Robot delivery control method, delivery robot and storage medium

Abstract

The invention provides a robot delivery control method, a delivery robot and a computer readable storage medium. The method comprises the following steps: when a current shift order list of a delivery robot contains a first order whose delivery address is a target distribution floor, and a second order which is not delivered exists in the target distribution floor, obtaining a path overlap ratio between the second order and the current shift order list; if the path overlap ratio is greater than a preset overlap ratio threshold value, adding the second order to the order list of the shift; updating a list planning delivery path of the order list of the shift based on the delivery address of the second order to obtain an updated delivery path; after the goods taking process of the first order is completed on the target goods allocation floor, the goods delivery robot is controlled to execute the goods allocation process of the second order according to the taking-out grid of the first order; and based on the updated delivery path, controlling the delivery robot to continue to execute the delivery process of the updated order list. According to the method, the no-load rate of the delivery robot can be reduced under the condition that timeliness is considered.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a robot delivery control method, a delivery robot, and a computer-readable storage medium. Background Art

[0002] As robot technology matures and consumers’ demand for automated services increases, robots are being used in more and more scenarios, such as hotels, retail, warehousing and logistics, etc. Order delivery is an important application of robots. At present, it is mainly the delivery personnel who complete the delivery of orders for this shift for the delivery robot. The delivery robot completes the delivery process of all orders in the order list of this shift according to the planned delivery route. After completing the delivery process of the order list of this shift, it will continue the delivery process of the next shift.

[0003] However, during the actual research and development process, the inventors of the present application discovered that since the delivery addresses of different orders may be different, for example, the delivery floors of different orders in the same building may be different, this delivery method may result in a situation where after the order goods are delivered to the distribution floor, a certain slot of the delivery robot is empty and continues to deliver orders, thereby resulting in a waste of delivery resources and low delivery efficiency. Summary of the invention

[0004] The present application provides a robot delivery control method, a delivery robot and a computer-readable storage medium, which can reduce the empty load rate of the delivery robot while taking timeliness into consideration.

[0005] In a first aspect, the present application provides a robot delivery control method, the method comprising:

[0006] When the order list of the delivery robot for this shift includes a first order whose delivery address is the target distribution floor, and there is an undelivered second order on the target distribution floor, the path overlap between the second order and the order list for this shift is obtained;

[0007] If the path overlap is greater than a preset overlap threshold, the second order is added to the order list of the current shift to obtain an updated order list;

[0008] Based on the delivery address of the second order, the list planning delivery path of the order list of the current shift is updated to obtain an updated delivery path;

[0009] After completing the picking process of the first order at the target distribution floor, controlling the delivery robot to execute the picking process of the second order according to the pick-up slot of the first order;

[0010] Based on the updated delivery path, the delivery robot is controlled to continue the delivery process of the updated order list.

[0011] In a second aspect, the present application also provides a delivery robot, comprising a processor and a memory, wherein the memory stores a computer program, and when the processor calls the computer program in the memory, it executes any one of the robot delivery control methods provided in the present application.

[0012] In some embodiments, obtaining the path overlap between the second order and the order list of the current shift includes:

[0013] Based on the delivery address of the second order and the distribution address of the second order, obtaining a first path point set of the order planning delivery path of the second order;

[0014] Based on the delivery address of the first order and the delivery path planned in the list, determine a second set of path points for the remaining delivery paths of the order list of the current shift;

[0015] The path overlap degree is determined based on the first path point set and the second path point set.

[0016] In some embodiments, determining the path overlap degree based on the first set of path points and the second set of path points includes:

[0017] Determining the number of overlapping path points between the planned delivery path for the order and the remaining delivery paths based on the first path point set and the second path point set;

[0018] The ratio of the number of overlapping path points to the number of path points corresponding to the first path point set is obtained as the path overlap degree.

[0019] In some embodiments, determining the number of overlapping path points between the order planned delivery path and the remaining delivery path based on the first path point set and the second path point set includes:

[0020] For each first path point in the first path point set Detect whether there is a second path point in the second path point set that is the same as the first path point

[0021] If there is a path point in the second path point set that is the same as the first path point Same second waypoint Then the first path point Mark as overlapping waypoints;

[0022] The number of overlapping path points of the first path point set is output as the number of overlapping path points between the order planned delivery path and the remaining delivery paths.

[0023] In some embodiments, determining the path overlap based on the first set of path points and the second set of path points includes:

[0024] Determine the number of neighboring path points between the planned delivery path for the order and the remaining delivery paths based on the first path point set and the second path point set;

[0025] The ratio of the number of the neighboring path points to the number of path points corresponding to the first path point set is obtained as the path overlap degree.

[0026] In some embodiments, determining the number of neighboring path points between the order planned delivery path and the remaining delivery paths based on the first path point set and the second path point set includes:

[0027] Detecting a delivery path point set of a delivery floor for the second order from the first path point set;

[0028] Detecting a first matching waypoint of the delivery floor of the second order from the second waypoint set;

[0029] If the first matching path point exists in the second path point set, the path point closest to the delivery path point set is obtained from the first matching path point as the target delivery path point

[0030] For each path point in the delivery path point set If the path point and target delivery waypoints If the distance between them is less than the preset distance threshold, the path point Mark as neighboring waypoints;

[0031] The number of neighboring path points of the first path point set is output as the number of neighboring path points.

[0032] In some embodiments, the updating of the list planning delivery path of the order list of the current shift based on the delivery address of the second order to obtain the updated delivery path includes:

[0033] Get the target delivery path point the shortest path to the delivery address of the second order;

[0034] In the list planning delivery route of the order list of this shift, detect the target delivery route point The previous or subsequent waypoint is used as the first intervention waypoint;

[0035] At the first intervention path point and the target delivery path point The shortest path is added between them to update the delivery path planned in the list to obtain an updated delivery path.

[0036] In some embodiments, determining the number of neighboring path points between the order planned delivery path and the remaining delivery paths based on the first path point set and the second path point set includes:

[0037] Detecting a distribution path point set of a distribution floor for the second order from the first path point set;

[0038] Detecting a second matching path point of the distribution floor of the second order from the second path point set;

[0039] If the second matching path point exists in the second path point set, the path point closest to the distribution path point set is obtained from the second matching path point as the target distribution path point

[0040] For each path point in the distribution path point set If the path point Target distribution path point If the distance between them is less than the preset distance threshold, the path point Mark as neighboring waypoints;

[0041] The number of neighboring path points of the first path point set is output as the number of neighboring path points.

[0042] In a third aspect, the present application also provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program is loaded by a processor to execute the robot delivery control method.

[0043] In the present application, on the one hand, after completing the picking process of the first order at the target distribution floor, the delivery robot is controlled to execute the picking process of the second order according to the taking-out slot of the first order, so that after completing the picking of the first order, the second order can be placed in the slot where the first order was originally placed, thereby reducing the empty load rate of this shift; on the other hand, since the delivery robot's order list for this shift contains the first order whose delivery address is the target distribution floor, and there is an undelivered second order at the target distribution floor, the second order will be added to the order list for this shift only when the path overlap between the second order and the order list for this shift is greater than a preset overlap threshold, thereby avoiding the problem of the updated delivery path becoming complicated due to the addition of the second order, thereby ensuring the timeliness of the order list for this shift; thereby, the empty load rate of the delivery robot can be reduced while taking timeliness into consideration. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0045] Figure 1 is a schematic structural block diagram of a delivery robot provided in an embodiment of the present application;

[0046] Figure 2 It is a flow chart of a robot delivery control method provided in an embodiment of the present application;

[0047] Figure 3 This is a schematic diagram of a flow chart of an embodiment of determining path overlap in an embodiment of the present application;

[0048] Figure 4 is a schematic diagram illustrating overlapping path points provided in an embodiment of the present application;

[0049] Figure 5 is another embodiment flow chart of determining the path overlap in the embodiment of the present application;

[0050] Figure 6 It is a schematic diagram illustrating the neighboring path points provided in the embodiment of the present application. DETAILED DESCRIPTION

[0051] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this application.

[0052] The flowcharts shown in the accompanying drawings are only examples and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may also be decomposed, combined or partially merged, so the actual execution order may change according to actual conditions.

[0053] In the description of the embodiments of the present application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0054] In order to enable any technician in the field to implement and use the application, the following description is given. In the following description, details are listed for the purpose of explanation. It should be understood that those of ordinary skill in the art can recognize that the application can also be implemented without using these specific details. In other examples, the known process will not be elaborated in detail to avoid unnecessary details that make the description of the embodiment of the application obscure. Therefore, the application is not intended to be limited to the embodiments shown, but is consistent with the widest range of principles and features disclosed in accordance with the embodiments of the application.

[0055] Embodiments of the present application provide a robot delivery control method, a delivery robot, and a computer-readable storage medium.

[0056] Some embodiments of the present application are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0057] Figure 1 It is a schematic block diagram of the structure of a delivery robot provided in an embodiment of the present application.

[0058] like Figure 1 As shown, the delivery robot 100 includes a processor 101 and a memory 102, and the processor 101 and the memory 102 are connected via a bus 103, such as a PCIe (Peripheral Component Interconnect Express) bus.

[0059] Specifically, the processor 101 is used to provide computing and control capabilities to support the operation of the entire delivery robot 100. The processor 101 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 gates or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0060] Specifically, the memory 102 may be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a mobile hard disk.

[0061] Those skilled in the art will understand that Figure 1 The structure shown in the figure is merely a block diagram of a partial structure related to the embodiment scheme of the present application, and does not constitute a limitation on the delivery robot to which the embodiment scheme of the present application is applied. The specific delivery robot may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0062] The processor 101 is used to run the computer program stored in the memory 102, and implement any one of the robot delivery control methods provided in the embodiments of the present application when executing the computer program. For example, the processor 101 is used to run the computer program stored in the memory 102, and can implement the following steps when executing the computer program:

[0063] When the order list of the delivery robot for this shift includes a first order whose delivery address is the target distribution floor, and there is an undelivered second order on the target distribution floor, the path overlap between the second order and the order list for this shift is obtained;

[0064] If the path overlap is greater than a preset overlap threshold, the second order is added to the order list of the current shift to obtain an updated order list;

[0065] Based on the delivery address of the second order, the list planning delivery path of the order list of the current shift is updated to obtain an updated delivery path;

[0066] After completing the picking process of the first order at the target distribution floor, controlling the delivery robot to execute the picking process of the second order according to the pick-up slot of the first order;

[0067] Based on the updated delivery path, the delivery robot is controlled to continue the delivery process of the updated order list.

[0068] In some embodiments, the processor 101 is used to run a computer program stored in the memory 102, and when executing the computer program, the following steps may be implemented:

[0069] Based on the delivery address of the second order and the distribution address of the second order, obtaining a first path point set of the order planning delivery path of the second order;

[0070] Based on the delivery address of the first order and the delivery path planned in the list, determine a second set of path points for the remaining delivery paths of the order list of the current shift;

[0071] The path overlap degree is determined based on the first path point set and the second path point set.

[0072] In some embodiments, the processor 101 is used to run a computer program stored in the memory 102, and when executing the computer program, the following steps may be implemented:

[0073] Determining the number of overlapping path points between the planned delivery path for the order and the remaining delivery paths based on the first path point set and the second path point set;

[0074] The ratio of the number of overlapping path points to the number of path points corresponding to the first path point set is obtained as the path overlap degree.

[0075] In some embodiments, the processor 101 is used to run a computer program stored in the memory 102, and when executing the computer program, the following steps may be implemented:

[0076] For each first path point in the first path point set Detect whether there is a second path point in the second path point set that is the same as the first path point

[0077] If there is a path point in the second path point set that is the same as the first path point Same second waypoint Then the first path point Mark as overlapping waypoints;

[0078] The number of overlapping path points of the first path point set is output as the number of overlapping path points between the order planned delivery path and the remaining delivery paths.

[0079] In some embodiments, the processor 101 is used to run a computer program stored in the memory 102, and when executing the computer program, the following steps may be implemented:

[0080] Determine the number of neighboring path points between the planned delivery path for the order and the remaining delivery paths based on the first path point set and the second path point set;

[0081] The ratio of the number of the neighboring path points to the number of path points corresponding to the first path point set is obtained as the path overlap degree.

[0082] In some embodiments, the processor 101 is used to run a computer program stored in the memory 102, and when executing the computer program, the following steps may be implemented:

[0083] Detecting a delivery path point set of a delivery floor for the second order from the first path point set;

[0084] Detecting a first matching waypoint of the delivery floor of the second order from the second waypoint set;

[0085] If the first matching path point exists in the second path point set, the path point closest to the delivery path point set is obtained from the first matching path point as the target delivery path point

[0086] For each path point in the delivery path point set If the path point and target delivery waypoints If the distance between them is less than the preset distance threshold, the path point Mark as neighboring waypoints;

[0087] The number of neighboring path points of the first path point set is output as the number of neighboring path points.

[0088] In some embodiments, the processor 101 is used to run a computer program stored in the memory 102, and when executing the computer program, the following steps may be implemented:

[0089] Get the target delivery path point the shortest path to the delivery address of the second order;

[0090] In the list planning delivery route of the order list of this shift, detect the target delivery route point The previous or subsequent waypoint is used as the first intervention waypoint;

[0091] At the first intervention path point and the target delivery path point The shortest path is added between them to update the delivery path planned in the list to obtain an updated delivery path.

[0092] In some embodiments, the processor 101 is used to run a computer program stored in the memory 102, and when executing the computer program, the following steps may be implemented:

[0093] Detecting a distribution path point set of a distribution floor for the second order from the first path point set;

[0094] Detecting a second matching path point of the distribution floor of the second order from the second path point set;

[0095] If the second matching path point exists in the second path point set, the path point closest to the distribution path point set is obtained from the second matching path point as the target distribution path point

[0096] For each path point in the distribution path point set If the path point Target delivery path point If the distance between them is less than the preset distance threshold, the path point Mark as neighboring waypoints;

[0097] The number of neighboring path points of the first path point set is output as the number of neighboring path points.

[0098] It should be noted that technicians in the relevant field can clearly understand that for the convenience and brevity of description, the specific working process of the delivery robot described above can refer to the corresponding process in the following robot delivery control method embodiment, and will not be repeated here.

[0099] In the following, Figure 1 The delivery robot shown in the figure is used as an example as the execution subject of the robot delivery control method to introduce the robot delivery control method provided in the embodiment of the present application in detail. For the sake of simplicity and ease of description, the execution subject will be omitted in the subsequent method embodiments.

[0100] See also Figure 2 , Figure 2 201 to 205, wherein:

[0101] 201. When the order list of the delivery robot for this shift includes a first order whose delivery address is a target distribution floor, and there is an undelivered second order on the target distribution floor, obtain a path overlap between the second order and the order list for this shift.

[0102] Among them, the order list of this shift refers to the collection of all orders to be delivered during the current shift. The order list of this shift can be automatically planned according to a certain planning strategy, or manually selected by the picker. For example, the picker can scan the QR code labeled on the delivery robot through a picker operation device (such as a mobile phone) to enter the picker page of the delivery robot. The picker can select one or more orders from the orders displayed on the picker page as the orders to be delivered by the delivery robot in the current shift, thereby obtaining the order list of this shift. For another example, the picker can click the "pickup" button on the delivery robot, so that the display page of the delivery robot jumps to the picker page. The picker can select one or more orders from the orders displayed on the picker page as the orders to be delivered by the delivery robot in the current shift, thereby obtaining the order list of this shift.

[0103] The target distribution floor refers to the floor where the distribution point exists. For example, in the hotel distribution scenario, the first floor of the hotel is the distribution point for takeout orders, the second floor is the distribution point for restaurants, and the third floor is the distribution point for daily necessities. The target distribution floor can be the first floor, the second floor, or the third floor.

[0104] The first order refers to the order in the delivery robot's order list for this shift, where the floor corresponding to the delivery address is the target distribution floor. For example, taking the hotel delivery scenario as an example, assuming that the target distribution floors are the 1st floor, 2nd floor, and 3rd floor, the order list for this shift includes orders 1, 2, and 3. The delivery addresses of orders 1, 2, and 3 are 301 on the 3rd floor, 401 on the 4th floor, and 501 on the 5th floor, respectively. Since the floor corresponding to the delivery address of order 1 is the target distribution floor (i.e., the 3rd floor), order 1 can be taken as the first order.

[0105] The second order refers to an order that has been assigned by the distribution point on the target distribution floor but has not been delivered. For example, order 4 is assigned by the daily necessities distribution point on the target distribution floor (such as the 3rd floor), and order 4 has not been delivered when the order list of this shift is delivered. Therefore, order 4 can be regarded as the second order.

[0106] There are many ways to determine the path overlap in step 201, illustratively including:

[0107] (1) Calculate the ratio of the number of overlapping path points to the number of path points corresponding to the first path point set as the path overlap degree. At this time, if Figure 3As shown, the path overlap can be determined by the following steps 2011A to 2014A:

[0108] 2011A. Based on the delivery address of the second order and the distribution address of the second order, obtain a first path point set of the order planning delivery path of the second order.

[0109] The order planning delivery path is a delivery path planned for the delivery address of the second order and the delivery address of the second order. The order planning delivery path can be pre-planned or real-time planned.

[0110] Among them, the first path point set is a set of path points that the order planning delivery path passes through.

[0111] In some embodiments, before step 2011A, it also includes: obtaining a set of planned path points between the distribution location of the target distribution floor and each preset delivery location; associating the set of planned path points with the preset delivery location and the distribution location of the target distribution floor and storing them in a preset database; step 2011A includes: searching from the preset database for a set of planned path points associated with the distribution address of the second order and with the delivery address of the second order address, as the first path point set. In this way, by pre-planning the delivery path between the distribution location of the target distribution floor and the preset delivery location (such as hotel rooms), and setting the path point coordinates of the delivery path between the distribution location of the target distribution floor and the preset delivery location (such as hotel rooms), the set of planned path points between the distribution location of the target distribution floor and the preset delivery location (such as hotel rooms) is associated with the preset delivery location and the distribution location of the target distribution floor and stored in a preset database. In this way, the first path point set can be quickly determined, so that the order-planned delivery path and the list-planned delivery path can be quickly compared, thereby improving the comparison efficiency of path overlap, avoiding spending a lot of time comparing path overlaps, which results in the delivery robot continuing the delivery process of the order list of this shift, thereby avoiding the problem that the second order cannot be delivered normally and cannot be successfully delivered in this shift.

[0112] 2012A. Based on the delivery address of the first order and the delivery route planned in the list, a second set of path points for the remaining delivery routes of the order list of this shift is determined.

[0113] The second path point set is a set of path points passed by the remaining delivery paths of the order list of this shift.

[0114] Exemplarily, the delivery route is planned based on the delivery address and list of the first order, the remaining delivery routes of the order list of this shift are determined, and all the path points passed by the remaining delivery routes are the second path point set.

[0115] 2013A. Based on the first set of path points and the second set of path points, determine the number of overlapping path points between the order planned delivery path and the remaining delivery paths.

[0116] Exemplarily, step 2013A may specifically include the following steps A1 to A3:

[0117] A1. For each first path point in the first path point set Detect whether there is a second path point in the second path point set that is the same as the first path point

[0118] Wherein, 1≤i≤M, 1≤j≤N, M is the number of path points in the first path point set, and N is the number of path points in the second path point set.

[0119] The first path point refers to a path point in the first path point set.

[0120] The second path point refers to a path point in the second path point set.

[0121] A2. If there is a path point in the second path point set that is the same as the first path point Same second waypoint Then the first path point Marked as overlapping waypoints.

[0122] A3. Output the number of overlapping path points in the first path point set as the number of overlapping path points between the order planned delivery path and the remaining delivery paths.

[0123] Please refer to Figure 4 , Figure 4 It is an illustrative diagram of overlapping path points provided in an embodiment of the present application. Assuming that the delivery address of one order in the order list of this shift is room 3 and the delivery address of the second order is room 6, the overlapping path points are points a, b, and c, and the number of overlapping path points is 3.

[0124] For example, the first path point set C1 includes M=10 path points, which is expressed as: The second path point set C2 includes N=50 path points, which are expressed as: For each first path point in the first path point set C1 Check whether there is a matching path point in the second path point set C2. Same second waypoint If it exists, the first path point Mark as overlapping waypoint; otherwise, continue traversing the next first waypoint And so on, if the first path point is detected The second path point The first path point All of them can be marked as overlapping waypoints, so the number of overlapping waypoints in the first waypoint set is 5, that is, the number of overlapping waypoints between the order planning delivery path and the remaining delivery paths is 5.

[0125] 2014A. Obtain a ratio of the number of overlapping path points to the number of path points corresponding to the first path point set as the path overlap degree.

[0126] For example, the number of overlapping path points between the order planned delivery path and the remaining delivery path is 5, and the number of path points in the first path point set C1 is 10. Then the ratio of the number of overlapping path points (such as 5) to the number of path points corresponding to the first path point set (such as 10) is taken as the path overlap (i.e., 5 / 10=0.5).

[0127] (2) Calculate the ratio of the number of neighboring path points to the number of path points corresponding to the first path point set as the path overlap degree. At this time, if Figure 5 As shown, the path overlap can be determined by the following steps 2011B to 2014B:

[0128] 2011B. Based on the delivery address of the second order and the distribution address of the second order, obtain a first path point set of the order planning delivery path of the second order.

[0129] 2012B. Based on the delivery address of the first order and the delivery route planned in the list, a second set of path points for the remaining delivery routes of the order list of this shift is determined.

[0130] The implementation of steps 2011B to 2012B is similar to that of steps 2011A to 2012A. For details, please refer to the relevant descriptions in the previous text and will not be repeated here.

[0131] 2013B. Based on the first set of path points and the second set of path points, determine the number of neighboring path points between the order planned delivery path and the remaining delivery paths.

[0132] There are many ways to implement step 2013B, illustratively including:

[0133] Method ①: In some embodiments, the delivery floor is marked with neighboring path points. In this case, step 2013B may specifically include the following steps B1 to B4:

[0134] B1. Detect the delivery path point set of the delivery floor of the second order from the first path point set.

[0135] The delivery path point set refers to the set of path points of the first path point set, which belong to the floor and the delivery floor of the second order.

[0136] B2. Detect the first matching path point of the delivery floor of the second order from the second path point set.

[0137] The first matching path point refers to a set of path points in the second path point set, the floor to which the path points belong and the delivery floor of the second order.

[0138] B3. If the first matching path point exists in the second path point set, the path point closest to the delivery path point set is obtained from the first matching path point as the target delivery path point.

[0139] The target delivery path point refers to the path point in the first matching path point that is closest to the delivery path point set.

[0140] B4. For each path point in the delivery path point set If the path point and target delivery waypoints If the distance between them is less than the preset distance threshold, the path point Marked as neighboring waypoints.

[0141] B5. Output the number of neighboring path points of the first path point set as the number of neighboring path points.

[0142] Please refer to Figure 6 , Figure 6 It is an illustrative diagram of the neighboring path points provided in the embodiment of the present application. Assume that in the order list of this shift, there is one order with the delivery address of room 3 and the second order with the delivery address of room 6, points a, b, c, and d are all first path points, and points d, e, f, and g are all second path points.

[0143] For example, the first path point set D1 includes M=10 path points, which is expressed as: The second path point set D2 includes N=50 path points, which are expressed as: First, in step B1, all path points in the first path point set D1 whose floors are the same as the delivery floor of the second order are checked to obtain a delivery path point set (such as Figure 6 As shown, the set of delivery route points is {point a, point b, point c, point d}).

[0144] Then, in steps B2 to B3, it is checked whether there is a first matching path point in the second path point set D2 whose floor is the same as the delivery floor of the second order. If the floor to which the second path point belongs in the second path point set D2 (reference Figure 6 , if the floors to which the second path points d, e, f, and g in the second path point set D2 belong are all the third floor) are the same as the delivery floor of the second order (such as the third floor), then the second path point is used as the first matching path point (such as the second path point d, e, f, and g), where the first matching path point may be ≥ 1; then, from the first matching path points (such as the second path point d, e, f, and g), the path point (such as the second path point d) closest to the delivery path point set is detected as the target delivery path point

[0145] Next, in step B4, for each path point in the delivery path point set Detecting Waypoints and target delivery waypoints Is the distance between the path points less than the preset distance threshold? (like Figure 6 The path point c) shown is the same as the target delivery path point (like Figure 6 If the distance between the path points d) shown is less than the preset distance threshold, the path points (like Figure 6 The path point c) shown is marked as a neighboring path point; otherwise, if the path point (like Figure 6 The path point a) shown is the same as the target delivery path point (like Figure 6 The distance between the path points d) shown is less than the preset distance threshold, then the path points Do not mark and continue to traverse the next path point in the delivery path point set

[0146] Similarly, after traversal and marking of all the path points in the delivery path point set are completed, the number of neighboring path points in the first path point set can be output in step B5 as the number of neighboring path points.

[0147] For example, it is detected that the floor to which the first path points a, b, c, and d belong is the same as the delivery floor, the floor to which the second path points d, e, f, and g belong is the same as the delivery floor, the target delivery path point is point d, and the distances between path points b, c, and d and the target delivery path point d are all less than the preset distance threshold; then path points b, c, and d can all be marked as neighboring path points, so the number of neighboring path points in the first path point set is 3, that is, the number of neighboring path points between the order planned delivery path and the remaining delivery paths is 3.

[0148] In this way, through steps B1 to B5, when the delivery path point or the distribution path point (that is, the delivery path point or the distribution path point included in the order planned delivery path) overlaps with the path points of the remaining delivery paths, the number of overlapping path points between the order planned delivery path and the remaining delivery paths can be used to determine the path overlap, so that the second order can be added to the order list of this shift when the delivery path overlaps with the order list of this shift has a high degree of order overlap, thereby taking into account the order delivery distance of the order list of this shift and reducing the empty load rate of the delivery robot in this shift.

[0149] Method ②: In some embodiments, the neighboring path points of the distribution floor are marked. In this case, step 2013B may specifically include the following steps C1 to C5:

[0150] C1. Detecting the distribution path point set of the distribution floor for the second order from the first path point set.

[0151] The distribution path point set refers to the set of path points of the first path point set, which are the floors to which the distribution floor belongs and the distribution floor of the second order.

[0152] C2. Detect a second matching path point of the distribution floor of the second order from the second path point set.

[0153] Among them, the second matching path point refers to the set of path points of the second path point set, which belong to the floor and the distribution floor of the second order.

[0154] C3. If the second matching path point exists in the second path point set, obtain the path point closest to the distribution path point set from the second matching path point as the target distribution path point.

[0155] The target distribution path point refers to the path point in the second matching path point that is closest to the delivery path point set.

[0156] C4. For each path point in the distribution path point set If the path point Target delivery path point If the distance between them is less than the preset distance threshold, the path point Marked as neighboring waypoints.

[0157] C5. Output the number of neighboring path points of the first path point set as the number of neighboring path points.

[0158] Please refer to Figure 6, assuming that there is one order in the order list of this shift whose delivery address is room 3, and the second order’s delivery address is room 6, points a, b, c, and d are all first path points, and points d, e, f, and g are all second path points.

[0159] First, in step C1, all path points in the first path point set D1 whose floors are the same as the delivery floor of the second order are checked to obtain a delivery path point set (such as Figure 6 As shown, the distribution path point set is {point a, point b, point c, point d}).

[0160] Then, in steps C2 to C3, check whether there is a second matching path point in the second path point set D2 whose floor is the same as the delivery floor of the second order. If the floor of the second path point in the second path point set D2 (reference Figure 6 , if the floors to which the second path points d, e, f, and g in the second path point set D2 belong are all the third floor) are the same as the distribution floor of the second order (such as the third floor), then the second path point is used as the second matching path point (such as the second path point d, e, f, and g), where the second matching path point may be ≥ 1; then, from the second matching path points (such as the second path point d, e, f, and g), the path point (such as the second path point d) closest to the distribution path point set is detected as the target distribution path point

[0161] Next, in step C4, for each path point in the distribution path point set Detecting Waypoints Target distribution path point Is the distance between the path points less than the preset distance threshold? (like Figure 6 The path point c) shown is the same as the target distribution path point (like Figure 6 If the distance between the path points d) shown is less than the preset distance threshold, the path points (like Figure 6 The path point c) shown is marked as a neighboring path point; otherwise, if the path point (like Figure 6 The path point a) shown is the same as the target distribution path point (like Figure 6 The distance between the path points d) shown is less than the preset distance threshold, then the path points Do not mark and continue to traverse the next path point in the distribution path point set

[0162] By analogy, after traversal and marking of all path points in the distribution path point set are completed, the number of neighboring path points in the first path point set can be output in step C5 as the number of neighboring path points.

[0163] In this way, through steps C1 to C5, when the delivery path point or the distribution path point (that is, the delivery path point or the distribution path point included in the order planned delivery path) is on the same floor as the path points of the remaining delivery paths, but there is no overlapping point or there are few overlapping points, the distance between the path points of the order planned delivery path and the remaining delivery paths can be used to determine the path overlap, so that the closer the distance between the second order and the order list of this shift, the higher the path overlap, so that the second order can be added to the order list of this shift when the distance between it and the order list of this shift is relatively close, so that the empty rate of the delivery robot in this shift can be reduced while taking into account the order delivery distance of the order list of this shift.

[0164] Method ③: In some embodiments, the neighboring path points of the distribution floor and the delivery floor are marked at the same time. In this case, step 2013B may specifically include the following steps D1 to D9:

[0165] D1. Detect the delivery path point set of the delivery floor of the second order from the first path point set.

[0166] The delivery path point set refers to the set of path points of the first path point set, which belong to the floor and the delivery floor of the second order.

[0167] D2. Detect the first matching path point of the delivery floor of the second order from the second path point set.

[0168] The first matching path point refers to a set of path points in the second path point set, the floor to which the path points belong and the delivery floor of the second order.

[0169] D3. If the first matching path point exists in the second path point set, obtain the path point closest to the delivery path point set from the first matching path point as the target delivery path point.

[0170] The target delivery path point refers to the path point in the first matching path point that is closest to the delivery path point set.

[0171] D4. For each path point in the delivery path point set If the path point and target delivery waypoints If the distance between them is less than the preset distance threshold, the path point Marked as neighboring waypoints.

[0172] D5. Detect the distribution path point set of the distribution floor for the second order from the first path point set.

[0173] D6. Detect a second matching path point of the distribution floor of the second order from the second path point set.

[0174] D7. If the second matching path point exists in the second path point set, obtain the path point closest to the distribution path point set from the second matching path point as the target distribution path point.

[0175] D8. For each path point in the distribution path point set If the path point Target delivery path point If the distance between them is less than the preset distance threshold, the path point Marked as neighboring waypoints.

[0176] D9. Output the number of neighboring path points of the first path point set as the number of neighboring path points.

[0177] 2014B. Obtain a ratio of the number of the neighboring path points to the number of path points corresponding to the first path point set as the path overlap degree.

[0178] For example, the number of neighboring path points between the order planned delivery path and the remaining delivery path is 3, and the number of path points in the first path point set C1 is 10. Then the ratio of the number of neighboring path points (such as 3) to the number of path points corresponding to the first path point set (such as 10) is taken as the path overlap (i.e., 3 / 10=0.3).

[0179] 202. If the path overlap is greater than a preset overlap threshold, the second order is added to the order list of this shift to obtain an updated order list.

[0180] 203. Based on the delivery address of the second order, the list planning delivery path of the order list of this shift is updated to obtain an updated delivery path.

[0181] There are many ways to implement step 203, which include, for example:

[0182] (1) In some embodiments, obtaining the target delivery path point and the shortest path between the delivery address of the second order; in the list planning delivery path of the order list of this shift, detecting the target delivery path point The path point before or after is used as the first intervention path point; between the first intervention path point and the target delivery path point The shortest path is added to update the delivery path planned in the list to obtain an updated delivery path. In this way, the delivery process of the second order can be carried out according to the shortest path, the complexity of the delivery path of the second order is reduced, and the delivery efficiency of the second order after being added to the order list of this shift is improved.

[0183] (2) In some embodiments, the target distribution path point is obtained. and the optimal path between the delivery address of the second order; in the list planning delivery path of the order list of the current shift, detecting the target delivery path point The subsequent path point is used as the second intervention path point; between the second intervention path point and the target delivery path point The optimal path is added to update the delivery path planned in the list to obtain an updated delivery path. In this way, when the pickup process of the first order is completed, the distribution process of the second order can be carried out according to the optimal path, thereby improving the delivery efficiency of the second order after it is added to the order list of this shift.

[0184] 204. After completing the picking process of the first order at the target distribution floor, control the delivery robot to execute the picking process of the second order according to the pick-up slot of the first order.

[0185] For example, Figure 4 and Figure 6 As shown, assuming Figure 4 The floor shown is the target distribution floor. In the order list of this shift, the delivery address of order A is room 3, and the distribution address of the second order (such as order B) is room 6. After the delivery robot delivers order A to room 3 and completes the pickup process, the delivery robot can be controlled to drive to room 6 according to the optimal path planned in step 202, and the delivery robot can be controlled to open the compartment door of the take-out compartment (such as compartment 5) of order A, so that the distribution staff can put the goods of order B into the take-out compartment (such as compartment 5) of order A, and after order B is put into compartment 5, the delivery robot is controlled to close the compartment door to complete the distribution process of order B. In this way, the delivery robot is controlled to perform the distribution process of the second order (such as order B) according to the take-out compartment of the first order (such as order A).

[0186] 205. Based on the updated delivery path, control the delivery robot to continue the delivery process of the updated order list.

[0187] From the above content, it can be seen that, on the one hand, by controlling the delivery robot to execute the distribution process of the second order according to the take-out slot of the first order after completing the picking process of the first order on the target distribution floor, the second order can be placed in the slot where the first order was originally placed after completing the picking process of the first order, thereby reducing the empty load rate of this shift; on the other hand, because the delivery robot's order list for this shift contains the first order whose delivery address is the target distribution floor, and there is an undelivered second order on the target distribution floor, the second order will be added to the order list for this shift only when the path overlap between the second order and the order list for this shift is greater than the preset overlap threshold, so the problem of the updated delivery path becoming complicated due to the addition of the second order can be avoided, thereby ensuring the timeliness of the order list for this shift; thereby, the empty load rate of the delivery robot can be reduced while taking timeliness into consideration.

[0188] A person of ordinary skill in the art will appreciate that all or part of the steps in the above-mentioned robot delivery control method may be completed by instructions, or by controlling related hardware through instructions. The instructions may be stored in a computer-readable storage medium and loaded and executed by a processor.

[0189] To this end, an embodiment of the present application provides a computer-readable storage medium, in which a plurality of computer programs are stored, and the computer program can be loaded by a processor to execute any one of the robot delivery control methods provided in the embodiment of the present application. For example, the computer program can be loaded by a processor to execute the following steps:

[0190] When the order list of the delivery robot for this shift includes a first order whose delivery address is the target distribution floor, and there is an undelivered second order on the target distribution floor, the path overlap between the second order and the order list for this shift is obtained;

[0191] If the path overlap is greater than a preset overlap threshold, the second order is added to the order list of the current shift to obtain an updated order list;

[0192] Based on the delivery address of the second order, the list planning delivery path of the order list of the current shift is updated to obtain an updated delivery path;

[0193] After completing the picking process of the first order at the target distribution floor, controlling the delivery robot to execute the picking process of the second order according to the pick-up slot of the first order;

[0194] Based on the updated delivery path, the delivery robot is controlled to continue the delivery process of the updated order list.

[0195] The computer-readable storage medium may include: a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0196] In the above robot delivery control method, computer readable storage medium, and delivery robot embodiments, the description of each embodiment has its own emphasis. For parts not described in detail in a certain embodiment, reference can be made to the relevant description of other embodiments. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process and beneficial effects of the above-described computer readable storage medium, delivery robot and its corresponding units can refer to the description of the robot delivery control method in the above embodiment, and will not be repeated here.

[0197] The above is a detailed introduction to a robot delivery control method, a delivery robot and a computer-readable storage medium 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 method of the present application and its core idea. At the same time, for those skilled in the art, according to the ideas of the present application, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A robot delivery control method, characterized in that: The method comprises: When the order list of the delivery robot for this shift includes a first order whose delivery address is the target distribution floor, and there is an undelivered second order on the target distribution floor, the path overlap between the second order and the order list for this shift is obtained; If the path overlap is greater than a preset overlap threshold, the second order is added to the order list of the current shift to obtain an updated order list; Based on the delivery address of the second order, the list planning delivery path of the order list of the current shift is updated to obtain an updated delivery path; After completing the picking process of the first order at the target distribution floor, controlling the delivery robot to execute the picking process of the second order according to the pick-up slot of the first order; Based on the updated delivery path, the delivery robot is controlled to continue the delivery process of the updated order list.

2. The robot delivery control method according to claim 1, characterized in that: The obtaining of the path overlap between the second order and the order list of the current shift includes: Based on the delivery address of the second order and the distribution address of the second order, obtaining a first path point set of the order planning delivery path of the second order; Based on the delivery address of the first order and the delivery path planned in the list, determine a second set of path points for the remaining delivery paths of the order list of the current shift; The path overlap degree is determined based on the first path point set and the second path point set.

3. The robot delivery control method according to claim 2, characterized in that: The determining the path overlap degree based on the first path point set and the second path point set includes: Determining the number of overlapping path points between the planned delivery path for the order and the remaining delivery paths based on the first path point set and the second path point set; The ratio of the number of overlapping path points to the number of path points corresponding to the first path point set is obtained as the path overlap degree.

4. The robot delivery control method according to claim 3, characterized in that: The determining, based on the first set of path points and the second set of path points, the number of overlapping path points between the planned order delivery path and the remaining delivery paths includes: For each first path point in the first path point set Detect whether there is a second path point in the second path point set that is the same as the first path point If there is a path point in the second path point set that is the same as the first path point Same second waypoint Then the first path point Mark as overlapping waypoints; The number of overlapping path points of the first path point set is output as the number of overlapping path points between the order planned delivery path and the remaining delivery paths.

5. The robot delivery control method according to claim 2, characterized in that: The determining the path overlap degree based on the first path point set and the second path point set includes: Determine the number of neighboring path points between the planned delivery path for the order and the remaining delivery paths based on the first path point set and the second path point set; The ratio of the number of the neighboring path points to the number of path points corresponding to the first path point set is obtained as the path overlap degree.

6. The robot delivery control method according to claim 5, characterized in that: The determining, based on the first set of path points and the second set of path points, the number of neighboring path points between the planned order delivery path and the remaining delivery paths includes: Detecting a delivery path point set of a delivery floor for the second order from the first path point set; Detecting a first matching waypoint of the delivery floor of the second order from the second waypoint set; If the first matching path point exists in the second path point set, the path point closest to the delivery path point set is obtained from the first matching path point as the target delivery path point For each path point in the delivery path point set If the path point and target delivery waypoints If the distance between them is less than the preset distance threshold, the path point Mark as neighboring waypoints; The number of neighboring path points of the first path point set is output as the number of neighboring path points.

7. The robot delivery control method according to claim 6, characterized in that: The updating of the list planning delivery path of the order list of the current shift based on the delivery address of the second order to obtain the updated delivery path includes: Get the target delivery path point the shortest path to the delivery address of the second order; In the list planning delivery route of the order list of this shift, detect the target delivery route point The previous or subsequent waypoint is used as the first intervention waypoint; At the first intervention path point and the target delivery path point The shortest path is added between them to update the delivery path planned in the list to obtain an updated delivery path.

8. The robot delivery control method according to claim 5, characterized in that: The determining, based on the first set of path points and the second set of path points, the number of neighboring path points between the planned order delivery path and the remaining delivery paths includes: Detecting a distribution path point set of a distribution floor for the second order from the first path point set; Detecting a second matching path point of the distribution floor of the second order from the second path point set; If the second matching path point exists in the second path point set, the path point closest to the distribution path point set is obtained from the second matching path point as the target distribution path point For each path point in the distribution path point set If the path point Target delivery path point If the distance between them is less than the preset distance threshold, the path point Mark as neighboring waypoints; The number of neighboring path points of the first path point set is output as the number of neighboring path points.

9. A delivery robot, characterized in that: It comprises a processor and a memory, wherein the memory stores a computer program, and when the processor calls the computer program in the memory, the robot delivery control method as claimed in any one of claims 1 to 8 is executed.

10. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and the computer program is loaded by a processor to execute the robot delivery control method as described in any one of claims 1 to 8.

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