate the storage completion instruction, and the embodiments of the present invention do not limit this in any way.

[0103] Specifically, after receiving the storage completion instruction, the robot parses the storage completion instruction, extracts the required information, and determines the selected storage mode (i.e., single warehouse mode or double warehouse mode). Then, according to the determined storage mode, the state of the warehouse door of the first warehouse and / or the warehouse door of the second warehouse is adjusted. That is, if the storage mode is the single warehouse mode, the motor or actuator controls the warehouse door of the first warehouse and the warehouse door of the second warehouse to move and close at the same time, and makes the warehouse door of the first warehouse and the warehouse door of the second warehouse in a closed state, so that the robot can subsequently deliver the goods. If the storage mode is the first warehouse mode, the robot controls the warehouse door of the first warehouse to move and close through the motor or actuator, and makes the warehouse door of the first warehouse in a closed state; if the storage mode is the second warehouse mode, the robot controls the warehouse door of the second warehouse to move and close through the motor or actuator, and makes the warehouse door of the second warehouse in a closed state, so that the robot can subsequently deliver the goods.

[0104] In some embodiments, after controlling the door of the first cargo warehouse and / or the door of the second cargo warehouse to close, the robot delivers the goods to the target location according to the delivery instruction.

[0105] In some embodiments, the delivery control method further includes but is not limited to the following steps S400-S500:

[0106] S400: In response to the delivery instruction, deliver the goods to the target location corresponding to the delivery instruction.

[0107] The delivery instruction may be triggered by the user through the operation of a button, touch screen or control screen set on the robot; or the robot control system may automatically trigger the generation of the delivery instruction after the user determines through sensor detection that the user has stored the items to be delivered in the first warehouse and / or the second warehouse, and the warehouse door of the first warehouse and / or the warehouse door of the second warehouse is closed; or the user may trigger the generation of the delivery instruction by operating the touch screen or control screen of other electronic devices (for example, smart phones, tablet computers, etc.), and then send the delivery instruction to the robot through a suitable communication method (for example, Bluetooth, Wi-Fi, 5G or 4G, etc.). It should be understood that there may be other suitable ways to generate the delivery instruction, and the embodiments of the present invention do not limit this in any way.

[0108] Specifically, after receiving the delivery instruction, the robot parses the delivery instruction, extracts the required information, and obtains the target location information corresponding to the delivery instruction, that is, the location where the items to be delivered need to be delivered. The robot uses the built-in navigation and positioning system, obstacle avoidance and path planning algorithms to plan a driving path from the current location to the target location, and moves along the planned driving path to reach the target location, thereby delivering the items to be delivered to the target location. After arriving at the target location, the robot performs corresponding operations (for example, opening the warehouse door, releasing the goods, etc.) to complete the delivery.

[0109] S500: driving back from the target position to the preset docking position of the robot.

[0110] Specifically, after completing the delivery of goods, the robot plans a driving path from the target location to the preset docking location through the built-in navigation and positioning system, using obstacle avoidance and path planning algorithms, and moves along the planned driving path, driving from the target location to the robot's preset docking location, and docking at the preset docking location, waiting for the next work task or performing other operations (such as charging operations, maintenance operations, etc.).

[0111] In some embodiments, since the robot's storage mode is set to dual-bin mode by default (in dual-bin mode, the partition is in a closed state), after the robot drives back to the preset docking position, it is necessary to detect the state of the partition. When the partition is in an open state, the partition is controlled to be in a closed state.

[0112] In some embodiments, the delivery control method further includes but is not limited to the following steps S600:

[0113] S600: After the robot drives back to the preset docking position, if the partition is in the open state, the partition is controlled to be in the closed state.

[0114] Specifically, after returning to the preset stop position along the driving path, the robot detects the current state of the partition through the sensor equipped on itself (such as the partition limit switch) to determine whether the partition is in an open state. If the partition is in an open state, the partition is controlled to move and close through a motor or actuator, and the partition is in a closed state, ensuring that the partition is closed in the dual-bin mode, and the first warehouse and the second warehouse are isolated from each other.

[0115] To summarize, the distribution control method provided in an embodiment of the present invention is applied to a robot, wherein the robot includes a first warehouse, a second warehouse and a partition arranged between the first warehouse and the second warehouse; the method includes: in response to a selection instruction of a storage mode, controlling the partition to be in an open state or a closed state, when the partition is in an open state, the first warehouse and the second warehouse are connected, and when the partition is in a closed state, the partition separates the first warehouse and the second warehouse; wherein the storage mode includes a single warehouse mode and a double warehouse mode, when the storage mode is a single warehouse mode, the partition is controlled to be in an open state, and when the storage mode is a double warehouse mode, the partition is controlled to be in a closed state.

[0116] In an embodiment of the present invention, the method flexibly selects a storage mode and controls the partition to be in an open state or a closed state to adapt to the delivery of items of different sizes, thereby reducing delivery costs, improving the delivery efficiency of the robot, and enhancing user experience.

[0117] See also Figure 7 , Figure 7 The schematic diagram of the structure of the distribution control device 300 provided by some embodiments of the present invention is schematically shown. It should be understood that the distribution control device 300 can be configured in a robot, and the robot includes a first warehouse, a second warehouse and a partition disposed between the first warehouse and the second warehouse.

[0118] Specifically, Figure 7 As shown, the distribution control device 300 includes:

[0119] The first control module 310 is used to control the partition to be in an open state or a closed state in response to the selection instruction of the storage mode. When the partition is in the open state, the first cargo warehouse and the second cargo warehouse are connected. When the partition is in the closed state, the partition separates the first cargo warehouse and the second cargo warehouse;

[0120] Among them, the storage mode includes a single-warehouse mode and a double-warehouse mode. When the storage mode is the single-warehouse mode, the control partition is in an open state; when the storage mode is the double-warehouse mode, the control partition is in a closed state.

[0121] In some embodiments, the delivery control device 300 further includes:

[0122] The second control module 320 is used to control the opening of the warehouse door of the first warehouse and / or the warehouse door of the second warehouse in response to the cargo storage instruction. When the storage mode is the single warehouse mode, the warehouse door of the first warehouse and the warehouse door of the second warehouse are controlled to be opened. When the storage mode is the double warehouse mode, the warehouse door of the first warehouse or the warehouse door of the second warehouse is controlled to be opened.

[0123] In some embodiments, the dual-bin mode includes a first bin mode and a second bin mode, and the second control module 320 is specifically used to:

[0124] When the storage mode is the first cargo warehouse mode, in response to the cargo storage instruction, the door of the first cargo warehouse is controlled to open;

[0125] When the storage mode is the second cargo hold mode, in response to the cargo storage instruction, the door of the second cargo hold is controlled to open.

[0126] In some embodiments, the delivery control device 300 further includes:

[0127] The third control module 330 is used for controlling the closing of the warehouse door of the first warehouse and / or the warehouse door of the second warehouse in response to the storage completion instruction, wherein when the storage mode is the single warehouse mode, the warehouse door of the first warehouse and the warehouse door of the second warehouse are controlled to be closed; when the storage mode is the first warehouse mode, the warehouse door of the first warehouse is controlled to be closed; when the storage mode is the second warehouse mode, the warehouse door of the second warehouse is controlled to be closed.

[0128] In some embodiments, the delivery control device 300 further includes:

[0129] A delivery module 340, for delivering the goods to a target location corresponding to the delivery instruction in response to the delivery instruction;

[0130] The driving module 350 is used to drive back from the target position to the preset docking position of the robot.

[0131] In some embodiments, the delivery control device 300 further includes:

[0132] The fourth control module 360 ​​is used to control the partition to be in a closed state if the partition is in an open state after the robot drives back to the preset parking position.

[0133] In some embodiments, the delivery control device 300 further includes:

[0134] An acquisition and determination module 370 is used to acquire delivery data of the items to be delivered, and determine the storage mode of the robot based on the delivery data, wherein the delivery data includes the volume of the items to be delivered;

[0135] The generating module 380 is used to generate a selection instruction of a storage mode according to the storage mode.

[0136] In some embodiments, the first volume of the first cargo bin is equal to the second volume of the second cargo bin, and the acquisition and determination module 370 is specifically used to:

[0137] If the volume of the items to be delivered is less than or equal to the first volume or the second volume, the storage mode of the robot is determined to be a double-storage mode;

[0138] If the volume of the item to be delivered is greater than the first volume or the second volume, and less than or equal to the sum of the first volume and the second volume, the storage mode of the robot is determined to be the single-warehouse mode.

[0139] It should be noted that, for the sake of simplicity and brevity, the above-mentioned delivery control device 300 can execute the corresponding functional modules and beneficial effects of the delivery control method provided in the embodiment of the present invention. For technical details not fully described in the embodiment of the delivery control device 300, reference can be made to the delivery control method provided in the embodiment of the present invention. The specific working process of the above-mentioned delivery control device 300 can also refer to the specific execution process corresponding to the delivery control method provided in the above-mentioned embodiment of the present invention, and will not be described one by one here.

[0140] It is worth noting that the distribution control device 300 can be a software module, which includes a number of instructions stored in a memory. The processor can access the memory and call the instructions for execution to complete the distribution control method described in the above-mentioned embodiments.

[0141] In some possible implementations, the delivery control device 300 may also be constructed by hardware devices. For example, the delivery control device 300 may be constructed by one or more chips, and the chips may work in coordination with each other to implement the delivery control methods described in the above implementations. In some embodiments, the delivery control device 300 may also be constructed by various logic devices, such as: a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a single-chip microcomputer, a field programmable gate array (FPGA), an ARM (Acorn RISC Machine) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or any combination of these devices or components.

[0142] An embodiment of the present invention provides a computer-readable storage medium, on which computer program instructions executable by a processor are stored. When the computer program instructions are called by the processor, the processor executes any one of the delivery control methods provided by the embodiment of the present invention, or executes the steps in any one of the possible implementation methods of any one of the delivery control methods provided by the embodiment of the present invention.

[0143] In some embodiments, the storage medium may be a flash memory, a hard disk, an optical disk, a register, a magnetic surface storage, a removable disk, a CD-ROM, a random access memory (RAM), a read-only memory (ROM), an electrically programmable ROM, and an electrically erasable programmable ROM, or any other form of storage medium known in the technical field, or various devices including one or any combination of the above storage media.

[0144] In some embodiments, computer program instructions may be in the form of a program, software, software module, script or code, written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and may be deployed in any form, including as a stand-alone program or as a module, component, subroutine or other unit suitable for use in a computing environment.

[0145] As an example, computer program instructions may, but do not necessarily, correspond to a file in a file system, may be stored as part of a file that stores other programs or data, for example, in one or more scripts in a HyperText Markup Language (HTML) document, in a single file dedicated to the program in question, or in multiple coordinated files (e.g., files storing one or more modules, subroutines, or code portions).

[0146] As an example, the computer program instructions may be deployed to be executed on a computing device (including devices such as smart terminals and servers), or on multiple computing devices located at one location, or on multiple computing devices distributed at multiple locations and interconnected by a communication network. It is easy to understand that all or part of the steps of the method described in the embodiments of the present invention may be directly implemented using electronic hardware or processor executable computer program instructions, or a combination of the two.

[0147] Those skilled in the art will appreciate that the embodiments provided by the present invention are only illustrative, and the order of writing the steps in the method of the embodiment does not mean a strict execution order and does not constitute any limitation on the implementation process. The order can be adjusted, merged and deleted according to actual needs, and the modules or sub-modules, units or sub-units in the device or system of the embodiment can be merged, divided and deleted according to actual needs. For example, the division of units is only a logical function division, and there can be other division methods in actual implementation. For another example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed.

[0148] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a general hardware platform, and of course can also be implemented by hardware. Those skilled in the art can understand that all or part of the processes in the above embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. The storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0149] It should be noted that the above embodiments are intended to illustrate the technical concept and features of the present invention, and their purpose is to enable people familiar with this technology to understand the content of the present invention and implement it accordingly, and cannot be used to limit the scope of protection of the present invention. Ordinary technicians in this field can understand that all or part of the processes of the above embodiments can be implemented according to the technical solutions recorded in the embodiments of the present invention, or some of the technical features can be equivalently replaced. It can be understood that these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and should be regarded as equal changes and modifications based on the embodiments of the present invention, and should all fall within the scope of the claims of the present invention.

Claims

1. A distribution control method, applied to a robot, characterized in that: The robot includes a first cargo compartment, a second cargo compartment, and a partition disposed between the first cargo compartment and the second cargo compartment; The method comprises: In response to a selection instruction of a storage mode, the partition is controlled to be in an open state or a closed state, when the partition is in an open state, the first cargo warehouse and the second cargo warehouse are connected, and when the partition is in a closed state, the partition separates the first cargo warehouse and the second cargo warehouse; Among them, the storage mode includes a single-bin mode and a double-bin mode. When the storage mode is the single-bin mode, the partition is controlled to be in an open state, and when the storage mode is the double-bin mode, the partition is controlled to be in a closed state.

2. The method according to claim 1, characterized in that The method further comprises: In response to the cargo storage instruction, the door of the first cargo warehouse and / or the door of the second cargo warehouse are controlled to open; when the storage mode is the single-warehouse mode, the door of the first cargo warehouse and the door of the second cargo warehouse are controlled to open; when the storage mode is the double-warehouse mode, the door of the first cargo warehouse or the door of the second cargo warehouse are controlled to open.

3. The method according to claim 2, characterized in that The dual warehouse mode includes a first warehouse mode and a second warehouse mode. When the storage mode is the first cargo warehouse mode, in response to a cargo storage instruction, controlling the door of the first cargo warehouse to open; When the storage mode is the second cargo hold mode, in response to a cargo storage instruction, the door of the second cargo hold is controlled to open.

4. The method according to claim 3, characterized in that The method further comprises: In response to the storage completion instruction, the door of the first cargo warehouse and / or the door of the second cargo warehouse are controlled to be closed, wherein when the storage mode is the single-warehouse mode, the door of the first cargo warehouse and the door of the second cargo warehouse are controlled to be closed, when the storage mode is the first cargo warehouse mode, the door of the first cargo warehouse is controlled to be closed, and when the storage mode is the second cargo warehouse mode, the door of the second cargo warehouse is controlled to be closed.

5. The method according to claim 4, characterized in that The method further comprises: In response to the delivery instruction, delivering the goods to the target location corresponding to the delivery instruction; Travel from the target position back to the preset docking position of the robot.

6. The method according to claim 5, characterized in that The method further comprises: After the robot drives back to the preset parking position, if the partition is in an open state, the partition is controlled to be in a closed state.

7. The method according to any one of claims 1 to 6, characterized in that Before controlling the partition to be in an open state or a closed state in response to the selection instruction of the storage mode, the method further comprises: Acquire delivery data of the items to be delivered, and determine the storage mode of the robot based on the delivery data, wherein the delivery data includes the volume of the items to be delivered; According to the storage mode, a selection instruction for the storage mode is generated.

8. The method according to claim 7, characterized in that The first volume of the first cargo warehouse is equal to the second volume of the second cargo warehouse, and the determining the storage mode of the robot based on the delivery data includes: If the volume of the items to be delivered is less than or equal to the first volume or the second volume, determining that the storage mode of the robot is a dual-storage mode; If the volume of the item to be delivered is greater than the first volume or the second volume, and less than or equal to the sum of the first volume and the second volume, it is determined that the storage mode of the robot is a single-warehouse mode.

9. A robot, characterized in that: include: A controller, and a first cargo compartment, a second cargo compartment and a partition electrically connected to the controller, respectively, wherein the partition is disposed between the first cargo compartment and the second cargo compartment; The controller comprises: A processor and a memory communicatively connected to the processor; The memory stores computer program instructions executable by the processor, and when the computer program instructions are called by the processor, the processor executes the delivery control method according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions executable by a processor, and when the computer program instructions are called by the processor, the processor executes the distribution control method according to any one of claims 1 to 8.

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