A robot delivery / collection method and logistics system for staircase houses

Abstract

The present invention discloses a method for robot delivery / collection of goods in staircase houses, in which a dispatch center generates delivery goods information and collection goods information and allocates a climbing robot, which walks to the door of a target user according to the walking route information generated by the dispatch center, and delivers or collects goods by setting a certain number of calls and waiting time. After the user completes picking up the goods or the goods are placed at the user's door, the climbing robot generates an empty state information and sends it to the dispatch center, or after obtaining the goods, the climbing robot returns to the goods collection station according to the walking route information generated by the dispatch center. The present invention also discloses a robot delivery / collection goods logistics system for staircase houses, including a dispatch center and a climbing robot. The present invention realizes the automation of unmanned delivery and collection of goods, and is particularly suitable for staircase houses without elevators.

Description

Technical Field

[0001] The invention relates to a method for distributing / collecting goods and a logistics system, belonging to the technical field of logistics and transportation. Background Art

[0002] The existing delivery and collection of goods to users is mainly based on manual delivery and collection, which is inefficient and labor-intensive when dealing with users in staircase buildings without elevators (such as old residential buildings, student dormitories, and some small office buildings, etc.). Especially for some large goods, the handling process is time-consuming and labor-intensive. In addition, manual delivery and collection are prone to safety hazards and even lead to delays or errors in delivery and collection. Summary of the invention

[0003] In view of the defects of the above-mentioned prior art, the present invention provides a robot delivery / collection method for staircase houses, and a robot delivery / collection logistics system for staircase houses, aiming to improve delivery / collection efficiency, reduce labor intensity, ensure delivery / collection safety and improve user experience.

[0004] The technical solution of the present invention is as follows:

[0005] A method for robot delivery of goods in a staircase house, comprising:

[0006] The dispatch center generates delivery cargo information and assigns the climbing robot to load the cargo to be delivered at the cargo delivery station;

[0007] The dispatch center generates walking route information and target delivery information and sends them to the stair-climbing robot;

[0008] The stair-climbing robot walks to the door of the target user according to the walking route information;

[0009] The climbing robot calls the target user according to the target delivery information to inform the user to pick up the goods, and sets a certain number of calls and waiting time. If the target user does not pick up the goods within the specified time, the climbing robot will place the goods at the user's door;

[0010] After the user completes picking up the goods or places the goods at the user's door, the climbing robot will become unloaded and send the information to the dispatch center.

[0011] Furthermore, after the user completes picking up the goods or places the goods at the user's door, the climbing robot walks to the target user's door for the next item of goods according to the loaded goods to be delivered and the walking route information and target delivery information generated by the dispatch center for delivery.

[0012] Furthermore, the stair-climbing robot returns to the distribution station after generating the empty-load state information.

[0013] Furthermore, the stair-climbing robot executes an avoidance and parking strategy when encountering an obstacle on the way to the door of the target user.

[0014] Furthermore, when the climbing robot encounters a building access control system on the way to the door of the target user, it uses sensing to open the access control system.

[0015] Another technical solution of the present invention is as follows:

[0016] A method for receiving and sending goods by a robot for a staircase house, comprising:

[0017] The dispatch center generates cargo collection and delivery information and allocates stair-climbing robots;

[0018] The dispatch center generates walking route information and target delivery information and sends them to the stair-climbing robot;

[0019] The stair-climbing robot walks to the door of the target user according to the walking route information;

[0020] The climbing robot calls the target user according to the target delivery information, notifies the user to send the goods, and sets a certain number of calls and waiting time;

[0021] The stair-climbing robot waits for the user to deliver the goods into the cargo unit;

[0022] After the climbing robot obtains the goods, the dispatch center generates the walking route information of the target climbing robot to reach the goods receiving and sending station according to the address of the climbing robot and the address of the goods receiving and sending station, and sends it to the climbing robot;

[0023] The stair-climbing robot walks to the cargo receiving and sending station according to the walking route information of the cargo receiving and sending station and unloads the cargo.

[0024] Furthermore, after the climbing robot obtains the goods, the printing unit prints a delivery note for the target user.

[0025] Furthermore, when the stair-climbing robot exceeds the prescribed number of calls and waiting time and does not receive any goods, it returns to an idle state and sends idle state information to the dispatch center.

[0026] Another technical solution of the present invention is as follows:

[0027] A robot cargo distribution logistics system for staircase houses, comprising: a dispatching center and a stair-climbing robot, wherein:

[0028] The dispatch center is used to generate delivery cargo information, allocate stair-climbing robots, generate walking route information and target delivery information and send them to the stair-climbing robots;

[0029] The climbing robot is used to load goods to be delivered at the cargo distribution station; walk to the target user's door according to the walking route information; call the target user according to the target delivery information, notify the user to pick up the goods, and set a certain number of calls and waiting time. If the target user does not pick up the goods within the specified time, the goods will be placed at the user's door; after the user completes the pickup or the goods are placed at the user's door, an empty state information is generated and sent to the dispatch center.

[0030] Another technical solution of the present invention is as follows:

[0031] A robot cargo collection and delivery logistics system for staircase houses, comprising: a dispatching center and a stair-climbing robot, wherein:

[0032] The dispatch center is used to generate cargo collection and delivery information and assign climbing robots; generate walking route information and target collection and delivery information and send them to the climbing robots; based on the address of the climbing robot and the cargo collection and delivery station, generate the walking route information of the target climbing robot to the cargo collection and delivery station and send it to the climbing robot

[0033] The stair-climbing robot is used to walk to the door of the target user according to the walking route information; call the target user according to the target collection and delivery information, notify the user to send the goods, and set a certain number of calls and waiting time; wait for the user to deliver the goods into the cargo unit; after obtaining the goods, walk to the cargo collection and delivery station according to the walking route information of arriving at the cargo collection and delivery station and unload the goods.

[0034] Compared with the prior art, the advantages of the technical solution provided by the present invention are:

[0035] The present invention solves the problems of low efficiency, poor safety, and lack of path planning in traditional delivery / collection methods in staircase housing environments. Through the cooperation of stair-climbing robots and intelligent dispatching centers, the robot's stair-climbing ability, intelligent dispatching system, and human-computer interaction functions are combined to achieve the automation of unmanned delivery and collection of goods, which is particularly suitable for staircase housing environments without elevators. The present invention can achieve more efficient, safe, and accurate automated delivery / collection, which not only reduces the intensity of manual labor, but also improves user experience and the overall efficiency of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 A flowchart of a method for robotic delivery of goods in a room with stairs performed by a stair climbing robot.

[0037] Figure 2 A flow chart of a method for collecting and delivering goods in a staircase room performed by a stair climbing robot.

[0038] Figure 3 Schematic diagram of the flow of the method for robot delivery of goods in staircase rooms implemented for the dispatch center.

[0039] Figure 4 A flowchart of a method for collecting and sending goods by a robot in a staircase room implemented by a dispatch center. DETAILED DESCRIPTION

[0040] The present invention is further described below in conjunction with examples. It should be understood that these examples are only used to illustrate the present invention and are not used to limit the scope of the present invention. After reading this description, various equivalent modifications to this description by those skilled in the art fall within the scope defined by the claims attached to this application.

[0041] The robot delivery method for staircase rooms is implemented by the robot delivery logistics system for staircase rooms, and the robot collection and delivery method for staircase rooms is implemented by the robot collection and delivery logistics system for staircase rooms. The robot delivery logistics system for staircase rooms and the robot collection and delivery logistics system for staircase rooms include a stair climbing robot and a dispatching center.

[0042] The users served by the robot delivery method for staircase houses and the robot collection and delivery method for staircase houses can be online shopping consumers, takeout recipients, recipients of goods to be delivered, cohabitants, family members, etc. The destination of the delivery method for staircase houses and the collection and delivery place of the robot collection and delivery method for staircase houses are staircase houses without elevators, which can be residential buildings, office buildings or student dormitories, etc., and can also refer to other staircase houses that need to deliver goods and receive and send goods through stairs.

[0043] The dispatch center is used to control the stair-climbing robot to deliver and collect goods. The dispatch center may include a goods delivery station, a goods collection station, and a control center that communicates and controls the stair-climbing robot, the goods delivery station, and the goods collection station.

[0044] A dispatch center can be set up in a residential area or a school to realize the cargo distribution and cargo collection in the corresponding area. One or several cargo distribution stations and cargo collection stations can be set up in a residential area or a school.

[0045] In the embodiment of the present invention, the cargo delivery station and the cargo receiving and sending station appear in pairs, the cargo delivery station is adjacent to the cargo receiving and sending station, or the cargo delivery station and the cargo receiving and sending station constitute a station in entity. In addition, the cargo delivery station and the cargo receiving and sending station can also be mobile cargo delivery and receiving vehicles.

[0046] The stair climbing robot is used to complete cargo delivery and cargo collection and delivery tasks, which includes at least the following parts.

[0047] Receiving unit: Receives the dispatch task information sent by the dispatch center. When delivering goods, the dispatch task information includes the delivery goods information, the walking route information, and the target delivery information. When receiving and sending goods, the dispatch task information includes the receiving and sending goods information, the walking route information, and the target receiving and sending information. The receiving unit receives the dispatch task information through wireless communication technology and transmits the dispatch task information to the internal control module to start executing the task.

[0048] Cargo unit: Load the goods to be delivered in the distribution station according to the dispatch task information, and unload the goods at the delivery target location. Load the goods to be delivered at the delivery target location according to the dispatch task information, and unload the goods at the cargo delivery station. The cargo unit automatically controls the loading and unloading process to ensure the safe delivery of the goods. The cargo unit includes but is not limited to the box or basket structure with a discharge and ejection mechanism in the prior art.

[0049] Power unit: Provides power to the stair climbing robot to support its walking in a stair environment. The power unit can include only walking support legs or both a crawler drive system and walking support legs. The crawler drive system provides the main traction force, and the support leg system provides additional support on uneven stairs.

[0050] Positioning assistance module: including laser radar (LIDAR), ultrasonic sensor and UWB positioning system, to help the climbing robot accurately locate on stairs and in the environment. Through real-time scanning and measurement, the positioning assistance module optimizes path planning to avoid obstacles during the process of travel, ensuring the smooth progress of the robot.

[0051] Security and interaction module: used for interaction with target users, including display screen, voice module, call unit, access control system, express delivery order printing module and shooting module to ensure the smooth completion of delivery or collection tasks and timely transmission of information.

[0052] Among them, the display screen is used to display task status, floor location, user information and other information in real time, and realize human-computer interface interaction with the target user.

[0053] Calling unit: used to call the user to pick up or send goods when the climbing robot reaches the target floor or the user's door. The calling unit may also include a microphone and a speaker to realize voice interaction between the user and the climbing robot.

[0054] Access control system: used to control the switch of the building entrance access, ensuring that the climbing robot can smoothly enter the target building and deliver or pick up goods. The robot unlocks the door through wireless signals or requests the user or property center to open the building door through voice calls.

[0055] Shooting module: used to shoot the delivery and collection process of goods in real time. The high-definition camera installed on the robot records the entire delivery and collection process in real time and uploads it to the information platform for target users to view. This function can not only increase the transparency of delivery and collection, but also provide effective evidence when disputes occur during the delivery and collection process.

[0056] Identification unit: Automatically identifies relevant information about target buildings, users, and goods through cameras, infrared sensors, and other equipment to ensure accurate delivery of goods. The identification unit assists the control module in adjusting the path planning through sensor feedback information.

[0057] Control module: Coordinates the operation of all modules within the stair climbing robot. The control module also monitors the robot's battery status and optimizes power usage to ensure that the stair climbing robot can operate efficiently.

[0058] The robot delivery method for staircase rooms of the present invention is executed by a target climbing robot. In the embodiment of the present invention, the dispatch center can control multiple climbing robots, among which a certain idle robot is selected to deliver goods. This robot is called the target climbing robot in the embodiment of the present invention. In the embodiment of the present invention, the target climbing robot is only one of the climbing robots that can be controlled by the dispatch center. This method is applicable to all robots that can be controlled by the dispatch center in the embodiment of the present invention. Figure 1 As shown, the robot delivery method for staircase rooms performed by the target stair climbing robot includes:

[0059] Step 101, the target stair-climbing robot receives dispatch task information sent by a dispatch center, where the dispatch task information includes delivery cargo information, walking route information, and target delivery information.

[0060] Step 102: The target stair-climbing robot loads the goods to be delivered in the delivery station according to the delivery goods information. In the embodiment of the present invention, the delivery goods information may include the size of the delivery goods, etc.

[0061] Step 103: The target stair-climbing robot walks to the door of the target user according to the walking route information.

[0062] The walking route information is the walking path of the robot from the delivery station to the user's door. It includes the robot's departure point, the target user's address, and the target climbing robot's avoidance and parking strategy when encountering obstacles on the road.

[0063] In an embodiment of the present invention, the walking route information may include the target building information, and the target building information may include the administrative district, street, community, building number, building entrance access control information, stair step height, number of stairs on each floor, stair turns, floors, house numbers, door information, etc.

[0064] User information is the information that the robot needs to deliver goods to the user on time, and is used to identify different target users. User information may include the user's floor, house number, phone number, etc.

[0065] When the target climbing robot encounters a building access control system, it uses sensing to open the access control system and open the building door.

[0066] In the embodiment of the present invention, the delivery goods information, walking route information and target delivery information are all generated by the dispatch center and sent to the climbing robot. Among them, the generation of walking route information consumes a lot of system resources. The generation of this information by the dispatch center can make it unnecessary to equip the climbing robot with a more complex and more powerful processor, which can reduce the cost, weight and volume of the robot; at the same time, if the number of users and the goods to be delivered are large, more robots are needed, reducing the cost of a single climbing robot, which can save the cost of the entire system.

[0067] Step 104, the target climbing robot calls the target user according to the target delivery information, notifies the user to receive the goods, and sets a certain number of calls and waiting time.

[0068] Step 105: The target stair-climbing robot delivers the goods to the target user or places them at the door of the target user.

[0069] The target user can choose to pick up the goods through the human-machine interface interaction, the target climbing robot opens the cargo unit, the target user takes the goods away, and the target climbing robot closes the cargo unit.

[0070] If the target user does not perform the pickup operation within the specified time, the target climbing robot pushes the goods out through the pushing mechanism of the cargo unit and places it at the user's door.

[0071] Step 106: The target stair-climbing robot completes the delivery task and sends the empty state information to the dispatch center.

[0072] Furthermore, the target climbing robot can deliver the goods according to the walking route information corresponding to the next item in the dispatch task information and the target delivery information according to the above steps, and return to the delivery station after delivering all the goods. The target climbing robot records the entire delivery process and uploads it to the information system for users to view.

[0073] The method for receiving and delivering goods by robots in staircase rooms is executed by the target climbing robot. Similar to the method for delivering goods by robots in staircase rooms, the dispatch center can control multiple climbing robots to execute. Figure 2 As shown, the robot delivery method for staircase room includes:

[0074] Step 201, the target stair-climbing robot receives cargo collection and delivery information, walking route information and target collection and delivery information sent by the dispatch center.

[0075] Step 202: The target stair-climbing robot walks to the door of the target user according to the walking route information.

[0076] The walking route information is the walking path of the climbing robot from the delivery station to the user's door, including the robot's departure point, the target user's address, and the obstacle avoidance and parking strategy encountered on the road.

[0077] In an embodiment of the present invention, the walking route information may include the target building information, and the target building information may include the administrative district, street, community, building number, building entrance access control information, stair step height, number of stairs on each floor, stair turns, floors, house numbers, door information, etc.

[0078] User information is the information that the robot needs to deliver goods to the user on time, and is used to identify different target users. User information may include the user's floor, house number, phone number, etc.

[0079] When the target climbing robot encounters a building access control system, it uses sensing to open the access control system and open the building door.

[0080] Step 203, the target climbing robot calls the target user according to the target delivery information, notifies the user to send the goods, and sets a certain number of calls and waiting time.

[0081] Step 204: the target stair-climbing robot waits for the user to deliver the goods into the cargo unit.

[0082] After the target user selects to send the goods through the human-machine interface, the cargo unit opens. After the target user puts the goods into the cargo unit, the cargo unit closes.

[0083] If the specified number of calls and waiting time are exceeded and the cargo unit of the target climbing robot has not received the cargo, the target climbing robot returns to the idle state and sends the idle state information to the dispatch center to wait for the next dispatch from the dispatch center.

[0084] Step 205: After the target stair-climbing robot obtains the goods, the printing unit prints the express delivery note of the target user.

[0085] Step 206, the target climbing robot walks to the cargo receiving and sending station according to the walking route information. The walking route is the walking path from the location of the climbing robot to the cargo receiving and sending station, including the starting point of the climbing robot, the cargo receiving and sending station information, and the obstacle avoidance and docking strategy encountered on the road.

[0086] Step 207: The target climbing robot arrives at the receiving and sending station and unloads the goods.

[0087] Step 208: The target stair-climbing robot sends idle state information to the dispatch center and waits for the next dispatch from the dispatch center.

[0088] The target robot can also collect and send multiple pieces of cargo and then return to the cargo collection and delivery station.

[0089] The embodiment of the present invention also provides a method for robot delivery of goods in a staircase room executed by a dispatch center, such as Figure 3 As shown, the method includes:

[0090] Step 301: The dispatch center allocates the climbing robot and the corresponding goods to be delivered according to the identification information of the goods to be delivered, the address information of the goods to be delivered and the information of the idle robots, and generates the delivery goods information.

[0091] In step 302, the dispatch center sends the delivery cargo information to the cargo delivery station and the target climbing robot, so that the target climbing robot loads the cargo to be delivered in the cargo delivery station.

[0092] Step 303: The dispatch center generates walking route information and target delivery information of the target climbing robot according to the road condition information, the address information of the goods to be delivered and the goods delivery station information. The walking route information may include a route from the goods delivery station to a target user or a route from the goods delivery station to a target user and then to another target user.

[0093] Step 304: The dispatch center sends the walking route information and the target delivery information to the target stair-climbing robot so that the target stair-climbing robot reaches the door of the target user.

[0094] As well as Figure 4 As shown, a method for receiving and sending goods by a robot in a staircase room executed by a dispatch center is also included, the method comprising:

[0095] Step 401, the dispatch center allocates target climbing robots and goods to be collected and sent according to the information of goods to be collected and sent, the address information of goods to be collected and sent, and the information of idle robots, and generates the information of goods to be collected and sent.

[0096] Step 402, the dispatch center generates the walking route information and target delivery information of the target robot according to the address information of the goods to be delivered and the location of the target stair-climbing robot.

[0097] Step 403, the dispatch center sends the walking route information and the target delivery information to the target stair-climbing robot, so that the target stair-climbing robot walks to the door of the target user according to the walking route information and the target user information.

[0098] Step 404: The dispatch center generates walking route information for the target climbing robot to reach the cargo receiving and sending station based on the address of the climbing robot and the address of the cargo receiving and sending station.

[0099] Step 405, the dispatch center sends the walking route information and the cargo receiving and sending station information to the target stair-climbing robot, so that the target robot walks to the receiving and sending station according to the walking route information and the cargo receiving and sending station information.

Claims

1. A method for robot delivery of goods in staircase rooms, characterized in that: include: The dispatch center generates delivery cargo information and assigns the climbing robot to load the cargo to be delivered at the cargo delivery station; The dispatch center generates walking route information and target delivery information and sends them to the stair-climbing robot; The stair-climbing robot walks to the door of the target user according to the walking route information; The climbing robot calls the target user according to the target delivery information to inform the user to pick up the goods, and sets a certain number of calls and waiting time. If the target user does not pick up the goods within the specified time, the climbing robot will place the goods at the user's door; After the user completes picking up the goods or places the goods at the user's door, the climbing robot will become unloaded and send the information to the dispatch center.

2. The method for robot delivery of goods in staircase rooms according to claim 1, characterized in that: After the user has picked up the goods or placed the goods at the user's door, the climbing robot will walk to the door of the target user for the next item of goods according to the loaded goods to be delivered and the walking route information and target delivery information generated by the dispatch center for delivery.

3. The method for robot delivery of goods in staircase rooms according to claim 1, characterized in that: The stair-climbing robot returns to the delivery station after generating the empty-load state information.

4. The method for robot delivery of goods in staircase rooms according to claim 1, characterized in that: When the stair-climbing robot encounters an obstacle on the way to the target user's door, it executes an avoidance and docking strategy.

5. The method for robot delivery of goods in staircase rooms according to claim 1, characterized in that: When the climbing robot encounters a building access control system on the way to the target user's door, it uses sensing to open the access control system.

6. A method for receiving and sending goods by a robot in a staircase room, characterized in that: include: The dispatch center generates cargo collection and delivery information and allocates stair-climbing robots; The dispatch center generates walking route information and target delivery information and sends them to the stair-climbing robot; The stair-climbing robot walks to the door of the target user according to the walking route information; The climbing robot calls the target user according to the target delivery information, notifies the user to send the goods, and sets a certain number of calls and waiting time; The stair-climbing robot waits for the user to deliver the goods into the cargo unit; After the climbing robot obtains the goods, the dispatch center generates the walking route information of the target climbing robot to reach the goods receiving and sending station according to the address of the climbing robot and the address of the goods receiving and sending station, and sends it to the climbing robot; The stair-climbing robot walks to the cargo receiving and sending station according to the walking route information of the cargo receiving and sending station and unloads the cargo.

7. The method for receiving and sending goods by a robot for a staircase room according to claim 1, characterized in that: After the climbing robot obtains the goods, the printing unit prints the express delivery note for the target user.

8. The method for receiving and sending goods by a robot for a staircase room according to claim 1, characterized in that: When the stair-climbing robot exceeds the prescribed number of calls and waiting time and fails to receive any cargo, it returns to the idle state and sends the idle state information to the dispatch center.

9. A robot cargo distribution logistics system for staircase houses, characterized in that: include: Dispatching center and stair-climbing robot, among which, The dispatch center is used to generate delivery cargo information, allocate stair-climbing robots, generate walking route information and target delivery information and send them to the stair-climbing robots; The climbing robot is used to load goods to be delivered at the cargo distribution station; walk to the target user's door according to the walking route information; call the target user according to the target delivery information, notify the user to pick up the goods, and set a certain number of calls and waiting time. If the target user does not pick up the goods within the specified time, the goods will be placed at the user's door; after the user completes the pickup or the goods are placed at the user's door, an empty state information is generated and sent to the dispatch center.

10. A robot cargo collection and delivery logistics system for staircase houses, characterized in that: include: Dispatching center and stair-climbing robot, among which, The dispatch center is used to generate cargo collection and delivery information and allocate climbing robots; Generate walking route information and target collection and delivery information and send them to the climbing robot; according to the address of the climbing robot and the address of the cargo collection and delivery station, generate the walking route information of the target climbing robot to reach the cargo collection and delivery station and send it to the climbing robot The stair-climbing robot is used to walk to the door of the target user according to the walking route information; call the target user according to the target collection and delivery information, notify the user to send the goods, and set a certain number of calls and waiting time; wait for the user to deliver the goods into the cargo unit; after obtaining the goods, walk to the cargo collection and delivery station according to the walking route information of arriving at the cargo collection and delivery station and unload the goods.

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