Automatic distribution method, device and system of positioning robot

Abstract

The invention provides an automatic distribution method, device and system of a positioning robot. The automatic delivery method of the positioning robot comprises the following steps: receiving consignee information needing to be delivered by the positioning robot; analyzing the real-time position of a consignee of the consignee information, and taking the real-time position as a delivery destination of the positioning robot; determining a moving path of the positioning robot according to the current positioning position of the positioning robot and the real-time position of the consignee; and controlling the positioning robot to move to the delivery destination according to the moving path. By analyzing the real-time position of the consignee in the consignee information, the positioning robot is controlled to move to the real-time position of the consignee, so that automatic delivery can still be performed under the condition that only the consignee is known or the position of the consignee is changed, and the delivery flexibility of the positioning robot is improved.

Description

Technical Field

[0001] The present application relates to the field of robot control technology, and in particular to an automatic delivery method, device and system for a positioning robot. Background Art

[0002] With the rapid development of science and technology, especially the continuous advancement of technologies such as the Internet of Things, big data, and artificial intelligence, intelligent distribution systems have become an important part of modern logistics. Among them, positioning robots have gradually become the main force in the execution of distribution tasks due to their high efficiency, accuracy, and flexibility. However, traditional positioning robot delivery often relies on a pre-set delivery address or a fixed delivery point, which greatly limits the flexibility and immediacy of delivery.

[0003] When delivering in a small fixed area, such as an office park or a production workshop, the location of the consignee is often not fixed. If the positioning robot still delivers according to the pre-set fixed address, it will lead to delivery failure or delay, thus affecting user experience and delivery efficiency. Summary of the invention

[0004] The present application provides an automatic delivery method, device and system for a positioning robot with high flexibility.

[0005] The present application provides an automatic delivery method of a positioning robot, comprising:

[0006] Receive the recipient information that the positioning robot needs to deliver;

[0007] Analyze the real-time location of the consignee of the consignee information as the delivery destination of the positioning robot;

[0008] Determining a moving path of the positioning robot according to the current positioning position of the positioning robot and the real-time position of the consignee;

[0009] The positioning robot is controlled to move to the delivery destination according to the moving path.

[0010] Optionally, the consignee information includes the workstation location of the consignee; and the real-time location of the consignee parsed from the consignee information as the delivery destination of the positioning robot includes: determining the workstation location of the consignee as the delivery destination of the positioning robot.

[0011] Optionally, the current positioning position of the positioning robot and the real-time position of the consignee are determined by the following steps respectively:

[0012] Identify the real-time location of the consignee based on a built-in map of the consignee's area;

[0013] updating the real-time location of the consignee in real time as the delivery destination of the positioning robot;

[0014] The current positioning position of the positioning robot is received in real time.

[0015] Optional,

[0016] The consignee information includes the consignee’s work badge;

[0017] The identifying the real-time location of the consignee based on the built-in map of the area where the consignee is located includes:

[0018] The real-time location of the consignee is identified based on the displayed location of the work badge in the built-in map of the consignee's area.

[0019] Optionally, the positioning robot delivers within a set area; the automatic delivery method further comprises:

[0020] Acquire the personnel information in the set area; compare the personnel information with the consignee information, and acquire the real-time location of the consignee in real time according to the comparison result;

[0021] The controlling the positioning robot to move to the delivery destination according to the moving path comprises:

[0022] The positioning robot is controlled to move to the real-time location of the consignee.

[0023] Optionally, the moving path includes a door access control; and the controlling the positioning robot to move to the delivery destination along the moving path includes:

[0024] Controlling the positioning robot to move to the access control according to the moving path;

[0025] Performing a safety check on the positioning robot;

[0026] If the positioning robot passes the safety check, the door is controlled to be opened;

[0027] Controlling the positioning robot to pass through the access control;

[0028] Control the door to close.

[0029] Optionally, the performing safety verification on the positioning robot includes:

[0030] According to the pre-stored verification data of the positioning robot, the positioning robot is respectively subjected to login authority verification, data authority verification, parameter legitimacy verification and / or anti-tampering verification.

[0031] The present application provides a computer-readable storage medium having a program stored thereon. When the program is executed by a processor, the automatic delivery method of the positioning robot as described in any one of the above items is implemented.

[0032] The present application provides an automatic delivery device for a positioning robot, comprising one or more processors, for implementing the automatic delivery method for a positioning robot as described in any one of the above items.

[0033] The present application provides an automatic delivery system for a positioning robot, comprising:

[0034] Positioning robots, including built-in mapping systems, positioning systems and distance measurement systems; and

[0035] The automatic distributing device as described above is electrically connected to the positioning robot.

[0036] In some embodiments, the consignee information to be delivered by the positioning robot is received; the real-time location of the consignee in the consignee information is parsed as the delivery destination of the positioning robot; the moving path of the positioning robot is determined based on the current positioning position of the positioning robot and the real-time location of the consignee; and the positioning robot is controlled to move to the delivery destination along the moving path. In this way, when only the consignee is known or the consignee's location changes, the current destination that needs to be delivered can be determined and automatic delivery can be completed, thereby improving the flexibility of the positioning robot's delivery.

[0037] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0039] Figure 1 Shown is a flow chart of an embodiment of the automatic delivery method of the positioning robot of the present application.

[0040] Figure 2 Shown is a structural block diagram of an embodiment of an automatic delivery device of a positioning robot of the present application.

[0041] Figure 3 Shown is a structural block diagram of an embodiment of the automatic delivery system of the positioning robot of the present application. DETAILED DESCRIPTION

[0042] The present application provides an automatic delivery method, device and system of a positioning robot. The automatic delivery method, device and system of the positioning robot of the present application are described in detail below in conjunction with the accompanying drawings. The features of the following embodiments and implementations can be combined with each other without conflict.

[0043] The automatic delivery method of the positioning robot of the present application is applicable to any device or system in a terminal, an independent server, a server cluster, a cloud, an Internet of Things platform, etc.

[0044] Figure 1 FIG. 1 is a flow chart of an embodiment of the automatic delivery method 10 of the positioning robot of the present application. Figure 1 As shown, the automatic delivery method 10 of the positioning robot includes: steps 11 to 14.

[0045] Step 11, receiving the recipient information that the positioning robot needs to deliver.

[0046] The consignee information includes the specific information of the consignee to be delivered. The consignee information may include the consignee's name, contact information (such as telephone number or email address), and workstation location. The consignee information can be received electronically, such as through an online platform, mobile application, etc. The consignee information includes dynamic delivery information, such as a temporary delivery point or delivery time period specified by the consignee. The consignee information can be sent by the consignor or by the consignee himself.

[0047] Step 12, parsing the consignee's information to obtain the consignee's real-time location as the delivery destination of the positioning robot.

[0048] After obtaining the consignee information, the consignee information needs to be further parsed to determine the delivery destination. From the consignee information, the real-time location of the consignee is parsed as the delivery destination. In some embodiments, when the consignee needs to receive the items delivered by the positioning robot, the consignee will report his or her location in real time. For example, the consignee turns on the location report through a mobile terminal or a mobile phone app, and obtains the consignee's real-time location by means of GPS positioning, mobile phone base station positioning, Wi-Fi positioning, etc. In other embodiments, after the consignee is determined, a request is sent in real time to obtain the consignee's location. For example, a request message is sent to the consignee through an online platform or a mobile phone app, requesting the consignee's current location. When the consignee's location changes, the delivery destination of the positioning robot is updated in real time based on the changed consignee's location.

[0049] Step 13, determining the moving path of the positioning robot according to the current positioning position of the positioning robot and the real-time position of the consignee.

[0050] After the delivery destination is determined, the moving path from the current location of the positioning robot to the delivery destination needs to be calculated. For example, the moving path is obtained through a path planning algorithm. In addition, factors such as the robot's battery life and load capacity can also be considered to further optimize the path planning. When the real-time location of the consignee changes, the moving path of the positioning robot is dynamically determined based on the real-time changed location.

[0051] In some embodiments, step 13 includes: if it is determined that the positioning robot has the authorization authority to deliver to the delivery destination, then determine the moving path of the positioning robot between the current positioning position of the positioning robot and the real-time position of the consignee. After determining the delivery destination, check whether the positioning robot has the delivery authority for the delivery destination. If it has the authority, determine the moving path. If it does not have the authority, do not deliver or replace the positioning robot for delivery. In this way, the safety of delivery can be improved, and the delivery efficiency can also be improved, avoiding the delivery robot from being unable to pass through certain sections during the movement due to lack of authority, resulting in delivery failure. In some embodiments, if the positioning robot does not have the authorization authority, the delivery destination may not be sent to the positioning robot. If the positioning robot can receive the delivery destination, it means that the positioning robot has the authorization authority for the delivery destination.

[0052] In some embodiments, step 13 includes: determining the round-trip movement path of the positioning robot based on the current positioning position of the positioning robot and the real-time position of the consignee. Determine the movement path of the positioning robot from the current position to the real-time position of the consignee, and the movement path from the real-time position of the consignee to the return position of the positioning robot. The return position of the positioning robot can be the current position of the positioning robot, or it can be a pre-set storage position of the positioning robot. In this way, after completing the delivery, the positioning robot can return to the designated position for the next delivery or charging maintenance.

[0053] Step 14, controlling the positioning robot to move to the delivery destination according to the moving path.

[0054] Control the positioning robot to move along the planned moving path. The positioning robot includes an autonomous navigation system and a drive mechanism. Through the autonomous navigation system, the positioning robot can perceive the surrounding environment in real time and adjust the robot's motion state according to the perception results to ensure that it can move accurately and stably along the predetermined path. The drive mechanism is responsible for providing the necessary power so that the robot can overcome various obstacles and successfully reach the delivery destination.

[0055] In some embodiments, the consignee information to be delivered by the positioning robot is received; the real-time location of the consignee in the consignee information is parsed as the delivery destination of the positioning robot; the moving path of the positioning robot is determined based on the current positioning position of the positioning robot and the real-time location of the consignee; and the positioning robot is controlled to move to the delivery destination along the moving path. In this way, when only the consignee is known or the consignee's location changes, the current destination that needs to be delivered can be determined and automatic delivery can be completed, thereby improving the flexibility of the positioning robot's delivery.

[0056] In some embodiments, the consignee information includes the consignee's workstation location. Step 12 includes: determining the consignee's workstation location as the delivery destination of the positioning robot.

[0057] When delivering in an office area, the consignee is usually an employee. Each consignee has his or her own workstation. The consignee's workstation is determined as the delivery destination, and the items are delivered directly to the consignee's workstation. In some embodiments, the workstation location of each consignee is pre-stored. When parsing the consignee information, the workstation location corresponding to the consignee is searched based on the consignee. When the consignee's workstation location changes, the stored relationship between the consignee and the workstation location is updated in real time. In this way, the delivery destination can be determined quickly and conveniently.

[0058] In some embodiments, in step 13, the current positioning position of the positioning robot and the real-time position of the consignee are determined by the following steps respectively: identifying the real-time position of the consignee based on the built-in map of the consignee's area; updating the real-time position of the consignee in real time as the delivery destination of the positioning robot; and receiving the current positioning position of the positioning robot in real time.

[0059] A built-in map of the area where the consignee is located (such as an office, factory, warehouse, etc.) is pre-established and stored. The built-in map may include important features of the area where the consignee is located, such as location information of corridors, rooms, workstations, shelves, etc.

[0060] The consignee can be equipped with a mobile terminal (such as a smart phone, work badge, etc.). According to the location of the mobile terminal, the consignee's real-time location can be obtained through Wi-Fi positioning, Bluetooth positioning, etc.

[0061] In some embodiments, the consignee information includes the consignee's work badge; identifying the consignee's real-time location based on a built-in map of the consignee's area includes: identifying the consignee's real-time location based on the display position of the work badge in the built-in map of the consignee's area.

[0062] The badge includes a positioning chip. When the consignee carries the badge, the location of the consignee in the built-in map can be determined by reading the positioning information on the badge. In this way, the consignee's movement can be tracked in real time, providing the delivery robot with an accurate delivery destination.

[0063] The display position of the badge refers to the position of the badge in the built-in map calculated based on the positioning information on the badge. By combining the built-in map and the badge's positioning information, the consignee's position in the area can be accurately identified in real time.

[0064] Using the consignee's work badge and built-in map to identify their real-time location not only improves the accuracy and efficiency of delivery, but also enhances the user experience, making it more convenient for the consignee to receive the goods. It can achieve precise delivery and ensure that the delivery robot can accurately find the consignee.

[0065] Since the consignee may move within the area, its location information needs to be constantly updated to ensure the accuracy and timeliness of delivery. After determining the consignee's real-time location, the location information is sent to the positioning robot as the robot's delivery destination. In this way, the optimal path can be planned based on the consignee's latest location information, so that the positioning robot can go to the consignee's current location and complete the delivery.

[0066] During the delivery process, the current location information sent by the positioning robot is continuously received. This can be achieved through the robot's internal positioning system (such as GPS, inertial navigation system, visual positioning system, etc.). The received robot's current location information can be used to monitor the robot's delivery progress and to fine-tune or re-plan the robot's route when necessary. In addition, the robot's current location information can also be used for scheduling and optimization of the entire delivery system to improve delivery efficiency and service quality.

[0067] In some embodiments, the positioning robot delivers within a set area; the automatic delivery method 10 also includes: obtaining personnel information within the set area; comparing the personnel information with the consignee information, and obtaining the consignee's real-time location in real time based on the comparison result; step 14 includes: controlling the positioning robot to move to the consignee's real-time location.

[0068] When setting regional delivery, in order to achieve accurate delivery, first obtain the information of all personnel in the set area, including but not limited to the personnel's name, position, department, daily activity area, current location, etc. This can be obtained in a variety of ways, such as through the company's employee management system, access control system, or through the positioning and identity recognition functions of mobile devices (such as mobile phones). As personnel move, their information also changes in real time.

[0069] Compare the personnel information with the consignee information of the items to be delivered. Find the personnel information that matches the consignee information, and determine the consignee's current real-time location within the set area.

[0070] If a person record matching the consignee is found, the information in the record can be used to obtain the consignee's current location. For example, the consignee can be found in the personnel information based on the consignee's name, and the consignee can be compared with the facial information in the area to find the consignee's current real-time location. When the consignee is at the workstation, the consignee's location can be identified through the real-time image captured by the camera in the office area. When the consignee is in the conference room, the consignee's current location can be found by comparing the information of the participants in the conference room with the consignee's information.

[0071] According to the real-time location information of the consignee, the positioning robot is controlled to adjust its route and go directly to the current location of the consignee. In this way, accurate and automatic delivery of the positioning robot can be achieved within the set area. This method not only improves the delivery efficiency, but also greatly improves the user experience. It can avoid the inaccuracy of the consignee's location information in the built-in map. By collecting the consignee's location information in real time, the consignee's real-time location can be determined more accurately, improving the accuracy of delivery.

[0072] In some embodiments, the moving path includes a door access control; step 14 includes: controlling the positioning robot to move to the door access control along the moving path; performing a safety check on the positioning robot; if the positioning robot passes the safety check, controlling the door access control to open; controlling the positioning robot to pass through the door access control; and controlling the door access control to close.

[0073] During the delivery process, the positioning robot needs to follow a preset moving path to the recipient's location. The moving path may pass through multiple areas, some of which may be protected by access control systems to ensure security or control access rights.

[0074] When the positioning robot approaches the access control system, it needs to move accurately to the entrance of the access control according to the preset movement path and navigation information. After the robot reaches the access control, the positioning robot is subjected to a security check. This can include verifying the robot's identity, checking whether it has the right to pass through the access control, and confirming whether it is carrying items that need to be delivered. The purpose of the security check is to ensure that only robots that are authorized and in normal condition can pass through the access control, thereby maintaining the safety and order of the area.

[0075] If the positioning robot successfully passes the security check, the access control system is controlled to open. Send an opening signal to the access control system, or unlock the access control through methods such as remote control. The way to open the access control depends on the specific type and configuration of the access control system.

[0076] After the access control is opened, the positioning robot can pass through the access control safely. In the process of passing through the access control, the positioning robot can maintain a low speed and control to ensure that it can smoothly pass through the access control area while avoiding collisions with the access control system or other obstacles.

[0077] After the positioning robot completely passes through the access control, the access control system is controlled to close. The timely closing of the access control helps maintain the security and privacy of the area and prevent unauthorized access.

[0078] In this way, the positioning robot can pass through the access control on its own. In areas including the access control, the positioning robot can complete automatic delivery and improve the safety of delivery.

[0079] In some embodiments, the security verification of the positioning robot includes: performing login authority verification, data authority verification, parameter legitimacy verification and / or anti-tampering verification on the positioning robot according to pre-stored verification data of the positioning robot.

[0080] The purpose of login permission verification is to verify whether the positioning robot has the permission to pass through the door. The positioning robot includes a unique identity (such as an ID or serial number) and the login credentials associated with it (such as a password, key or digital certificate). When performing login permission verification, check whether the positioning robot's identity and login credentials match the preset permission list to determine whether it has the right to pass through the current door.

[0081] Data permission verification involves verifying the access rights to the data carried or processed by the positioning robot. It will check whether it has the corresponding data access rights to prevent data leakage or abuse.

[0082] Parameter validity verification is intended to ensure that the parameters used by the positioning robot when performing tasks (such as speed, acceleration, path planning parameters, etc.) meet the preset safety standards and specifications.

[0083] Since the positioning robot may be subject to various external interference or attacks during the execution of tasks, tamper-proof verification is required. Tamper-proof verification involves the integrity verification of the robot's software, hardware or data to ensure that it has not been modified or tampered with without authorization. This can be achieved by using technologies such as digital signatures, hash functions or blockchain.

[0084] Through the above verification methods, the positioning robot can operate safely and reliably in various application scenarios.

[0085] Figure 2 Shown is a structural block diagram of an embodiment of an automatic delivery device of a positioning robot of the present application.

[0086] like Figure 2As shown, the automatic delivery device of the positioning robot includes one or more processors 21 for implementing the automatic delivery method 10 of the positioning robot as described above.

[0087] In some embodiments, the automatic delivery device of the positioning robot may include a computer-readable storage medium 22, which may store a program that can be called by the processor 21 and may include a non-volatile storage medium. In some embodiments, the automatic delivery device of the positioning robot may include a memory 23 and an interface 24. In some embodiments, the automatic delivery device of the positioning robot may also include other hardware according to actual applications.

[0088] The computer-readable storage medium 22 of the embodiment of the present application stores a program thereon, which, when executed by the processor 21, is used to implement the automatic delivery method 10 of the positioning robot as described above.

[0089] The present application may take the form of a computer program product implemented on one or more computer-readable storage media 22 (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing program code. The computer-readable storage medium 22 includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. The information can be a computer-readable instruction, a data structure, a module of a program, or other data. Examples of computer-readable storage media 22 include but are not limited to: phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassette, tape disk storage or other magnetic storage device or any other non-transmission medium that can be used to store information that can be accessed by a computing device.

[0090] Figure 3 Shown is a structural block diagram of an embodiment of an automatic distribution system 30 for positioning robots of the present application.

[0091] The automatic delivery system 30 of the positioning robot comprises: a positioning robot 31 and an automatic delivery device 32 provided in the present application. The automatic delivery device 32 is electrically connected to the positioning robot 31. The automatic delivery device 32 is used to control the positioning robot 31 to execute the automatic delivery method 10 of the positioning robot of the present application.

[0092] The positioning robot 31 includes a built-in map system, a positioning system and a distance measurement system. The built-in map system is a map system of the distribution area, including information such as movable areas, workstations, and access control locations of the distribution area. The positioning system is used to send the current location of the positioning robot 31. The positioning system includes a GPS positioning system. The distance measurement system is used for the positioning robot 31 to measure the distance to other objects to prevent the positioning robot 31 from colliding with other objects. The distance measurement system includes a laser radar.

[0093] The automatic distribution system 30 also includes a door control system 33, a gateway 34 and a controller 35. The controller 35 is electrically connected to the door control system 33, and is used to directly control the door control system 33 to be opened or closed. The automatic distribution device 32 is electrically connected to the controller 35 through the gateway 34, and is used to send control information of the door opening or closing to the controller 35 through the gateway 34. In this way, the coupling between the automatic distribution device 32 and the door control system 33 can be improved, making the configuration more flexible and the availability high.

Claims

1. An automatic delivery method for a positioning robot, characterized in that: include: Receive the recipient information that the positioning robot needs to deliver; Parsing the real-time location of the consignee of the consignee information as the delivery destination of the positioning robot; Determining a moving path of the positioning robot according to the current positioning position of the positioning robot and the real-time position of the consignee; The positioning robot is controlled to move to the delivery destination according to the moving path.

2. The automatic delivery method of the positioning robot according to claim 1, characterized in that: The consignee information includes the workstation location of the consignee; and the real-time location of the consignee parsed from the consignee information is used as the delivery destination of the positioning robot, including: determining the workstation location of the consignee as the delivery destination of the positioning robot.

3. The automatic delivery method of the positioning robot according to claim 1, characterized in that: The current positioning position of the positioning robot and the real-time position of the consignee are determined by the following steps respectively: Identify the real-time location of the consignee based on a built-in map of the consignee's area; updating the real-time location of the consignee in real time as the delivery destination of the positioning robot; The current positioning position of the positioning robot is received in real time.

4. The automatic delivery method of the positioning robot according to claim 3, characterized in that: The consignee information includes the consignee’s work badge; The identifying the real-time location of the consignee based on the built-in map of the area where the consignee is located includes: The real-time location of the consignee is identified based on the displayed location of the work badge in the built-in map of the consignee's area.

5. The automatic delivery method of the positioning robot according to claim 4, characterized in that: The positioning robot delivers within a set area; the automatic delivery method further comprises: Acquire the personnel information in the set area; compare the personnel information with the consignee information, and acquire the real-time location of the consignee in real time according to the comparison result; The controlling the positioning robot to move to the delivery destination according to the moving path comprises: The positioning robot is controlled to move to the real-time location of the consignee.

6. The automatic delivery method of the positioning robot according to claim 1, characterized in that: The moving path includes a door access control; the controlling the positioning robot to move to the delivery destination according to the moving path includes: Controlling the positioning robot to move to the access control according to the moving path; Performing a safety check on the positioning robot; If the positioning robot passes the safety check, the door is controlled to be opened; Controlling the positioning robot to pass through the access control; Control the door to close.

7. The automatic delivery method of the positioning robot according to claim 6, characterized in that: The safety verification of the positioning robot includes: According to the pre-stored verification data of the positioning robot, the positioning robot is respectively subjected to login authority verification, data authority verification, parameter legitimacy verification and / or anti-tampering verification.

8. A computer-readable storage medium, characterized in that: A program is stored thereon, and when the program is executed by a processor, the automatic delivery method of the positioning robot described in any one of claims 1-7 is implemented.

9. An automatic delivery device for a positioning robot, characterized in that: It comprises one or more processors for implementing the automatic delivery method of the positioning robot according to any one of claims 1-7.

10. An automatic distribution system for a positioning robot, characterized in that: include: Positioning robots, including built-in mapping systems, positioning systems, and distance measurement systems; and The automatic dispensing device as described in claim 9 is electrically connected to the positioning robot.

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