Robot delivery method and system, robot, terminal equipment, server and storage medium

Abstract

A robot delivery system comprises a terminal device (10), a server (20) and a delivery robot (30). A terminal device (10) for determining delivery demand information, the delivery demand information comprising a target collection mode selected by a user from the plurality of collection modes and / or a target unloading mode selected by a user from the plurality of unloading modes; the server (20) is used for receiving the distribution demand information from the terminal equipment (10) and generating a distribution task data packet according to the distribution demand information; and the distribution robot (30) is used for receiving the distribution task data packet from the server (20) and executing the distribution task according to the distribution task data packet. The goods picking / unloading requirements of users in different scenes are met. The invention also provides a robot distribution method, a robot, terminal equipment, a server and a storage medium.

Description

Robot delivery method, system, robot, terminal device, server and storage medium Technical Field

[0001] The present application relates to the field of logistics and delivery technology, and specifically, to a robot delivery method, system, robot, terminal equipment, server and storage medium. Background Art

[0002] Delivery robots are a new product in the era of smart logistics. Their development aims to address the "last mile" delivery problem and alleviate the current challenges faced by traditional manual delivery methods. Compared to manual delivery, delivery robots can operate continuously and are expected to offer lower delivery costs.

[0003] In order to make delivery robots more widely used, how to make them more flexible and intelligent to adapt to various delivery needs or delivery scenarios is an urgent problem to be solved.

[0004] Summary of the Invention

[0005] In view of this, one of the purposes of this application is to provide a robot delivery method, system, robot, terminal device, server and storage medium.

[0006] In a first aspect, an embodiment of the present application provides a robot delivery system, including a terminal device, a server, and a delivery robot;

[0007] The terminal device is used to determine delivery demand information, wherein the delivery demand information includes a target pickup mode and / or a target unloading mode input by a user;

[0008] The server is configured to receive the delivery demand information from the terminal device and generate a delivery task data packet according to the delivery demand information;

[0009] The delivery robot is configured to receive the delivery task data packet from the server and execute the delivery task according to the delivery task data packet;

[0010] Among them, the target collection mode is selected from a plurality of collection modes, and the plurality of collection modes include a first collection mode in which the delivery robot collects the goods at the collection point without the participation of the user and a second collection mode in which the delivery robot collects the goods at the collection point with the participation of the user; the target unloading mode is selected from a plurality of unloading modes, and the plurality of unloading modes include a first unloading mode in which the delivery robot unloads the goods at the unloading point without the participation of the user and a second unloading mode in which the delivery robot unloads the goods at the unloading point with the participation of the user.

[0011] In a second aspect, an embodiment of the present application provides a robot delivery method, the method comprising:

[0012] Receiving delivery demand information input by a user, wherein the delivery demand information includes a target pickup mode and / or a target unloading mode;

[0013] generating a delivery task data packet according to the delivery demand information, so that the delivery robot receives the delivery task data packet and performs the delivery task according to the delivery task data packet;

[0014] Among them, the target collection mode is selected from a plurality of collection modes, and the plurality of collection modes include a first collection mode in which the delivery robot collects the goods at the collection point without the participation of the user and a second collection mode in which the delivery robot collects the goods at the collection point with the participation of the user; the target unloading mode is selected from a plurality of unloading modes, and the plurality of unloading modes include a first unloading mode in which the delivery robot unloads the goods at the unloading point without the participation of the user and a second unloading mode in which the delivery robot unloads the goods at the unloading point with the participation of the user.

[0015] In a third aspect, an embodiment of the present application provides a robot delivery method, the method comprising:

[0016] receiving a delivery task data packet, where the delivery task packet is generated based on delivery requirement information input by a user, where the delivery requirement information includes a target pickup mode and / or a target unloading mode;

[0017] Execute the delivery task according to the delivery task data packet;

[0018] Among them, the target collection mode is selected from a plurality of collection modes, and the plurality of collection modes include a first collection mode in which the delivery robot collects the goods at the collection point without the participation of the user and a second collection mode in which the delivery robot collects the goods at the collection point with the participation of the user; the target unloading mode is selected from a plurality of unloading modes, and the plurality of unloading modes include a first unloading mode in which the delivery robot unloads the goods at the unloading point without the participation of the user and a second unloading mode in which the delivery robot unloads the goods at the unloading point with the participation of the user.

[0019] In a fourth aspect, an embodiment of the present application provides a robot delivery method, the method comprising:

[0020] Receiving delivery demand information input by a user, wherein the delivery demand information includes a target pickup mode and / or a target unloading mode;

[0021] Sending the delivery demand information to a server, so that the server generates a delivery task data packet according to the delivery demand information, so that the delivery robot receives the delivery task data packet and performs the delivery task according to the delivery task data packet;

[0022] Among them, the target collection mode is selected from a plurality of collection modes, and the plurality of collection modes include a first collection mode in which the delivery robot collects the goods at the collection point without the participation of the user and a second collection mode in which the delivery robot collects the goods at the collection point with the participation of the user; the target unloading mode is selected from a plurality of unloading modes, and the plurality of unloading modes include a first unloading mode in which the delivery robot unloads the goods at the unloading point without the participation of the user and a second unloading mode in which the delivery robot unloads the goods at the unloading point with the participation of the user.

[0023] In a fifth aspect, an embodiment of the present application provides a robot delivery method, comprising:

[0024] Receive a delivery task data packet sent by a server, the delivery task data packet including location information of multiple path points, the multiple path points including a pickup point, a drop-off point, and multiple intermediate path points between the pickup point and the drop-off point;

[0025] In the process of executing the delivery task according to the delivery task data packet, when it is detected that at least one of the multiple path points is unreachable, processing is performed according to the temporary processing strategy corresponding to the unreachable path point, wherein the temporary processing strategies corresponding to at least some different categories of path points are different.

[0026] In a sixth aspect, an embodiment of the present application provides a server, including:

[0027] a memory for storing executable instructions;

[0028] one or more processors;

[0029] Wherein, when the one or more processors execute the executable instructions, they are individually or collectively configured to execute the method described in the second aspect.

[0030] In a seventh aspect, an embodiment of the present application provides a delivery robot, comprising:

[0031] a memory for storing executable instructions;

[0032] one or more processors;

[0033] running gear and multiple storage compartments;

[0034] When the one or more processors execute the executable instructions, they are individually or collectively configured to execute the method described in the third aspect or the fifth aspect.

[0035] In an eighth aspect, an embodiment of the present application provides a terminal device, including:

[0036] a memory for storing executable instructions;

[0037] one or more processors;

[0038] Wherein, when the one or more processors execute the executable instructions, they are individually or collectively configured to execute the method described in the fourth aspect.

[0039] In the ninth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores executable instructions. When the executable instructions are executed by a processor, they implement the method described in any one of the second, third, fourth or fifth aspects.

[0040] The embodiments of the present application are conducive to making the delivery robot more flexible and intelligent to adapt to various delivery needs or delivery scenarios. The embodiments and beneficial effects will be further elaborated later. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. 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 any creative work.

[0042] FIG1 is a schematic structural diagram of a robot delivery system provided in one embodiment of the present application.

[0043] FIG2A is a schematic diagram of a sender information filling page provided in an embodiment of the present application.

[0044] FIG2B is a schematic diagram of a recipient information filling page provided in an embodiment of the present application.

[0045] FIG2C is a schematic diagram of a delivery requirement information filling page provided in an embodiment of the present application.

[0046] Figure 2D is a schematic diagram of a chat interface displaying cargo delivery controls and a delivery requirement information filling page provided by an embodiment of the present application.

[0047] FIG3 is a schematic structural diagram of a storage mechanism provided on a delivery robot according to an embodiment of the present application.

[0048] FIG4A is a schematic diagram of a temporary processing strategy corresponding to an intermediate path point of an access control category provided by an embodiment of the present application.

[0049] FIG4B is a schematic diagram of a temporary processing strategy corresponding to an intermediate path point of a gate type provided by an embodiment of the present application.

[0050] FIG4C is a schematic diagram of a temporary processing strategy corresponding to an intermediate waypoint in a parking lot category provided by an embodiment of the present application.

[0051] FIG4D is a schematic diagram of a temporary processing strategy corresponding to a manned unloading point provided by an embodiment of the present application.

[0052] FIG5 is a schematic diagram showing that the path points that two delivery robots are about to reach are occupied by each other, provided by an embodiment of the present application.

[0053] FIG6A is a schematic structural diagram of a delivery robot provided in one embodiment of the present application.

[0054] FIG6B is a schematic structural diagram of a first type of shielding member provided in one embodiment of the present application.

[0055] FIG6C is a schematic structural diagram of a second type of shielding member provided in one embodiment of the present application.

[0056] FIG7A is a schematic diagram of a storage compartment selection page provided in one embodiment of the present application.

[0057] FIG7B is a schematic diagram of a delivery page provided in accordance with an embodiment of the present application.

[0058] FIG7C is a schematic diagram of a prompt page provided in accordance with an embodiment of the present application.

[0059] FIG8A is a schematic diagram of another prompt page provided by an embodiment of the present application.

[0060] FIG8B is a schematic diagram of another delivery page provided in accordance with an embodiment of the present application.

[0061] FIG8C is a schematic diagram of another prompt page provided by an embodiment of the present application.

[0062] FIG9 is a flow chart of a first robot delivery method provided in one embodiment of the present application.

[0063] FIG10 is a flow chart of a second robot delivery method provided in one embodiment of the present application.

[0064] FIG11 is a flow chart of a third robot delivery method provided in an embodiment of the present application.

[0065] FIG12 is a flow chart of a fourth robot delivery method provided in an embodiment of the present application.

[0066] FIG13 is a flow chart of a fifth robot delivery method provided in one embodiment of the present application.

[0067] FIG14 is a schematic diagram of the structure of a server provided in one embodiment of the present application. DETAILED DESCRIPTION

[0068] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0069] Related art robotic delivery methods typically require user participation in the collection and unloading processes, making it difficult to meet users' diverse delivery needs. To address these issues, embodiments of the present application provide a robotic delivery system comprising a terminal device, a server, and a delivery robot. This robotic delivery system offers a variety of collection and unloading modes for users to choose from, meeting their needs for collection, delivery, and unloading in different scenarios. This system is more convenient for users and helps improve their user experience.

[0070] Next, the robot delivery system provided in the embodiment of the present application is exemplified as follows:

[0071] 1 , an embodiment of the present application provides a robot delivery system, which includes a terminal device 10, a server 20, and a delivery robot 30. It is understood that the robot delivery system may include multiple terminal devices 10 and multiple delivery robots 30.

[0072] It is understandable that the embodiments of the present application do not impose any restrictions on the form of the terminal device 10, and the terminal device 10 includes but is not limited to a smart phone / mobile phone, a tablet computer, a personal digital assistant (PDA), a laptop computer, a desktop computer, a wearable device (for example, a watch, glasses, gloves, a headdress, a pendant, an armband, a leg ring, a shoe, a vest), a remote control, or any other type of device. The terminal device 10 has the function of communicating with the server 20. The server 20 can be a backend server, a server cluster or a cloud server. The delivery robot 30 includes at least a storage compartment and a power mechanism. The storage compartment is used to place goods, and the delivery robot 30 can move forward, backward or turn through the power mechanism.

[0073] For example, the delivery robot 30 can travel within a pre-defined unmanned delivery area to perform delivery tasks within the area, including but not limited to office parks, residential communities, industrial parks, schools, exhibition halls, museums, shopping malls, etc. For example, the robotic delivery system includes multiple delivery robots 30 that can be dispatched by the server 20 to perform delivery tasks within the pre-defined unmanned delivery area.

[0074] Taking an office park as an example, the delivery robot 30 can perform delivery tasks both indoors and outdoors within the office park, and the pickup and unloading points for delivery tasks can be anywhere within the office park. In one example, delivery tasks are performed within the same office building, such as on the same floor or across floors of the same office building; for example, the delivery robot 30 picks up goods on the 3rd floor and then delivers them to the 10th floor. In another example, the delivery robot 30 can perform delivery tasks between different office buildings; for example, the delivery robot 30 picks up goods in Office Building A and then delivers them to Office Building B. In yet another example, the delivery robot 30 can perform delivery tasks in the parking lot or other outdoor areas within the office park; for example, the delivery robot 30 picks up goods in the express delivery room within the office park and then delivers them to the parking lot or a designated road within the office park.

[0075] For example, the goods that need to be delivered within the pre-set unmanned delivery area may be goods that were produced within the pre-set unmanned delivery area. For example, in an office park, documents printed by users within the office park may need to be delivered between different floors or different office buildings by the delivery robot 30. Alternatively, the goods that need to be delivered within the pre-set unmanned delivery area may also be goods that originate outside the pre-set unmanned delivery area. For example, in an office park, a courier may place goods from outside the office park in the mailroom of the office park. The delivery robot 30 then picks up the goods from the mailroom and delivers them to any location within the office park designated by the user.

[0076] The unmanned delivery system supports multiple collection modes and multiple unloading modes; the multiple collection modes include a first collection mode in which the delivery robot 30 collects goods at the collection point without the user's participation and a second collection mode in which the delivery robot 30 collects goods at the collection point with the user's participation; the multiple unloading modes include a first unloading mode in which the delivery robot 30 unloads goods at the unloading point without the user's participation and a second unloading mode in which the delivery robot 30 unloads goods at the unloading point with the user's participation.

[0077] The terminal device 10 is used to determine delivery demand information, which includes a target collection mode and / or a target unloading mode input by a user; wherein the target collection mode is selected by the user from a plurality of collection modes, and the target unloading mode is selected by the user from a plurality of unloading modes.

[0078] The server 20 is configured to receive the delivery demand information from the terminal device 10 and generate a delivery task data packet according to the delivery demand information.

[0079] The delivery robot 30 is configured to receive the delivery task data packet from the server 20 and execute the delivery task according to the delivery task data packet.

[0080] In this embodiment, the user can more conveniently select the target collection mode and / or target unloading mode in the terminal device 10 based on his or her actual needs. The delivery robot 30 can complete the collection of goods according to the target collection mode selected by the user and / or complete the delivery of goods according to the target unloading mode selected by the user. The collection / unloading of goods can be achieved with the participation of the user, and the collection / unloading of goods can be achieved without the participation of the user. The multiple collection modes and the multiple unloading modes meet the user's collection / unloading needs in different scenarios, are more convenient for users to use, and are conducive to improving the user experience. And the collection / unloading without the participation of the user further saves the user's waiting time.

[0081] In some embodiments, the user can enter delivery requirement information into the terminal device 10 based on their actual needs. For example, the delivery requirement information may include at least one of cargo size information, target pickup mode, target unloading mode, location information of the pickup point, location information of the unloading point, sender's contact information, and recipient's contact information. In one example, please refer to Figures 2A, 2B, and 2C. Figure 2A shows a sender information entry page on the terminal device 10 for allowing the user to enter the sender's name, sender's contact information, and pickup point location information; Figure 2B shows a recipient information entry page on the terminal device 10 for allowing the user to enter the recipient's name, contact information, and unloading point; and Figure 2C shows a delivery requirement information entry page on the terminal device 10 for allowing the user to select cargo size and a pickup mode.

[0082] In one possible implementation, considering that it is rather cumbersome for the user to manually fill in all the contents of the delivery demand information, in order to reduce the number of filling steps for the user, the terminal device 10 can automatically match related information according to the information input by the user to realize automatic filling in of part of the information in the delivery demand information, that is, the delivery demand information includes the information input by the user and the information automatically matched by the information input by the user, which is conducive to improving the user's filling efficiency.

[0083] For example, the terminal device 10 may pre-store user data related to the user. The terminal device 10 is further configured to receive partial user information input by the user during the process of receiving the delivery demand information input by the user, and obtain the remaining user information associated with the partial user information from the pre-stored user data based on the partial user information, so as to automatically fill in the remaining user information in the delivery demand information, thereby improving the user's filling efficiency.

[0084] In one example, when a user fills in the sender information on the page shown in FIG2A , after the user enters the sender's name, the terminal device 10 can obtain the sender's contact information and the location information of the pickup point associated with the sender's name from pre-stored user data based on the sender's name, and automatically fill in the information, thereby reducing the user's filling operations and improving filling efficiency.

[0085] In another example, when a user fills in recipient information on the page shown in FIG2B , after the user enters the recipient's name, the terminal device 10 can retrieve the recipient's contact information and unloading point location information associated with the recipient's name from pre-stored user data and automatically fill in the information, thereby reducing the user's filling-in operation and improving filling efficiency. Of course, as shown in FIG2C , the user is allowed to modify at least one of the sender information and recipient information at any time without confirmation.

[0086] After the user input is completed and confirmed, the call control in the terminal device 10 can be triggered (such as the "Call Now" control in Figure 2C). In response to the call control being triggered, the terminal device 10 sends the delivery demand information entered by the user to the server 20.

[0087] For example, the terminal device 10 may run a cargo delivery client, which may be an independent application (APP), a function within an application (such as a mini-program), or a web client. Through the cargo delivery client, the terminal device 10 may send the delivery demand information input by the user to the server 20.

[0088] For example, the cargo delivery client is used as one of the functions in a chat application. During the chat application's operation, the terminal device 10 can display a chat interface containing a cargo delivery control. Each terminal device 10 is further configured to, in response to a user's operation on the cargo delivery control, pop up a delivery request information entry page and automatically fill in the delivery request information entry page with the user information of the chat partner corresponding to the chat interface. This embodiment automatically fills in some information within the delivery request information, thereby improving user entry efficiency.

[0089] In one example, referring to the chat interface shown in FIG2D , user A wants to send goods to user B, who is in the same unmanned delivery area, via delivery robot 30. User A then operates the goods delivery control in the chat interface, and the terminal device 10 pops up a delivery request information entry page. The page automatically enters user A's sender information (e.g., name, contact information, and / or pickup location) and user B's recipient information (e.g., name, contact information, and / or unloading location). User A can further enter the goods size and target pickup mode. After the user completes and confirms the input, the terminal device 10 sends the delivery request information to the server 20.

[0090] When selecting a target collection mode, the user can choose according to his or her actual needs from a first collection mode in which the delivery robot 30 collects goods at the collection point without the user's participation and a second collection mode in which the user participates in the delivery robot 30 collecting goods at the collection point.

[0091] Among them, the collection points in the first collection mode include smart container collection points or other collection points other than smart container collection points. For smart container collection points, users can place goods in the smart container, and the delivery robot can collect the goods from the smart container. For example, the delivery robot can communicate with the smart container and open the container compartment door corresponding to the smart container collection point. After the delivery robot collects the goods from the container compartment through the collection mechanism, it can further communicate with the smart container to close the compartment door. In addition, users can also place goods at other collection points other than smart container collection points (such as the ground, table, or shelf), and the delivery robot will collect the goods from the collection point through the collection mechanism. In some embodiments, users can flexibly select the collection point in the first collection mode when placing an order, and the delivery robot 30 can automatically go to the smart container collection point or other collection points other than the smart container collection point to collect the goods without user participation.

[0092] The pickup points in the second collection mode include the mailroom pickup point or other pickup points other than the mailroom pickup point. The mailroom pickup point can be understood as a centralized pickup point in the unmanned delivery area. That is, the delivery robot 30 can pick up multiple shipments from the mailroom at a time. There can be one or more mailroom pickup points, and other pickup points can be any location in the unmanned delivery area other than the mailroom pickup point. For example, the shipments that the delivery robot 30 needs to pick up at the mailroom pickup point can be shipments received from outside the unmanned delivery area. For example, in an office park, after a courier delivers shipments from outside the office park to the mailroom in that office park, the mailroom staff, using the robotic delivery system of this application, arranges the shipment's delivery within the office park. The mailroom staff selects the second collection mode as the target collection mode and the mailroom pickup point as the pickup point. The delivery robot 30 can then pick up the shipments at the mailroom pickup point and deliver them to the recipient in the unmanned delivery area. Of course, the goods that the delivery robot 30 needs to collect at the collection point in the mail room may also be goods received from the unmanned delivery area, and this embodiment does not impose any limitation on this.

[0093] Similarly, when selecting the target unloading mode, the user can choose from a first unloading mode in which the delivery robot 30 unloads the goods at the unloading point without the user's participation, and a second unloading mode in which the user participates in the delivery robot 30 unloading the goods at the unloading point according to actual needs. The unloading point in the first unloading mode includes a smart container unloading point or other unloading points other than the smart container unloading point, and the unloading point can be selected by the user according to actual needs. For the smart container unloading point, the delivery robot can unload the goods to the corresponding smart container. For example, the delivery robot can communicate with the smart container and open the container compartment door corresponding to the smart container unloading point, unload the goods into the smart container through the unloading mechanism of the delivery robot, and further communicate with the smart container to close the compartment door. In some embodiments, the user can flexibly select the unloading point in the first unloading mode when placing an order, and the delivery robot 30 can automatically unload the goods at the smart container unloading point or other unloading points other than the smart container unloading point without user participation.

[0094] The unloading points in the second unloading mode include the mailroom unloading point or other unloading points other than the mailroom unloading point; the mailroom unloading point can be understood as a centralized unloading point in the unmanned delivery area, that is, the delivery robot 30 can deliver multiple goods to the mailroom at one time. There can be one or more mailroom unloading points, and other unloading points can be any location in the unmanned delivery area other than the mailroom unloading point. For example, the goods delivered to the mailroom by the delivery robot 30 can be goods that need to be sent outside the unmanned delivery area (a location that the delivery robot 30 cannot reach); taking the office park as an example, the user can have the goods delivered to the mailroom by the delivery robot 30, and then the staff of the mailroom will be responsible for negotiating with the relevant logistics platform to realize the delivery of the goods outside the unmanned delivery area. Of course, the goods delivered to the mailroom by the delivery robot 30 can also be goods sent to the staff in the mailroom, and there is no need to send them outside the unmanned delivery area. This embodiment does not impose any restrictions on this.

[0095] In some embodiments, the cargo collection mechanism and the cargo unloading mechanism may be the same mechanism, such as a cargo pickup and placement mechanism.

[0096] It is understood that when the delivery request information only contains a target pickup mode but no target unloading mode, the unmanned delivery system may contact the recipient based on the recipient's contact information in the delivery request information to determine the target unloading mode. When the delivery request information only contains a target unloading mode but no target pickup mode, the unmanned delivery system may contact the sender based on the sender's contact information in the delivery request information to determine the target pickup mode.

[0097] In some embodiments, the server 20 may receive delivery demand information from the terminal device 10 and generate a delivery task data packet based on the delivery demand information. It is understood that the robotic delivery system includes multiple terminal devices 10 and multiple delivery robots 30, and any terminal device 10 may submit one or more delivery demand information to the server 20. The server 20 then receives multiple delivery demand information from the multiple terminal devices 10 and generates a corresponding delivery task data packet for each delivery demand information. The server 20 can then schedule multiple delivery tasks among the multiple delivery robots 30.

[0098] For each of the multiple delivery demand information, the server 20 determines a target delivery robot from the multiple delivery robots 30 and sends the delivery task data packet corresponding to the delivery demand information to the target delivery robot. For example, the server 20 can determine the target delivery robot from the multiple delivery robots 30 based on the delivery demand information. The target delivery robot receives the delivery task data packet from the server 20 to execute the delivery task, completing the cargo collection according to the target collection mode and / or completing the cargo delivery according to the target unloading mode.

[0099] In an exemplary embodiment, considering that the second collection mode and the second unloading mode are delivery methods requiring user participation, to reduce user waiting time, the delivery priority corresponding to the second collection mode may be set higher than the delivery priority of the first collection mode, and the delivery priority of the second unloading mode may be set higher than the delivery priority of the first unloading mode. Furthermore, when determining the target delivery robot, the server 20 may determine the delivery priority based on the target collection mode and / or target unloading mode in the delivery demand information; and determine the target delivery robot from the multiple delivery robots 30 based on the delivery priority.

[0100] In one example, the order of determining the target delivery robots can be determined according to the delivery priorities of different delivery tasks. The higher the delivery priority of the delivery task, the more preferentially the server 20 determines the target delivery robot that matches the delivery task. In another example, for example, the higher the delivery priority, the closer the target delivery robot determined among the multiple delivery robots 30 is to the cargo collection point or the unloading point. In another example, for example, the determined target delivery robot has no other delivery tasks that need to be performed, or the delivery priorities of other delivery tasks that the determined target delivery robot needs to perform are lower than the delivery priority of the delivery task to be scheduled this time, so that the target delivery robot can preferentially execute the delivery task with a high delivery priority. In this embodiment, the target delivery robot is selected based on the delivery priority, so that the delivery task with the target collection mode being the second collection mode and / or the target unloading mode being the second unloading mode can be preferentially executed, thereby helping to reduce the waiting time of the user.

[0101] In another exemplary embodiment, the delivery robot 30 includes multiple storage compartments for accommodating goods. The delivery requirement information also includes cargo size information. When determining a target delivery robot, the server 20 may determine a target delivery robot from the multiple delivery robots 30 based on the cargo size information, wherein the target delivery robot has a storage compartment that matches the cargo size information.

[0102] Among them, in order to achieve effective utilization of the storage compartments, the volume of any of the storage compartments can be adjusted. For example, please refer to Figure 3. Figure 3 shows a storage mechanism that can be set on the delivery robot 30. The storage mechanism includes multiple storage compartments. Different storage compartments can be separated by a detachable partition 31. The volume of any storage compartment can be adjusted according to the disassembly of the partition 31; the size of the storage compartment can be flexibly adjusted by removing or installing the partition 31 between the storage compartments, such as by removing the partition 31 between the storage compartments to combine at least two storage compartments into one storage compartment, or by installing the partition 31 between the storage compartments to divide a storage compartment into at least two smaller storage compartments, so as to be suitable for goods of different sizes, thereby meeting the delivery needs of goods of different sizes.

[0103] For example, at least one of the width and height of the storage compartment can be adjusted by a detachable partition 31. For example, referring to FIG3 , the width of the storage compartment is fixed, and the height can be adjusted by a detachable partition 31, and adjacent partitions form a storage compartment.

[0104] Of course, it is not excluded that the storage compartment can be set in a fixed volume manner, and this embodiment does not impose any restrictions on this.

[0105] In an exemplary embodiment, in the process of determining the target delivery robot, the server 20 can determine the target delivery robot among the multiple delivery robots 30 based on the delivery demand information and the status information of each delivery robot 30 among the multiple delivery robots 30; wherein, the delivery demand information includes cargo size information, location information of the pickup point and / or unloading point; the status information of the delivery robot 30 includes the volume of the empty storage compartment in the delivery robot 30, the location information of the delivery robot 30, and the location information of the pickup point and / or unloading point of other delivery tasks that the delivery robot 30 needs to perform.

[0106] The server 20 may select a target delivery robot by comprehensively considering at least one of the following information: the degree of match between the cargo size information in the delivery request information and the volume of the empty storage compartment, the distance between the pickup point in the delivery request information and the location information of the delivery robot 30, and the distance difference between the pickup point / unloading point in the delivery request information and the pickup point and / or unloading point of other delivery tasks that the delivery robot 30 needs to perform (which can be understood as the degree of convenience; the smaller the distance difference, the more convenient it is). In one example, the server 20 may determine as the target delivery robot the delivery robot 30 that has an empty storage compartment that matches the cargo size information and whose current location is closest to the pickup point in the delivery request information. In another example, the server 20 may determine as the target delivery robot a delivery robot 30 that satisfies the following three conditions at the same time: it has an empty storage compartment that matches the cargo size information, the current position of the delivery robot 30 is close to the pickup point in the delivery demand information (for example, less than a preset threshold), and the distance difference between the pickup point / unloading point in the delivery demand information and the pickup point and / or delivery location of other delivery tasks that the delivery robot 30 needs to perform is small (for example, a preset difference).

[0107] After determining the target delivery robot that matches a certain delivery demand information, the server 20 can send the delivery task data packet corresponding to the delivery demand information to the target delivery robot, so that the target delivery robot can perform the delivery task according to the delivery task data packet, such as completing the collection of goods according to the target collection mode in the delivery task data packet and / or completing the delivery of goods according to the target unloading mode.

[0108] In some embodiments, when generating a delivery task data packet based on a particular delivery demand information, the server 20 performs path planning based on the location information of the pickup point and the unloading point included in the delivery demand information, obtaining location information of multiple path points from the pickup point to the unloading point. The multiple path points include the pickup point, the unloading point, and multiple intermediate path points between the pickup point and the unloading point. The delivery robot 30 assigned to the delivery task corresponding to the delivery task data packet (i.e., the target delivery robot described above) can then execute the delivery task based on the multiple path points. After successfully picking up the goods at the pickup point, the robot can then travel along the multiple path points to the unloading point to deliver the goods.

[0109] In addition, when the server 20 sends the delivery task to the delivery robot 30, the delivery robot 30 may not be at the collection point and needs to go from the current position to the collection point to collect the goods. The server 20 can also perform path planning based on the current position of the delivery robot 30 and the position information of the collection point to obtain the position information of the path points from the current position of the delivery robot 30 to the collection point; that is, the multiple path points contained in the delivery data packet may include the collection point, the unloading point, multiple intermediate path points between the robot's current position and the collection point, and multiple intermediate path points from the collection point to the unloading point.

[0110] The delivery robot 30 has an autonomous route planning function and is capable of autonomously planning a route between any two adjacent path points among the multiple path points. Therefore, the server 20 can generate relevant path points in specific physical scenes and / or scenes where the delivery robot 30 needs to perform tasks, based on the physical scenes that the delivery robot 30 needs to pass through in the unmanned delivery area from its current location to the pickup point and / or from the pickup point to the unloading point. For locations where no tasks need to be performed, no path points need to be generated. The delivery robot 30 will autonomously plan based on the two adjacent path points and travel from one of the two adjacent path points to the other according to the autonomously planned route. In this embodiment, the server 20 only needs to generate relevant path points in specific physical scenes and / or scenes where the delivery robot 30 needs to perform tasks, without generating a large number of path points, which helps improve the path planning efficiency of the server 20.

[0111] It is understandable that the server 20 has the authority to manage the access equipment in the unmanned delivery area and can control the opening and closing of the access equipment. The access equipment includes but is not limited to elevators, access control or gates, etc.

[0112] In one example, taking an office park as an example of an unmanned delivery area, the physical scenes include but are not limited to elevator scenes, access control scenes, gate scenes, or parking scenes, etc. The tasks that the delivery robot 30 needs to perform include but are not limited to: (1) sending an elevator opening request to the server 20 in the elevator scene to enable the user to take the elevator; (2) sending a pass request to the server 20 in the access control scene to enable the user to pass the access control; (3) sending a pass request to the server 20 in the gate scene to enable the user to pass the gate; (4) performing a turning task at a road corner in the parking scene; (5) performing a cargo collection task at a cargo collection point; (6) completing a cargo delivery task at a cargo unloading point, etc. For example, the server 20 pre-stores a semantic map of the unmanned delivery area. This map reflects the physical meaning of various scenes in the unmanned delivery area, such as elevators, gates, access control systems, roads, parking lots, workstations, or corridors. Based on the location information of the pickup and unloading points in the delivery demand information, the current location of the delivery robot 30, and the semantic map, the server 20 can generate the location information of multiple path points from the current location of the delivery robot 30 to the pickup point, and from the pickup point to the unloading point. The voice map is constructed using data collected by lidar and imaging devices, and then semantically annotated.

[0113] Multiple waypoints can be divided into different categories based on the physical scene of the waypoint's location and / or the tasks required to be performed upon reaching the waypoint. Exemplarily, the different categories of waypoints include at least one of the following, but are not limited to: intermediate waypoints in the elevator category, intermediate waypoints in the access control category, intermediate waypoints in the gate category, intermediate waypoints in the parking lot category, pickup points in the manned cargo collection category, unloading points in the manned cargo unloading category, and unloading points in the unmanned cargo unloading category. Pickup points in the manned cargo collection category indicate pickup points in the second pickup mode, unloading points in the manned cargo unloading category indicate unloading points in the second unloading mode, and unloading points in the unmanned cargo unloading category indicate unloading points in the first unloading mode.

[0114] In some embodiments, it is considered that during the process of the delivery robot 30 performing the delivery task according to the multiple path points in the delivery task, at least one path point may be occupied by other objects or pedestrians, resulting in the possibility of failure in the delivery task. Therefore, in order to ensure the success rate of the delivery task, in the embodiment of the present application, temporary processing strategies are set for different categories of path points among the multiple path points, wherein at least some of the different categories of path points have different corresponding temporary processing strategies. During the process of any delivery robot 30 performing the delivery task according to the multiple path points in the delivery task data packet, if it is detected that at least one of the multiple path points is unreachable, it can be processed according to the temporary processing strategy corresponding to the unreachable path point, thereby ensuring the smooth progress of the delivery task.

[0115] Exemplarily, temporary processing strategies corresponding to different categories of waypoints may be pre-stored in the delivery robot 30; or, the delivery task data packet may carry temporary processing strategies corresponding to different categories of waypoints.

[0116] Exemplarily, the temporary processing strategies corresponding to different categories of path points include at least one of the following but are not limited to: (1) The temporary processing strategies corresponding to the intermediate path points of the elevator category and the intermediate path points of the access control category include: waiting for the elevator or access control to open in a preset area including the intermediate path point; (2) The temporary processing strategies corresponding to the intermediate path points of the gate category include: waiting for the gate of the gate to open at a spare path point near the gate; (3) The temporary processing strategies corresponding to the intermediate path points of the parking lot category include: passing through a preset passage area including the intermediate path point; if the preset passage area is occupied, waiting in place; (4) The temporary processing strategies corresponding to the cargo collection point of the manned cargo collection category and the unloading point of the manned cargo unloading category include: stopping in a preset area around the cargo collection point or unloading point to reduce the obstruction of normal traffic by the delivery robot 30; (5) The temporary processing strategies corresponding to the unloading point of the unmanned cargo unloading category include: placing the cargo at a spare unloading point near the unloading point. In this embodiment, temporary processing strategies corresponding to different categories of waypoints are set so that the delivery robot 30 can process the waypoints according to the temporary processing strategies when they are occupied, which is beneficial to improving the success rate of the delivery robot 30 in performing delivery tasks.

[0117] In one example, the temporary handling strategies corresponding to intermediate path points in the elevator and access control categories are exemplified. Please refer to the access control scenario shown in FIG4A , where the black dot represents the intermediate path point that the delivery robot 30 needs to reach. Upon reaching this intermediate path point, the delivery robot 30 must send a permission request to the server 20 to pass through the access control. When the intermediate path point is occupied, the delivery robot 30 can autonomously select an optimal position within a predefined area encompassing the intermediate path point, such as a position behind the intermediate path point. After stopping at the optimal position, the delivery robot 30 sends a permission request to the server 20, and passes through the access control after the server 20 opens the access control. The area of ​​the predefined area is determined based on the area occupied by the delivery robot 30 and a predefined safety area. The safety area is used to prevent the delivery robot 30 from colliding with obstacles (e.g., walls, hallway decorations such as potted plants, etc.), thereby protecting the physical space. For example, the area of ​​the predefined area is the sum of N times the area occupied by the delivery robot 30 and the predefined safety area, where N is an integer greater than 0. The size of N can be determined based on the actual access control situation.

[0118] In one example, the temporary processing strategy corresponding to the intermediate path point of the gate category is exemplified. Please refer to the gate scene shown in Figure 4B, where the black dot is the intermediate path point that the delivery robot 30 needs to reach this time. After arriving at the intermediate path point, the delivery robot 30 needs to send a pass permission request to the server 20 to pass through the gate. When the intermediate path point is occupied, in order to prevent illegal personnel without pass permission from following the delivery robot 30 through the gate, the delivery robot 30 can stop at a spare path point close to the gate. For example, the spare path point can be a position closer to the gate in front of the occupied intermediate path point, so that the gate can be quickly closed after the delivery robot 30 passes, avoiding the situation where illegal personnel follow. The delivery robot 30 can send a pass permission request to the server 20 at the spare path point and pass through the gate after the server 20 opens the gate.

[0119] In one example, the temporary handling strategy corresponding to the intermediate path points of the parking lot category is illustrated. Please refer to Figure 4C. In the parking lot, to ensure the safety of the delivery robot 30, the delivery robot 30 travels within the preset passage area between the parking space and the driving lane. Passing through locations outside the preset passage area may pose a risk of collision with vehicles. The black dot is the intermediate path point where the delivery robot 30 needs to perform the turning task. When the intermediate path point is occupied, the delivery robot 30 can perform the turning task within the preset passage area including the intermediate path point. If the preset passage area is occupied, to ensure the safety of the delivery robot 30, the delivery robot 30 can be made to wait in place until the preset passage area is passable.

[0120] In one example, a temporary processing strategy corresponding to an unloading point of a category with unloading personnel is exemplified. Please refer to FIG4D . The black dot is the unloading point where the delivery robot 30 needs to unload the goods this time. When the recipient is not waiting to receive the goods at the unloading point, the delivery robot 30 can stop in a preset area around the unloading point, such as at the edge near the wall, and wait for the recipient in a parking manner that does not hinder the normal passage of people.

[0121] In some embodiments, one special case of a waypoint being occupied is when the waypoints that two robots are about to reach are occupied by each other. In this case, if the two robots process the waypoints according to the temporary processing strategy corresponding to the unreachable waypoint, a conflict may occur between the two robots, resulting in the failure of the delivery task. For example, please refer to Figure 5. In an elevator scenario, there are two delivery robots 30 each performing a delivery task. One delivery robot 30 is about to exit the elevator, and the other delivery robot 30 is about to enter the elevator. The waypoints that the two robots are about to reach are occupied by each other. If the temporary processing strategy corresponding to the waypoints that the two robots are about to reach is to stay in place until the waypoint is reachable, a conflict may occur between the two robots, resulting in the failure of the delivery task. Therefore, in response to the situation where the waypoints that the two robots are about to reach are occupied by each other, this embodiment implements arbitration by the server 20 to coordinate the passage of the two robots.

[0122] In one possible implementation, any delivery robot 30, while executing a delivery task along the multiple waypoints, is further configured to transmit occupancy information of the waypoint to the server 20 if it detects that the waypoint it is about to reach is occupied by another delivery robot 30. The server 20 is further configured to receive occupancy information of the waypoint from different delivery robots 30 and, if at least two pieces of occupancy information are determined to indicate that the waypoints about to be reached by two delivery robots 30 are mutually occupied, coordinate the passage of the two delivery robots 30. In this embodiment, if mutual occupation occurs, the delivery robot 30 requests arbitration from the server 20, thereby improving the success rate of delivery task execution.

[0123] In another possible implementation, to facilitate server 20's management of multiple delivery robots 30, each delivery robot 30 is further configured to report its location information to server 20 in real time while executing a delivery task. Based on the received location information of each delivery robot 30 and the multiple path points in the delivery tasks performed by each delivery robot 30, server 20 can then coordinate the passage of the two delivery robots 30 if it determines that the path points that two delivery robots 30 are about to reach are mutually occupied. In this embodiment, server 20 can predict mutual occupation situations and coordinate them in advance, thereby improving the success rate of delivery task execution.

[0124] Illustratively, during the process of coordinating the passage of the two delivery robots 30, the server 20 may determine a passage coordination strategy for the two delivery robots 30 based on the number of delivery robots 30 that can be accommodated in the area corresponding to the occupied waypoint, thereby controlling the passage of the two delivery robots 30 in accordance with the passage coordination strategy. For example, the passage coordination strategy may include the order in which the two delivery robots 30 travel to the occupied waypoint and / or the waypoints at which either of the two delivery robots 30 temporarily stops, thereby ensuring smooth passage for both delivery robots 30 and improving the success rate of delivery mission execution.

[0125] In one example, assuming the area corresponding to the occupied waypoint is an elevator area, the server 20 may determine a traffic coordination strategy for the two delivery robots 30 based on the difference between the elevator's upper limit for the number of delivery robots 30 and the actual number of delivery robots 30 currently accommodated. For example, if the actual number of delivery robots 30 currently accommodated in the elevator has reached the elevator's upper limit for the number of delivery robots 30 that the elevator can accommodate, the server 20 may determine a traffic coordination strategy that first allows the delivery robot 30 inside the elevator to exit the elevator, stop at a temporary waypoint, and then allow the delivery robot 30 outside the elevator to enter the elevator.

[0126] In one example, assuming the area corresponding to the occupied path point is a gated area, the server 20 may determine a traffic coordination strategy for the two delivery robots 30 based on the number of delivery robots 30 that can pass through after the gate is opened. If the number of delivery robots 30 that can pass through after the gate is opened is one, the traffic coordination strategy determined by the server 20 may be to first allow one of the two delivery robots 30 to stop at the temporary path point, waiting for the other delivery robot 30 to pass through the gate before allowing it to pass through. If the number of delivery robots 30 that can pass through after the gate is opened is greater than two, the traffic coordination strategy determined by the server 20 may be to allow the two delivery robots 30 to pass in parallel.

[0127] In one example, assuming the area corresponding to the occupied waypoint is a parking lot, the server 20 may determine a traffic coordination strategy for the two delivery robots 30 based on the number of delivery robots 30 permitted to pass through the preset traffic area encompassing the waypoint. If the number of delivery robots 30 permitted to pass through the preset traffic area is one, the traffic coordination strategy determined by the server 20 may be to first allow one of the two delivery robots 30 to stop at the temporary waypoint and wait for the other delivery robot 30 to pass before allowing it to pass.

[0128] In some embodiments, when the delivery robot 30 is executing a delivery task according to the delivery task data packet, upon arriving at a pickup point, the delivery robot 30 may pick up the goods according to the target pickup mode specified in the delivery task data packet. Furthermore, upon arriving at a drop-off point, the delivery robot 30 may deliver the goods according to the target drop-off mode specified in the delivery task data packet.

[0129] In one possible embodiment, the delivery robot 30 includes a cargo pick-up and placement mechanism (such as a robotic arm or a mechanical shovel) and multiple storage compartments. If cargo is collected in the first collection mode, the delivery robot 30 uses the cargo pick-up and placement mechanism to grab cargo from a collection point (a smart container collection point or other collection point other than a smart container collection point) and place it in a pre-assigned empty storage compartment, thereby realizing a cargo collection method that does not require user intervention and eliminates the need for human presence. If cargo is delivered in the first unloading mode, the delivery robot 30 can use the cargo pick-up and placement mechanism to remove cargo from the storage compartment containing the cargo and place it at the unloading point (a smart container unloading point or other unloading point other than a smart container unloading point), thereby realizing a cargo delivery method that does not require user intervention and eliminates the need for human presence.

[0130] Among them, for the smart container collection point or smart container unloading point, the delivery robot 30 can send a container opening or closing request to the server 20. The server 20 has management authority over the smart container and can implement opening and closing control of the smart container according to the container opening or closing request, so that the delivery robot 30 can collect goods from the smart container or place the goods in the smart container.

[0131] Exemplarily, in order to ensure safety during the cargo collection process, the delivery robot 30 is provided with a camera. Any delivery robot 30 is also used to, when collecting cargo in the first collection mode, turn on the camera to record video after arriving at the cargo collection point until the cargo collection is completed; or, when unloading cargo in the first unloading mode, turn on the camera to record video after arriving at the unloading point until the cargo unloading is completed.

[0132] Exemplarily, in order to ensure safety during the cargo collection process, the delivery robot 30 also includes a scanning module (including but not limited to a camera, a laser radar or an infrared sensor, etc.).

[0133] If the cargo is collected in the first collection mode, after arriving at the collection point, the delivery robot 30 can use the scanning module to detect the cargo at the collection point. After passing the detection, the cargo picking and placing mechanism is used to grab the cargo from the collection point (smart container collection point or other collection points other than smart container collection points) and place it in a pre-assigned empty storage compartment. The delivery robot 30 can then upload the collected image at the collection point to the server 20 for backup, and after confirming that the cargo has been placed in the storage compartment, report to the server 20 that the cargo collection is completed. The server 20 can send a delivery status notification message to the terminal device 10. After completing the cargo collection, the delivery robot 30 travels to the unloading point according to the multiple path points in the delivery task data packet for cargo delivery. During the driving process, the delivery robot 30 can send its own location information and images collected along the way to the server 20 at a preset frequency. The server 20 can send the location information and the above-mentioned images of the delivery robot 30 to the terminal device 10 so that the user can learn about the delivery status of the cargo through the terminal device 10.

[0134] If the goods are delivered in the first unloading mode, the delivery robot 30 can detect the placement of the goods through the scanning module after arriving at the unloading point. After the detection is passed, the delivery robot 30 uses the goods picking and placing mechanism to take the goods from the storage compartment containing the goods and place them at the unloading point (smart container unloading point or other unloading points other than the smart container unloading point). Then the delivery robot 30 can perform a second scan and identification of the unloading point through the scanning module. After confirming that the goods have been placed at the unloading point, the image at the unloading point is collected and uploaded to the server 20 for backup, and the server 20 is reported that the unloading is completed. Then the server 20 can send a notification message to the recipient's terminal device 10 that the goods have been delivered to the unloading point.

[0135] In another possible embodiment, if goods are collected in the second collection mode or delivered in the second unloading mode, user participation is required. During the collection or unloading process, the delivery robot 30 needs to interact and confirm with the user, and complete the collection or unloading after confirmation.

[0136] In some embodiments, the cargo collection point in the second collection mode includes the mailroom collection point or other collection points other than the mailroom collection point, and the cargo unloading point in the second unloading mode includes the mailroom unloading point or other unloading points other than the mailroom unloading point. As mentioned above, the mailroom collection point is the collection center point, and the delivery robot 30 may need to collect multiple cargoes at the mailroom collection point at one time; the mailroom unloading point is the unloading concentration point, and the delivery robot 30 may need to deliver multiple cargoes to the mailroom unloading point at one time. In other words, the mailroom has high requirements for the efficiency of the delivery robot 30 in the cargo collection and unloading processes. Therefore, the embodiments of the present application are configured as follows for the delivery robot 30: any delivery robot 30 includes multiple storage compartments for accommodating cargo, and any storage compartment includes two openings and two types of shielding members for opening or closing the two openings, respectively, and the two types of shielding members have different speeds for opening or closing the corresponding openings.

[0137] For example, please refer to Figure 6A, which shows two openings of the storage compartment (named first opening 121 and second opening 122 for ease of distinction) and two types of shielding members used to open or close the two openings (named first type shielding member 131 and second type shielding member 132 for ease of distinction). For example, the shielding member that opens or closes the opening faster (i.e., first type shielding member 131) is opened by an electric locking mechanism, as shown in Figure 6B, which shows the first type shielding member 131 and the door lock hook 1310 of the electric locking mechanism; the first shielding member 131 can rotate around the fixed bracket to achieve the action of opening and closing the first opening. It can be understood that since the volume of the storage compartment can change accordingly based on the change in the number and / or position of the detachable partitions, the first opening 121 of a storage compartment corresponds to at least one first-class shielding member 131; for example, the first opening of the small storage compartment corresponds to one first-class shielding member 131, the first opening of the medium storage compartment corresponds to two first-class shielding members 131, and the first opening of the large storage compartment corresponds to three first-class shielding members 131.

[0138] As shown in FIG6C , the shielding member with the slower opening or closing speed (ie, the second shielding member 132 ) of the two types of shielding members is opened by the transmission mechanism 1320 ; please refer to FIG6A , the two openings are located on different sides of the storage compartment.

[0139] Exemplarily, the delivery robot 30 is further configured to, when the pickup point in the second pickup mode is the mailroom pickup point and the user is verified to have specified permissions, drive the one of the two types of shielding members that opens or closes the opening faster (i.e., the first type of shielding member 131) to quickly open the first opening 121, making it easier for the user to place the goods into the storage compartment. Furthermore, when the unloading point in the second unloading mode is the mailroom unloading point and the user is verified to have specified permissions, drive the one of the two types of shielding members that opens or closes the opening faster (i.e., the first type of shielding member 131) to quickly open the first opening 121, making it easier for the user to take the goods out of the storage compartment. This embodiment improves the efficiency of the pickup or unloading process through the first type of shielding member 131 and the first opening 121, enabling the delivery robot 30 to efficiently perform delivery operations.

[0140] For example, after the delivery robot 30 arrives at the delivery point in the mail room, it can display a storage compartment selection page as shown in FIG7A on the display screen of the delivery robot 30 or on the terminal device 10, so that the user can select the corresponding storage compartment on the storage compartment selection page. For example, if the user selects a small storage compartment, the delivery robot 30 can drive the one of the two types of shielding members that opens or closes the opening faster (i.e., the first type of shielding member 131) to open the first opening 121 of the small storage compartment, and output the delivery page as shown in FIG7B, which includes delivery prompt information, continue delivery controls, and start delivery. Delivery control, the delivery prompt information is used to prompt the user to put the goods into the storage compartment and operate the shield to close the opening; after the user completes putting the goods in, if the continue delivery control is triggered, the above steps can be repeated, and the user in the mail room continues to put the goods into the vacant storage compartment reopened by the delivery robot 30; after the user completes putting the goods in, if the start delivery control is triggered, the delivery robot 30 can input and output the prompt information shown in Figure 7C for prompting the user to pay attention to avoid, and then the delivery robot 30 leaves the mail room and starts delivering the goods according to the delivery task data packet.

[0141] It is understandable that one storage compartment can hold one item; or if multiple items have the same recipient, the multiple items can be placed in the same storage compartment. This embodiment does not impose any restrictions on this.

[0142] In some embodiments, referring to FIG6A , any delivery robot 30 further includes a liftable cargo pick-up and placement mechanism 14, which is configured to cooperate with the one of the two types of shielding members that opens or closes at a slower speed (i.e., the second type of shielding member 132). The delivery robot 30 is also configured to control the cargo pick-up and placement mechanism 14 to move to a preset height upon reaching the pickup or unloading point, if the pickup point in the second pickup mode is not the mailroom pickup point, if the unloading point in the second unloading mode is not the mailroom unloading point, or if the user does not have the designated authority, and to drive the one of the two types of shielding members that opens or closes at a slower speed (i.e., the second type of shielding member 132) to cooperate with the cargo pick-up and placement mechanism. In this embodiment, cargo collection and unloading are achieved through the cargo pick-up and placement mechanism, thereby improving interactivity with the user.

[0143] In some embodiments, both the cargo retrieval mechanism 14 and the storage compartment partitions are equipped with conveyor belts. For example, when collecting cargo, the cargo retrieval mechanism 14 moves to a preset height. After the user places the cargo onto the cargo retrieval mechanism 14, the cargo retrieval mechanism 14 cooperates with the second-type shielding member 132 to move the cargo retrieval mechanism 14 to a position flush with the corresponding storage compartment, creating an opening in the compartment. The conveyor belt on the partition can then cooperate with the conveyor belt on the cargo retrieval mechanism 14 to move the cargo from the cargo retrieval mechanism 14 into the compartment. The movement of the cargo retrieval mechanism 14 to the preset height facilitates convenient cargo placement by the user, eliminating the need for the user to bend over to adjust the compartment position. Taking unloading as an example, the cargo picking and placing mechanism 14 cooperates with the second type of shielding member 132 so that the cargo picking and placing mechanism 14 moves to a position flush with the storage compartment corresponding to the cargo and forms an opening of the storage compartment. The cargo picking and placing mechanism 14 and the storage compartment partition are both provided with conveyor belts. The conveyor belt on the partition can cooperate with the conveyor belt on the cargo picking and placing mechanism 14 to move the cargo in the storage compartment to the cargo picking and placing mechanism 14. Furthermore, the cargo picking and placing mechanism 14 can move to a preset height. The movement of the cargo picking and placing mechanism 14 to the preset height is conducive to the user's convenient collection of goods, without the user having to bend over to cooperate with the position of the storage compartment.

[0144] Exemplarily, the shielding member with the slower opening or closing speed (i.e., the second shielding member 132) includes two upper and lower curtains, and the cargo access mechanism is linked to the upper and lower curtains. Referring to Figures 6A and 6C, Figure 6C shows the upper curtain and its transmission mechanism. For example, when the delivery robot 30 needs to remove cargo from the top storage compartment, 1) the cargo access mechanism 14 rises; 2) the upper curtain is simultaneously driven by the transmission mechanism, rising, with the bottom of the upper curtain maintaining a minimum safe distance from the cargo access mechanism 14 (so they do not collide); 3) the lower curtain is hooked by the cargo access mechanism 14 and pulled upward by the cargo access mechanism 14. This prevents the cargo in the lower storage compartment from being exposed due to the rising cargo access mechanism 14, thus providing privacy protection. 4) The cargo retrieval mechanism 14 reaches the top storage compartment, and the cargo retrieval mechanism 14 and the lower curtain stop moving; 5) The upper curtain continues to move upward until the opening of the top storage compartment is fully opened from closed, and then the upper curtain stops moving; 6) The conveyor belt of the top storage compartment rotates in coordination with the conveyor belt on the cargo retrieval mechanism 14, so that the cargo in the top storage compartment moves to the cargo retrieval mechanism 14; 7) The cargo triggers the infrared sensor on the cargo retrieval mechanism 14, and the infrared sensor senses that the cargo is completely on the cargo retrieval mechanism 14; at this time, the cargo is completely placed on the plane of the cargo retrieval mechanism 14; 8) The transmission mechanism of the upper curtain drives the upper curtain to move downward until the opening of the top storage compartment is completely closed; 9) The cargo retrieval mechanism 14 moves to a preset height, waiting for people to come and take away the cargo. At the same time, the upper curtain and the lower curtain move downward in conjunction, always keeping the cargo in the storage compartment invisible, ensuring the delivery safety of the cargo and playing a role in privacy protection.

[0145] It should be noted that if the target unloading mode is the first unloading mode and the unloading point is other than the smart container unloading point, after step 8), the cargo pick-up and placement mechanism 14 can be lowered to the ground, and the conveyor belt on the partition can cooperate with the conveyor belt on the cargo pick-up and placement mechanism 14 to place the cargo on the ground.

[0146] For example, in the second collection mode, the collection point is a point other than the mailroom collection point. Upon arrival at the collection point, the delivery robot 30 may conduct interactive verification with the user. Upon successful verification, the delivery robot 30 controls the cargo pickup and placement mechanism to a preset height to facilitate the user's cargo placement. Prior to controlling the elevating cargo pickup and placement mechanism to reach the preset height, the delivery robot 30 may display a prompt message, as shown in FIG8A , prompting the user to maintain a distance from the delivery robot. The preset height can be set based on actual application scenarios and is not limited in this embodiment. For example, the preset height can be set based on the user's height, such as 0.7 times the user's height. If the user's height cannot be determined, the preset height can be set based on the average adult height. After controlling the elevating cargo pickup and placement mechanism to reach the preset height, the delivery robot 30 may display a delivery page, as shown in FIG8B , which includes a delivery prompt and a confirmation control. The delivery prompt prompts the user to place the cargo on the cargo pickup and placement mechanism. After the user triggers the delivery confirmation control and the delivery robot 30 confirms that the user has placed the goods into the goods pick-up and placement mechanism, the delivery robot 30 can output a prompt message as shown in Figure 8C to remind the user that the goods are being placed into the storage compartment and to keep a distance from the delivery robot, and then place the goods into the storage compartment and fold up the goods pick-up and placement mechanism.

[0147] In one example, the delivery robot 30 may also have a voice interaction module and a printing module, which can automatically print and obtain the relevant delivery bills, and then guide the user to perform operations such as packing the goods and sticking the delivery bills through the voice interaction module, and guide the user to give the delivery bills to the scanning module of the delivery robot 30 for scanning, so that the delivery robot 30 can confirm the goods information.

[0148] For example, in the second unloading mode, the unloading point is other than the mailroom unloading point. After arriving at the pickup point, the delivery robot 30 can interact with the user for verification. After successful verification, the delivery robot 30 takes the target goods from the storage compartment and places them on the goods pick-up and placement mechanism, and then controls the goods pick-up and placement mechanism to move to a preset height to facilitate the user to pick up the goods. Before controlling the liftable goods pick-up and placement mechanism to move to the preset height, the delivery robot 30 can output a prompt message to remind the user to keep a distance from the delivery robot. After controlling the liftable goods pick-up and placement mechanism to move to the preset height, the delivery robot 30 can output a pickup prompt message to remind the user to pick up the goods from the goods pick-up and placement mechanism. After confirming that the user has picked up the goods from the goods pick-up and placement mechanism, the delivery robot 30 can output a prompt message to remind the user to keep a distance from the delivery robot so that the delivery robot 30 can retract the goods pick-up and placement mechanism.

[0149] In one example, referring to FIG6A , the delivery robot 30 includes a display screen 15, and the delivery robot 30 is specifically configured to display pages or information such as those shown in FIG7A , FIG7B , FIG7C , FIG8A , FIG8B , and FIG8C via the display screen 15. In another example, the delivery robot 30 is specifically configured to send the prompt information or the cargo collection information to the terminal device 10 via the server 20, so that pages or information such as those shown in FIG7A , FIG7B , FIG7C , FIG8A , FIG8B , and FIG8C are displayed on the terminal device 10.

[0150] It can be understood that this embodiment does not impose any restrictions on the interactive verification method between the delivery robot 30 and the user, and can be specifically set according to the actual application scenario, such as through face recognition, verification code verification or fingerprint recognition, etc.

[0151] In some embodiments, the delivery robot 30 is also used to execute the delivery task again according to the second unloading mode if the first unloading fails for any delivery task in the second unloading mode, so that the user can receive the goods in the way he expects; if the unloading fails for the same delivery task at least twice in a row in the second unloading mode, considering that the preset unmanned delivery area has a certain degree of safety, in order to improve the delivery efficiency of the delivery robot 30, the delivery task is executed according to the first unloading mode, that is, the goods are placed at the unloading point indicated by the second unloading mode.

[0152] Exemplarily, when the delivery robot 30 performs a delivery task for the first time in the second unloading mode, if the user does not take the goods after arriving at the unloading point for a preset time, it is determined that the delivery task has failed to unload for the first time, and other delivery tasks are performed first. The delivery order of this delivery task is rearranged, and when the delivery task is performed for the second time, it is still performed in accordance with the second unloading mode, so that the user can receive the goods in the way he expects. If the user still does not take the goods after the delivery robot 30 arrives at the unloading point for a preset time, it is determined that the delivery task has failed to unload for two consecutive times. In order to improve delivery efficiency and taking into account that the unmanned delivery area has a certain degree of closure and safety, the delivery robot 30 performs the delivery task in accordance with the first unloading mode, that is, places the goods at the unloading point indicated by the second unloading mode, and then takes photos and uploads them to the server for backup.

[0153] The various technical features in the above embodiments can be arbitrarily combined as long as there is no conflict or contradiction between the combinations of features. Therefore, the arbitrary combination of the various technical features in the above embodiments also falls within the scope of disclosure of this specification.

[0154] In some embodiments, referring to FIG9 , an embodiment of the present application further provides a flowchart of a robot delivery method, the method comprising:

[0155] In step S101 , the terminal device determines delivery demand information, where the delivery demand information includes a target pickup mode selected by a user from a plurality of pickup modes and / or a target unloading mode selected by a user from a plurality of unloading modes.

[0156] In step S102, the server receives the delivery demand information and generates a delivery task data packet according to the delivery demand information.

[0157] Exemplarily, the server may also select a target delivery robot from a plurality of delivery robots according to the delivery demand information, and the target delivery robot may receive the delivery task data packet from the server and perform the delivery task.

[0158] In step S103, if the target collection mode is the first collection mode and the collection point is a smart container collection point, the server returns smart container allocation information to the terminal device, so that the user can temporarily store the goods in the smart container and wait for the delivery robot to automatically collect them.

[0159] In step S104, the delivery robot receives the delivery task data packet and drives to the delivery point according to the location information of the delivery point in the delivery task data packet.

[0160] Exemplarily, the delivery robot autonomously plans a route based on the location information of multiple path points carried in the delivery task data packet to achieve passage in an unmanned delivery area.

[0161] In step S105, after the delivery robot arrives at the cargo collection point, if the target collection mode is the first collection mode and the cargo collection point is other than the smart container cargo collection point, the delivery robot uses the cargo picking and placing mechanism to grab the cargo from the other cargo collection point other than the smart container cargo collection point and put it into the pre-allocated empty storage compartment.

[0162] In step S106, after the delivery robot arrives at the collection point, if the target collection mode is the first collection mode and the collection point is a smart container collection point, the delivery robot sends a container opening or closing request to the server. After the server opens the cabinet indicated by the smart container collection point, the delivery robot grabs the goods from the opened cabinet through the cargo picking and placing mechanism and places them into the pre-allocated empty storage compartment.

[0163] In step S107, after the delivery robot arrives at the pickup point, if the target pickup mode is the second pickup mode and the pickup point is the mailroom pickup point, and after verifying that the user has the specified authority, it drives the two types of shielding members that open or close faster to open the corresponding storage compartment, thereby making it easier for the user to place the goods in the storage compartment.

[0164] In step S108, after the delivery robot arrives at the pickup point, if the target pickup mode is the second pickup mode and the pickup point is a pickup point other than the mailroom, the delivery robot controls the cargo pick-up and placement mechanism to move to a preset height and drives the shielding member with the slower opening or closing speed to cooperate with the cargo pick-up and placement mechanism. This facilitates the user to place the cargo on the cargo pick-up and placement mechanism.

[0165] In step S109, the delivery robot completes the collection of the goods and sends a prompt message indicating that the goods have been successfully collected to the terminal device through the server.

[0166] In step S110, the delivery robot delivers the goods according to the multiple path points from the cargo collection point to the cargo unloading point in the delivery task data packet.

[0167] Exemplarily, when the delivery robot detects that at least one of the multiple waypoints is unreachable during its movement, it processes the waypoint according to the temporary processing strategy corresponding to the unreachable waypoint, wherein the temporary processing strategies corresponding to at least some different categories of waypoints are different.

[0168] In step S111, after the delivery robot reaches the unloading point, if the target unloading mode is the first unloading mode and the unloading point is other than the smart container unloading point, the delivery robot takes the goods out of the storage compartment through the goods picking and placing mechanism and places it at other unloading points except the smart container unloading point.

[0169] In step S112, after the delivery robot reaches the unloading point, if the target unloading mode is the first unloading mode and the unloading point is the smart container unloading point, the delivery robot sends a container opening or closing request to the server. After the server opens the cabinet indicated by the smart container unloading point, the delivery robot takes the goods out of the storage compartment through the goods picking and placing mechanism and places it in the cabinet indicated by the smart container unloading point.

[0170] In step S113, after the delivery robot reaches the unloading point, if the target unloading mode is the second unloading mode and the unloading point is the mailroom unloading point, and after verifying that the user has the specified authority, the faster opening or closing speed of the two types of shielding members is driven to open the storage compartment opening, allowing the user to take the goods out of the storage compartment.

[0171] In step S114, after the delivery robot reaches the unloading point, if the target unloading mode is the second unloading mode and the unloading point is a point other than the mailroom unloading point, the lower speed of the two types of shielding members opening or closing the opening is driven to open the corresponding opening of the storage compartment. After the goods in the storage compartment are placed on the cargo retrieval mechanism, the cargo retrieval mechanism is controlled to move to a preset height so that the user can retrieve the goods from the cargo retrieval mechanism.

[0172] In step S115, after the user confirms receipt of the goods, the delivery robot confirms completion of the delivery task indicated by the delivery task data packet.

[0173] In some embodiments, referring to FIG. 10 , an embodiment of the present application further provides a robot delivery method, which is applied to a server. The method includes:

[0174] In step S201, delivery requirement information input by a user is received, where the delivery requirement information includes a target pickup mode and / or a target unloading mode.

[0175] In step S202, a delivery task data packet is generated according to the delivery demand information, so that the delivery robot receives the delivery task data packet and performs the delivery task according to the delivery task data packet; wherein, the target collection mode is selected from a plurality of collection modes, and the plurality of collection modes include a first collection mode in which the delivery robot collects the goods at the collection point without the user's participation and a second collection mode in which the user participates in the delivery robot collecting the goods at the collection point; the target unloading mode is selected from a plurality of unloading modes, and the plurality of unloading modes include a first unloading mode in which the delivery robot unloads the goods at the unloading point without the user's participation and a second unloading mode in which the user participates in the delivery robot unloading the goods at the unloading point.

[0176] In some embodiments, the method further includes: determining a target delivery robot among the multiple delivery robots based on the delivery demand information, and having the target delivery robot receive the delivery task data packet from the server and execute the delivery task.

[0177] In some embodiments, determining the target delivery robot among the multiple delivery robots based on the delivery demand information includes: determining the delivery priority according to the target collection mode and / or target unloading mode; and determining the target delivery robot among the multiple delivery robots based on the delivery priority.

[0178] In some embodiments, the delivery priority corresponding to the second collection mode is higher than the delivery priority of the first collection mode; the delivery priority of the second unloading mode is higher than the delivery priority of the first unloading mode.

[0179] In some embodiments, the delivery robot includes multiple storage compartments for accommodating goods, and the volume of each storage compartment is adjustable; the delivery requirement information also includes cargo size information. Determining a target delivery robot from the multiple delivery robots based on the delivery requirement information includes: determining a target delivery robot from the multiple delivery robots based on the cargo size information, wherein the target delivery robot has a storage compartment that matches the cargo size information.

[0180] In some embodiments, different storage compartments are separated by detachable partitions, and the volume of any storage compartment can be adjusted according to the removal of the partitions.

[0181] In some embodiments, determining the target delivery robot among the multiple delivery robots based on the delivery demand information includes: determining the target delivery robot among the multiple delivery robots based on the delivery demand information and the status information of each delivery robot among the multiple delivery robots; wherein the delivery demand information includes cargo size information, location information of the pickup point and / or unloading point; the status information of the delivery robot includes the volume of the vacant storage compartment in the delivery robot, the location information of the delivery robot, and the location information of the pickup point and / or unloading point of other delivery tasks that the delivery robot needs to perform.

[0182] In some embodiments, the method further includes: receiving occupancy information of way points from different delivery robots; and coordinating the passage of the two delivery robots when it is determined based on at least two occupancy information that the way points that two delivery robots are about to reach are occupied by each other.

[0183] In some embodiments, the method further includes: receiving location information uploaded in real time by each delivery robot during the execution of a delivery task; and coordinating the passage of the two delivery robots when it is determined, based on the received location information of each delivery robot and a plurality of path points corresponding to each delivery robot, that the path points that two delivery robots are about to arrive at are occupied by each other.

[0184] In some embodiments, the coordinated passage of the two delivery robots includes: determining a passage coordination strategy for the two delivery robots based on the number of delivery robots that the area corresponding to the occupied path point can accommodate, so as to control the passage of the two delivery robots according to the passage coordination strategy.

[0185] In some embodiments, the traffic coordination strategy includes the order in which the two delivery robots drive to the occupied waypoints and / or the waypoints where either of the two delivery robots temporarily stops.

[0186] In some embodiments, the collection point in the first collection mode includes a smart container collection point or other collection points other than the smart container collection point, and the unloading point in the first unloading mode includes a smart container unloading point or other unloading points other than the smart container unloading point.

[0187] In some embodiments, the collection point in the second collection mode includes the mail room collection point or other collection points other than the mail room collection point, and the unloading point in the second unloading mode includes the mail room unloading point or other unloading points other than the mail room unloading point.

[0188] In some embodiments, the method further includes: receiving a prompt message sent by the delivery robot to prompt the user to keep a distance from the delivery robot, and forwarding the prompt message to the terminal device so as to display the prompt message on the terminal device.

[0189] In some embodiments, the delivery demand information includes information input by the user and information automatically matched with the information input by the user.

[0190] Correspondingly, please refer to FIG11 . This embodiment of the present application further provides a robot delivery method, which is applied to a delivery robot. The method includes:

[0191] In step S301, a delivery task data packet is received, where the delivery task packet is generated based on delivery demand information input by a user, where the delivery demand information includes a target pickup mode and / or a target unloading mode.

[0192] In step S302, the delivery task is executed according to the delivery task data packet; wherein the target collection mode is selected from a plurality of collection modes, and the plurality of collection modes include a first collection mode in which the delivery robot collects the goods at the collection point without user participation and a second collection mode in which the user participates in the delivery robot collecting the goods at the collection point; the target unloading mode is selected from a plurality of unloading modes, and the plurality of unloading modes include a first unloading mode in which the delivery robot unloads the goods at the unloading point without user participation and a second unloading mode in which the user participates in the delivery robot unloading the goods at the unloading point.

[0193] In some embodiments, the delivery task data packet includes location information of multiple waypoints, including a pickup point, a drop-off point, and multiple intermediate waypoints between the pickup point and the drop-off point. The method further includes, upon detecting that at least one of the multiple waypoints is unreachable, handling the unreachable waypoint according to a temporary handling policy corresponding to the unreachable waypoint, wherein at least some different types of waypoints have different temporary handling policies.

[0194] In some embodiments, the categories are divided according to the physical scene where the waypoint is located and / or the tasks that need to be performed when reaching the waypoint.

[0195] In some embodiments, different categories of waypoints include at least one of the following: intermediate waypoints of the elevator category, intermediate waypoints of the access control category, intermediate waypoints of the gate category, intermediate waypoints of the parking lot category, cargo collection points of the manned cargo collection category, unloading points of the manned cargo unloading category, and unloading points of the unmanned cargo unloading category.

[0196] In some embodiments, the temporary processing strategies corresponding to different categories of path points include at least one of the following: (1) The temporary processing strategies corresponding to the intermediate path points of the elevator category and the intermediate path points of the access control category include: waiting for the elevator or access control to open in a preset area including the intermediate path point; (2) The temporary processing strategies corresponding to the intermediate path points of the gate category include: waiting for the gate of the gate to open at a spare path point near the gate; (3) The temporary processing strategies corresponding to the intermediate path points of the parking lot category include: passing through the preset passage area including the intermediate path point; if the preset passage area is occupied, waiting in place; (4) The temporary processing strategies corresponding to the cargo collection points of the manned cargo collection category and the unloading points of the manned cargo unloading category include: stopping in a preset area around the cargo collection point or unloading point to reduce the obstruction of normal traffic by the delivery robot; (5) The temporary processing strategies corresponding to the unloading points of the unmanned cargo unloading category include: placing the cargo at a spare unloading point near the unloading point.

[0197] In some embodiments, the method also includes: in the process of executing the delivery task, if it is detected that the path point to be reached is occupied by other delivery robots, the occupancy information of the path point is sent to the server, so that the server can coordinate the passage of the two delivery robots when it is determined based on at least two occupancy information that the path points to be reached by two delivery robots are occupied by each other.

[0198] In some embodiments, the method also includes: in the process of executing the delivery task, reporting its own location information to the server in real time, so that the server can coordinate the passage of the two delivery robots when it determines that the path points that two delivery robots are about to arrive at are occupied by each other based on the received location information of each delivery robot and the multiple path points corresponding to each delivery robot.

[0199] In some embodiments, the collection point in the first collection mode includes a smart container collection point or other collection points other than the smart container collection point, and the unloading point in the first unloading mode includes a smart container unloading point or other unloading points other than the smart container unloading point.

[0200] In some embodiments, the collection point in the second collection mode includes the mail room collection point or other collection points other than the mail room collection point, and the unloading point in the second unloading mode includes the mail room unloading point or other unloading points other than the mail room unloading point.

[0201] In some embodiments, the method is applied to a delivery robot comprising multiple storage compartments for accommodating cargo, each compartment comprising two openings and two types of shielding members for opening or closing the two openings, respectively. The method further comprises: if the pickup point in the second pickup mode is a mailroom pickup point, or the unloading point in the second unloading mode is a mailroom unloading point, and if the user is verified to have specified permissions, actuating the two types of shielding members to open or close the opening faster.

[0202] In some embodiments, the delivery robot further includes a liftable cargo pick-up and placement mechanism configured to cooperate with the one of the two types of shielding members that has the slower opening or closing speed. The method further includes: if the pickup point in the second pickup mode is not the mailroom pickup point, the unloading point in the second unloading mode is not the mailroom unloading point, or the user does not have the designated authority, upon arrival at the pickup point or unloading point, controlling the cargo pick-up and placement mechanism to move to a preset height, and driving the one of the two types of shielding members that has the slower opening or closing speed to cooperate with the cargo pick-up and placement mechanism.

[0203] In some embodiments, the one of the two types of shielding members that opens or closes the opening faster is opened by an electric locking mechanism, and the one of the two types of shielding members that opens or closes the opening slower is opened by a transmission mechanism; and / or, the two openings are located on different sides of the storage compartment.

[0204] In some embodiments, the method further includes: before controlling the liftable cargo picking and placing mechanism to move to a preset height, outputting a prompt message for prompting the user to keep a distance from the delivery robot.

[0205] In some embodiments, the delivery demand information includes information input by the user and information automatically matched with the information input by the user.

[0206] In some embodiments, the method further includes: if the first unloading of any delivery task using the second unloading mode fails, executing the delivery task again according to the second unloading mode; if the unloading of the same delivery task using the second unloading mode fails for at least two consecutive times, executing the delivery task according to the first unloading mode.

[0207] In some embodiments, the method is applied to a delivery robot, which is provided with a camera; the method further includes: when collecting goods in the first collection mode, turning on the camera to record video after arriving at the collection point until the goods are collected; or, when unloading goods in the first unloading mode, turning on the camera to record video after arriving at the unloading point until the goods are unloaded.

[0208] Correspondingly, referring to FIG. 12 , an embodiment of the present application further provides a robot delivery method, which is applied to a terminal device. The method includes:

[0209] In step S401, delivery requirement information input by a user is received, where the delivery requirement information includes a target pickup mode and / or a target unloading mode.

[0210] In step S402, the delivery demand information is sent to the server, so that the server generates a delivery task data packet according to the delivery demand information, so that the delivery robot receives the delivery task data packet and performs the delivery task according to the delivery task data packet; wherein, the target collection mode is selected from a plurality of collection modes, and the plurality of collection modes include a first collection mode in which the delivery robot collects the goods at the collection point without the user's participation and a second collection mode in which the user participates in the delivery robot collecting the goods at the collection point; the target unloading mode is selected from a plurality of unloading modes, and the plurality of unloading modes include a first unloading mode in which the delivery robot unloads the goods at the unloading point without the user's participation and a second unloading mode in which the user participates in the delivery robot unloading the goods at the unloading point.

[0211] In some embodiments, the method further includes: receiving and displaying prompt information forwarded by the delivery robot through a server to prompt the user to keep a distance from the delivery robot.

[0212] In some embodiments, the delivery demand information includes information input by the user and information automatically matched with the information input by the user.

[0213] In some embodiments, the method is applied to a terminal device displaying a chat interface including a goods delivery control. The method further comprises: in response to a user operating the goods delivery control, popping up a delivery request information filling page, and automatically filling in the delivery request information filling page with user information of the chat partner corresponding to the chat interface.

[0214] Correspondingly, referring to FIG13 , an embodiment of the present application further provides a robot delivery method, which is applied to a delivery robot and includes:

[0215] In step S501, a delivery task data packet sent by a server is received, wherein the delivery task data packet includes location information of multiple path points, wherein the multiple path points include a pickup point, an unloading point, and multiple intermediate path points between the pickup point and the unloading point.

[0216] In step S502, during the process of executing the delivery task according to the delivery task data packet, when it is detected that at least one of the multiple path points is unreachable, processing is performed according to the temporary processing strategy corresponding to the unreachable path point, wherein the temporary processing strategies corresponding to at least some different categories of path points are different.

[0217] In this embodiment, when a path point is unreachable, the delivery robot processes it according to the temporary processing strategy corresponding to the unreachable path point, which is beneficial to improving the processing efficiency and success rate of the delivery task and avoiding stagnation or failure of the delivery task.

[0218] In some embodiments, the categories are divided according to the physical scene where the waypoint is located and / or the tasks that need to be performed when reaching the waypoint.

[0219] In some embodiments, different categories of waypoints include at least one of the following: intermediate waypoints of the elevator category, intermediate waypoints of the access control category, intermediate waypoints of the gate category, intermediate waypoints of the parking lot category, cargo collection points of the manned cargo collection category, unloading points of the manned cargo unloading category, and unloading points of the unmanned cargo unloading category.

[0220] In some embodiments, the temporary processing strategies corresponding to different categories of path points include at least one of the following: (1) The temporary processing strategies corresponding to the intermediate path points of the elevator category and the intermediate path points of the access control category include: waiting for the elevator or access control to open in a preset area including the intermediate path point; (2) The temporary processing strategies corresponding to the intermediate path points of the gate category include: waiting for the gate of the gate to open at a spare path point near the gate; (3) The temporary processing strategies corresponding to the intermediate path points of the parking lot category include: passing through the preset passage area including the intermediate path point; if the preset passage area is occupied, waiting in place; (4) The temporary processing strategies corresponding to the cargo collection points of the manned cargo collection category and the unloading points of the manned cargo unloading category include: stopping in a preset area around the cargo collection point or unloading point to reduce the obstruction of normal traffic by the delivery robot; (5) The temporary processing strategies corresponding to the unloading points of the unmanned cargo unloading category include: placing the cargo at a spare unloading point near the unloading point.

[0221] Correspondingly, please refer to Figure 14. An embodiment of the present application also provides a server, including a memory 11 for storing executable instructions; one or more processors 12; wherein, when the one or more processors execute the executable instructions, they are configured individually or collectively to execute any one of the methods mentioned in the embodiment of Figure 10.

[0222] The processor 12 executes the executable instructions included in the memory 11. The processor 12 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0223] The memory 11 stores executable instructions for the robotic delivery method. The memory 11 may include at least one type of storage medium, including flash memory, a hard disk, a multimedia card, a card-type memory (e.g., SD or DX memory), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic storage, a magnetic disk, an optical disk, and the like. Furthermore, the device may cooperate with a network storage device that performs the storage function of the memory via a network connection. The memory 11 may be an internal storage unit of the server 10, such as the hard disk or memory of the server 10. The memory 11 may also be an external storage device of the server 10, such as a plug-in hard disk equipped on the server 10, a smart media card (SMC), a secure digital (SD) card, a flash memory card, and the like. Furthermore, the memory 11 may include both the internal storage unit of the server 10 and an external storage device. The memory 11 is used to store the computer program 55 and other programs and data required by the device. The memory 11 can also be used to temporarily store data that has been output or is to be output.

[0224] The implementation process of the functions and effects of each unit in the above-mentioned device is specifically described in the implementation process of the corresponding steps in the above-mentioned method, and will not be repeated here.

[0225] Accordingly, an embodiment of the present application further provides a delivery robot, comprising:

[0226] a memory for storing executable instructions;

[0227] one or more processors;

[0228] running gear and multiple storage compartments;

[0229] When executing the executable instructions, the one or more processors are individually or collectively configured to execute any one of the methods mentioned in the embodiments of Figures 11 and 13.

[0230] Accordingly, an embodiment of the present application further provides a terminal device, comprising: a memory for storing executable instructions; one or more processors;

[0231] When executing the executable instructions, the one or more processors are individually or collectively configured to execute any one of the methods mentioned in the embodiment of FIG12 .

[0232] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions, such as a memory including instructions, is also provided. The instructions are executable by a processor of a device to perform the above method. For example, the non-transitory computer-readable storage medium may be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, or the like.

[0233] A non-transitory computer-readable storage medium enables the terminal to perform the above method when instructions in the storage medium are executed by a processor of the terminal.

[0234] Accordingly, an embodiment of the present application further provides a computer program product, including a computer program, which is used to implement the above method when executed by a processor.

[0235] Various embodiments described herein can be implemented using a computer-readable medium such as computer software, hardware, or any combination thereof. For hardware implementation, the embodiments described herein can be implemented by using at least one of an application-specific integrated circuit (ASIC), a digital signal processor (DSP), a digital signal processing device (DSPD), a programmable logic device (PLD), a field programmable gate array (FPGA), a processor, a controller, a microcontroller, a microprocessor, an electronic unit designed to perform the functions described herein. For software implementation, embodiments such as processes or functions can be implemented with a separate software module that allows execution of at least one function or operation. Software code can be implemented by a software application (or program) written in any appropriate programming language, and the software code can be stored in a memory and executed by a controller.

[0236] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. The terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those elements, but also other elements that are not explicitly listed, or also includes elements that are inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a..." does not exclude the presence of other identical elements in the process, method, article or device that includes the element.

[0237] The above is a detailed introduction to the methods and devices provided in the embodiments of the present application. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the methods and core ideas of the present application. At the same time, for those skilled in the art, based on the ideas of the present application, there may be changes in the specific implementation methods and application scopes. In summary, the contents of this specification should not be understood as limiting the present application.

Claims

1. A robot delivery system, characterized in that: Including terminal equipment, servers and delivery robots; The terminal device is used to determine delivery demand information, wherein the delivery demand information includes a target pickup mode and / or a target unloading mode input by a user; The server is configured to receive the delivery demand information from the terminal device and generate a delivery task data packet according to the delivery demand information; The delivery robot is configured to receive the delivery task data packet from the server and execute the delivery task according to the delivery task data packet; Among them, the target collection mode is selected from a plurality of collection modes, and the plurality of collection modes include a first collection mode in which the delivery robot collects the goods at the collection point without the participation of the user and a second collection mode in which the delivery robot collects the goods at the collection point with the participation of the user; the target unloading mode is selected from a plurality of unloading modes, and the plurality of unloading modes include a first unloading mode in which the delivery robot unloads the goods at the unloading point without the participation of the user and a second unloading mode in which the delivery robot unloads the goods at the unloading point with the participation of the user.

2. The system according to claim 1, wherein: The robot delivery system includes a plurality of delivery robots; The server is further configured to determine a target delivery robot among the multiple delivery robots based on the delivery demand information, and the target delivery robot receives the delivery task data packet from the server and executes the delivery task.

3. The system according to claim 2, characterized in that In the process of determining the target delivery robot, the server is specifically used to determine the delivery priority according to the target collection mode and / or the target unloading mode; and determine the target delivery robot among the multiple delivery robots according to the delivery priority.

4. The system according to claim 3, characterized in that The delivery priority corresponding to the second collection mode is higher than the delivery priority corresponding to the first collection mode; The delivery priority of the second unloading mode is higher than the delivery priority of the first unloading mode.

5. The system according to claim 2, wherein: The delivery robot includes a plurality of storage compartments for accommodating goods, and the volume of any of the storage compartments is adjustable; the delivery demand information also includes goods size information; In the process of determining the target delivery robot, the server is specifically configured to determine the target delivery robot among the multiple delivery robots according to the cargo size information, and the target delivery robot has a storage compartment that matches the cargo size information.

6. The system according to claim 5, characterized in that Different storage compartments are separated by detachable partitions, and the volume of any storage compartment can be adjusted according to the removal of the partitions.

7. The system according to claim 2, wherein: In the process of determining the target delivery robot, the server is specifically configured to determine the target delivery robot from the plurality of delivery robots based on the delivery demand information and status information of each delivery robot from the plurality of delivery robots; Among them, the delivery demand information includes cargo size information, location information of the pickup point and / or unloading point; the status information of the delivery robot includes the volume of the vacant storage compartments in the delivery robot, the location information of the delivery robot, and the location information of the pickup point and / or unloading point of other delivery tasks that the delivery robot needs to perform.

8. The system according to claim 1, wherein: The delivery task data packet includes location information of multiple path points, wherein the multiple path points include a cargo collection point, a cargo unloading point, and multiple intermediate path points between the cargo collection point and the cargo unloading point; The delivery robot is also used to process the path points according to the temporary processing strategy corresponding to the unreachable path point when it is detected that at least one of the multiple path points is unreachable, wherein the temporary processing strategies corresponding to at least some different categories of path points are different.

9. The system according to claim 8, characterized in that The categories are divided according to the physical scene where the waypoint is located and / or the tasks to be performed when reaching the waypoint.

10. The system according to claim 8 or 9, characterized in that Different categories of waypoints include at least one of the following: intermediate waypoints of the elevator category, intermediate waypoints of the access control category, intermediate waypoints of the gate category, intermediate waypoints of the parking lot category, pick-up points of the manned cargo collection category, unloading points of the manned cargo unloading category, and unloading points of the unmanned cargo unloading category.

11. The system according to claim 1, wherein: The robot delivery system includes a plurality of delivery robots; Any of the delivery robots is further configured to, during the execution of a delivery task, if it detects that a waypoint it is about to reach is occupied by another delivery robot, send occupation information of the waypoint to the server; The server is also used to receive occupancy information of way points from different delivery robots; when it is determined based on at least two occupancy information that the way points that two delivery robots are about to reach are occupied by each other, the passage of the two delivery robots is coordinated.

12. The system according to claim 1, wherein: The robot delivery system includes a plurality of delivery robots; Any of the delivery robots is further configured to report its own location information to the server in real time during the execution of the delivery task; The server is also used to coordinate the passage of the two delivery robots when it is determined, based on the received position information of each delivery robot and the multiple path points corresponding to each delivery robot, that the path points that two delivery robots are about to reach are occupied by each other.

13. The system according to claim 11 or 12, characterized in that In the process of coordinating the passage of the two delivery robots, the server is specifically used to determine the passage coordination strategy of the two delivery robots based on the number of delivery robots that can be accommodated in the area corresponding to the occupied path point, so as to control the passage of the two delivery robots according to the passage coordination strategy.

14. The system according to claim 13, wherein: The traffic coordination strategy includes the order in which the two delivery robots travel to the occupied waypoints and / or the waypoints where any one of the two delivery robots temporarily stops.

15. The system according to any one of claims 1 to 14, characterized in that The cargo collection point in the first collection mode includes a smart container cargo collection point or other cargo collection points other than the smart container cargo collection point, and the unloading point in the first unloading mode includes a smart container unloading point or other unloading points other than the smart container unloading point.

16. The system according to any one of claims 1 to 15, characterized in that The collection points in the second collection mode include the mail room collection point or other collection points other than the mail room collection point, and the unloading points in the second unloading mode include the mail room unloading point or other unloading points other than the mail room unloading point.

17. The system according to claim 16, wherein: The delivery robot includes a plurality of storage compartments for accommodating goods, each storage compartment including two openings and two types of shielding members for opening or closing the two openings respectively; The delivery robot is further used to drive the one of the two types of shielding members to open or close the opening faster when the collection point in the second collection mode is the collection point in the mail room or the unloading point in the second unloading mode is the unloading point in the mail room, and it is verified that the user has the specified authority.

18. The system according to claim 17, wherein: The delivery robot further includes a liftable cargo pick-up and placement mechanism, the cargo pick-up and placement mechanism being adapted to cooperate with the one of the two types of shielding members that has a slower opening or closing speed; The delivery robot is further used to control the cargo picking and placing mechanism to move to a preset height after arriving at the cargo collection point or unloading point, and drive the one of the two types of shielding members with the lower speed of opening or closing the opening to cooperate with the cargo picking and placing mechanism when the cargo collection point in the second collection mode is not the mail room collection point, the unloading point in the second unloading mode is not the mail room unloading point, or the user does not have the specified authority.

19. The system according to claim 17 or 18, characterized in that The one of the two types of shielding members that opens or closes the opening faster is opened by an electric locking mechanism, and the one of the two types of shielding members that opens or closes the opening slower is opened by a transmission mechanism; and / or, the two openings are respectively located on different sides of the storage compartment.

20. The system according to claim 18, wherein The delivery robot is further configured to output a prompt message for prompting the user to keep a distance from the delivery robot before controlling the liftable cargo picking and placing mechanism to move to a preset height.

21. The system according to claim 20, wherein: The delivery robot includes a display screen, and the delivery robot is specifically configured to display the prompting information for prompting the user to keep a distance from the delivery robot through the display screen; or The delivery robot is specifically used to send the prompt information to the terminal device through the server, so that the prompt information for prompting the user to keep a distance from the delivery robot is displayed on the terminal device.

22. The system according to any one of claims 1 to 21, characterized in that The delivery demand information includes information input by the user and information automatically matched with the information input by the user.

23. The system according to claim 22, wherein: The terminal device displays a chat interface, wherein the chat interface includes a cargo delivery control; The terminal device is also used to pop up a delivery requirement information filling page in response to the user's operation on the goods delivery control, and automatically fill in the user information of the chat object corresponding to the chat interface in the delivery requirement information filling page.

24. The system according to any one of claims 1 to 23, characterized in that The delivery robot is also used to perform the delivery task again according to the second unloading mode if the first unloading fails for any delivery task using the second unloading mode; and to perform the delivery task according to the first unloading mode if the unloading fails for the same delivery task using the second unloading mode for at least two consecutive times.

25. The system according to any one of claims 1 to 24, characterized in that The delivery robot is provided with a camera; The delivery robot is further configured to, when collecting goods in the first collection mode, turn on the camera to record video after arriving at the collection point until the goods are collected; or, when unloading goods in the first unloading mode, turn on the camera to record video after arriving at the unloading point until the goods are unloaded.

26. A robot delivery method, characterized in that: The method comprises: Receiving delivery demand information input by a user, wherein the delivery demand information includes a target pickup mode and / or a target unloading mode; generating a delivery task data packet according to the delivery demand information, so that the delivery robot receives the delivery task data packet and performs the delivery task according to the delivery task data packet; Among them, the target collection mode is selected from a plurality of collection modes, and the plurality of collection modes include a first collection mode in which the delivery robot collects the goods at the collection point without the participation of the user and a second collection mode in which the delivery robot collects the goods at the collection point with the participation of the user; the target unloading mode is selected from a plurality of unloading modes, and the plurality of unloading modes include a first unloading mode in which the delivery robot unloads the goods at the unloading point without the participation of the user and a second unloading mode in which the delivery robot unloads the goods at the unloading point with the participation of the user.

27. The method according to claim 26, characterized in that The method is applied to a server, and further comprises: A target delivery robot is determined among a plurality of delivery robots according to the delivery demand information, and the target delivery robot receives the delivery task data packet from the server and executes the delivery task.

28. The method according to claim 27, characterized in that The determining a target delivery robot among the plurality of delivery robots according to the delivery demand information includes: A delivery priority is determined according to the target collection mode and / or target unloading mode; and a target delivery robot is determined among the multiple delivery robots according to the delivery priority.

29. The method according to claim 28, characterized in that The delivery priority corresponding to the second collection mode is higher than the delivery priority corresponding to the first collection mode; The delivery priority of the second unloading mode is higher than the delivery priority of the first unloading mode.

30. The method according to claim 27, wherein The delivery robot includes a plurality of storage compartments for accommodating goods, and the volume of any of the storage compartments is adjustable; the delivery demand information also includes goods size information; The determining a target delivery robot among the plurality of delivery robots according to the delivery demand information includes: A target delivery robot is determined among the plurality of delivery robots according to the cargo size information, wherein the target delivery robot has a storage compartment matching the cargo size information.

31. The method according to claim 30, wherein Different storage compartments are separated by detachable partitions, and the volume of any storage compartment can be adjusted according to the removal of the partitions.

32. The method according to claim 27, wherein The determining a target delivery robot among the plurality of delivery robots according to the delivery demand information includes: determining a target delivery robot among the plurality of delivery robots based on the delivery demand information and status information of each delivery robot among the plurality of delivery robots; Among them, the delivery demand information includes cargo size information, location information of the pickup point and / or unloading point; the status information of the delivery robot includes the volume of the vacant storage compartments in the delivery robot, the location information of the delivery robot, and the location information of the pickup point and / or unloading point of other delivery tasks that the delivery robot needs to perform.

33. The method according to claim 26, wherein The method further comprises: Receive occupancy information of waypoints from different delivery robots; When it is determined based on at least two pieces of occupancy information that the waypoints that two delivery robots are about to reach are occupied by each other, the passage of the two delivery robots is coordinated.

34. The method according to claim 26, wherein The method further comprises: Receive real-time location information uploaded by each delivery robot during the delivery mission; When it is determined based on the received position information of each delivery robot and the multiple path points corresponding to each delivery robot that the path points that two delivery robots are about to reach are occupied by each other, the passage of the two delivery robots is coordinated.

35. The method according to claim 33 or 34, characterized in that The coordinating process of the passage of the two delivery robots includes: A traffic coordination strategy for the two delivery robots is determined based on the number of delivery robots that can be accommodated in the area corresponding to the occupied path point, so as to control the traffic of the two delivery robots according to the traffic coordination strategy.

36. The method according to claim 35, characterized in that The traffic coordination strategy includes the order in which the two delivery robots travel to the occupied waypoints and / or the waypoints where any one of the two delivery robots temporarily stops.

37. The method according to any one of claims 26 to 36, characterized in that The cargo collection point in the first collection mode includes a smart container cargo collection point or other cargo collection points other than the smart container cargo collection point, and the unloading point in the first unloading mode includes a smart container unloading point or other unloading points other than the smart container unloading point.

38. The method according to any one of claims 26 to 37, characterized in that The collection points in the second collection mode include the mail room collection point or other collection points other than the mail room collection point, and the unloading points in the second unloading mode include the mail room unloading point or other unloading points other than the mail room unloading point.

39. The method according to any one of claims 26 to 38, characterized in that The method further comprises: Receive prompt information sent by the delivery robot to prompt the user to keep a distance from the delivery robot, and forward it to the terminal device to display the prompt information on the terminal device.

40. The method according to any one of claims 26 to 39, characterized in that The delivery demand information includes information input by the user and information automatically matched with the information input by the user.

41. A robot delivery method, characterized in that: The method comprises: receiving a delivery task data packet, where the delivery task packet is generated based on delivery requirement information input by a user, where the delivery requirement information includes a target pickup mode and / or a target unloading mode; Execute the delivery task according to the delivery task data packet; Among them, the target collection mode is selected from a plurality of collection modes, and the plurality of collection modes include a first collection mode in which the delivery robot collects the goods at the collection point without the participation of the user and a second collection mode in which the delivery robot collects the goods at the collection point with the participation of the user; the target unloading mode is selected from a plurality of unloading modes, and the plurality of unloading modes include a first unloading mode in which the delivery robot unloads the goods at the unloading point without the participation of the user and a second unloading mode in which the delivery robot unloads the goods at the unloading point with the participation of the user.

42. The method according to claim 41, wherein The delivery task data packet includes location information of multiple path points, wherein the multiple path points include a cargo collection point, a cargo unloading point, and multiple intermediate path points between the cargo collection point and the cargo unloading point; The method further comprises: When it is detected that at least one of the multiple path points is unreachable, processing is performed according to a temporary processing strategy corresponding to the unreachable path point, wherein the temporary processing strategies corresponding to at least some different categories of path points are different.

43. The method according to claim 42, characterized in that The categories are divided according to the physical scene where the waypoint is located and / or the tasks to be performed when reaching the waypoint.

44. The method according to claim 42 or 43, characterized in that Different categories of waypoints include at least one of the following: intermediate waypoints of the elevator category, intermediate waypoints of the access control category, intermediate waypoints of the gate category, intermediate waypoints of the parking lot category, pick-up points of the manned cargo collection category, unloading points of the manned cargo unloading category, and unloading points of the unmanned cargo unloading category.

45. The method according to claim 44, wherein The temporary processing strategies corresponding to different types of waypoints include at least one of the following: The temporary processing strategies corresponding to the intermediate path points of the elevator category and the access control category include: waiting for the elevator or the access control to be opened in the preset area containing the intermediate path point; The temporary processing strategy corresponding to the intermediate path point of the gate type includes: waiting for the gate of the gate to open at an alternative path point close to the gate; The temporary handling strategy corresponding to the intermediate waypoint of the parking lot category includes: passing through the preset passage area including the intermediate waypoint; if the preset passage area is occupied, waiting at the location; The temporary handling strategies corresponding to the cargo collection points of the manned cargo collection category and the unloading points of the manned cargo unloading category include: parking in a preset area around the cargo collection point or unloading point to reduce the obstruction of the delivery robot to normal traffic; The temporary handling strategy corresponding to the unmanned unloading point includes: placing the goods at a spare unloading point near the unloading point.

46. ​​The method according to claim 41, wherein The method further comprises: During the execution of the delivery task, if it is detected that the path point to be reached is occupied by other delivery robots, the occupancy information of the path point is sent to the server, so that the server can coordinate the passage of the two delivery robots when it determines based on at least two occupancy information that the path points to be reached by two delivery robots are occupied by each other.

47. The method according to claim 41, wherein The method further comprises: During the delivery task, the robot reports its own location information to the server in real time, so that the server can coordinate the passage of the two delivery robots based on the received location information of each delivery robot and the multiple path points corresponding to each delivery robot, and determine that the path points that two delivery robots are about to reach are occupied by each other.

48. The method according to any one of claims 41 to 47, characterized in that The cargo collection point in the first collection mode includes a smart container cargo collection point or other cargo collection points other than the smart container cargo collection point, and the unloading point in the first unloading mode includes a smart container unloading point or other unloading points other than the smart container unloading point.

49. The method according to any one of claims 41 to 48, characterized in that The collection points in the second collection mode include the mail room collection point or other collection points other than the mail room collection point, and the unloading points in the second unloading mode include the mail room unloading point or other unloading points other than the mail room unloading point.

50. The method according to claim 49, wherein The method is applied to a delivery robot, wherein the delivery robot includes a plurality of storage compartments for accommodating goods, and each storage compartment includes two openings and two types of shielding members for respectively opening or closing the two openings; The method further comprises: When the collection point in the second collection mode is the mail room collection point or the unloading point in the second unloading mode is the mail room unloading point, and the verified user has the specified authority, the one of the two types of shielding members is driven to open or close the opening faster.

51. The method according to claim 50, characterized in that The delivery robot further comprises a liftable cargo pick-up and placement mechanism, the cargo pick-up and placement mechanism being adapted to cooperate with the one of the two types of shielding members that has a lower speed of opening or / closing the opening; The method further comprises: When the pickup point in the second pickup mode is not the mail room pickup point, the unloading point in the second unloading mode is not the mail room unloading point, or the user does not have the specified authority, after arriving at the pickup point or unloading point, the cargo picking and placing mechanism is controlled to move to a preset height, and the one of the two types of shielding members with the lower speed of opening or closing the opening is driven to cooperate with the cargo picking and placing mechanism.

52. The method according to claim 50 or 51, characterized in that The one of the two types of shielding members that opens or closes the opening faster is opened by an electric locking mechanism, and the one of the two types of shielding members that opens or closes the opening slower is opened by a transmission mechanism; and / or, the two openings are respectively located on different sides of the storage compartment.

53. The method according to claim 51, characterized in that The method further comprises: Before controlling the liftable cargo picking and placing mechanism to move to a preset height, a prompt message is output to remind the user to keep a distance from the delivery robot.

54. The method according to any one of claims 41 to 53, characterized in that The delivery demand information includes information input by the user and information automatically matched with the information input by the user.

55. The method according to any one of claims 41 to 54, characterized in that The method further comprises: If the first unloading of any delivery task using the second unloading mode fails, the delivery task shall be executed again according to the second unloading mode; if the unloading of the same delivery task using the second unloading mode fails for at least two consecutive times, the delivery task shall be executed according to the first unloading mode.

56. The method according to any one of claims 41 to 55, characterized in that The method is applied to a delivery robot, wherein the delivery robot is provided with a camera; the method further comprises: When collecting cargo in the first collection mode, the camera is turned on to record video after arriving at the collection point until the cargo is collected; or, when unloading cargo in the first unloading mode, the camera is turned on to record video after arriving at the unloading point until the cargo is unloaded.

57. A robot delivery method, characterized in that: The method comprises: Receiving delivery demand information input by a user, wherein the delivery demand information includes a target pickup mode and / or a target unloading mode; Sending the delivery demand information to a server, so that the server generates a delivery task data packet according to the delivery demand information, so that the delivery robot receives the delivery task data packet and performs the delivery task according to the delivery task data packet; Among them, the target collection mode is selected from a plurality of collection modes, and the plurality of collection modes include a first collection mode in which the delivery robot collects the goods at the collection point without the participation of the user and a second collection mode in which the delivery robot collects the goods at the collection point with the participation of the user; the target unloading mode is selected from a plurality of unloading modes, and the plurality of unloading modes include a first unloading mode in which the delivery robot unloads the goods at the unloading point without the participation of the user and a second unloading mode in which the delivery robot unloads the goods at the unloading point with the participation of the user.

58. The method according to claim 57, wherein The method further comprises: Receive and display the prompt information forwarded by the delivery robot through the server to remind the user to keep a distance from the delivery robot.

59. The method according to claim 57, wherein The delivery demand information includes information input by the user and information automatically matched with the information input by the user.

60. The method according to claim 59, wherein The method is applied to a terminal device, wherein the terminal device displays a chat interface, and the chat interface includes a goods delivery control; The method further comprises: In response to the user's operation on the goods delivery control, a delivery requirement information filling page pops up, and the user information of the chat object corresponding to the chat interface is automatically filled in the delivery requirement information filling page.

61. A robot delivery method, characterized in that: include: Receive a delivery task data packet sent by a server, the delivery task data packet including location information of multiple path points, the multiple path points including a pickup point, a drop-off point, and multiple intermediate path points between the pickup point and the drop-off point; In the process of executing the delivery task according to the delivery task data packet, when it is detected that at least one of the multiple path points is unreachable, processing is performed according to the temporary processing strategy corresponding to the unreachable path point, wherein the temporary processing strategies corresponding to at least some different categories of path points are different.

62. The method according to claim 61, characterized in that The categories are divided according to the physical scene where the waypoint is located and / or the tasks to be performed when reaching the waypoint.

63. The method according to claim 62, characterized in that Different categories of waypoints include at least one of the following: intermediate waypoints of the elevator category, intermediate waypoints of the access control category, intermediate waypoints of the gate category, intermediate waypoints of the parking lot category, pick-up points of the manned cargo collection category, unloading points of the manned cargo unloading category, and unloading points of the unmanned cargo unloading category.

64. The method according to claim 63, wherein The temporary processing strategies corresponding to different types of waypoints include at least one of the following: The temporary processing strategies corresponding to the intermediate path points of the elevator category and the access control category include: waiting for the elevator or the access control to be opened in the preset area containing the intermediate path point; The temporary processing strategy corresponding to the intermediate path point of the gate type includes: waiting for the gate of the gate to open at an alternative path point close to the gate; The temporary handling strategy corresponding to the intermediate waypoint of the parking lot category includes: passing through the preset passage area including the intermediate waypoint; if the preset passage area is occupied, waiting at the location; The temporary handling strategies corresponding to the cargo collection points of the manned cargo collection category and the unloading points of the manned cargo unloading category include: parking in a preset area around the cargo collection point or unloading point to reduce the obstruction of the delivery robot to normal traffic; The temporary handling strategy corresponding to the unmanned unloading point includes: placing the goods at a spare unloading point near the unloading point.

65. A server, characterized in that include: a memory for storing executable instructions; one or more processors; Wherein, when the one or more processors execute the executable instructions, they are individually or collectively configured to perform the method of any one of claims 26 to 40.

66. A delivery robot, characterized in that: include: a memory for storing executable instructions; one or more processors; running gear and multiple storage compartments; Wherein, when the one or more processors execute the executable instructions, they are individually or collectively configured to perform the method of any one of claims 41 to 56 and 61 to 64.

67. A terminal device, characterized in that: include: a memory for storing executable instructions; one or more processors; Wherein, when the one or more processors execute the executable instructions, they are individually or collectively configured to perform the method of any one of claims 57 to 60.

68. A computer-readable storage medium, characterized in that The computer-readable storage medium stores executable instructions, and when the executable instructions are executed by a processor, the method according to any one of claims 26 to 64 is implemented.

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