Automatic delivery method and system based on cooperation of unmanned express delivery vehicle and robot dog

Abstract

The invention discloses an automatic delivery method and system based on cooperation of an unmanned express delivery vehicle and a robot dog. The method comprises the steps of unmanned vehicle loading and path execution, unit gate basic positioning, robot dog single delivery, returning and building switching and exception handling. The system comprises a single unmanned express delivery vehicle, a single robot dog and a manual operation platform, wherein the single unmanned express delivery vehicle is provided with a fixed path execution module, a building number identification module and a robot dog loading cabin; the single robot dog is provided with a laser radar, a basic visual sensor, a communication module and a container; and the manual operation platform is used for receiving the abnormal event notice and starting a remote manual intervention process. The device is simple, only a single unmanned vehicle and a single robot dog are needed, and the hardware cost is reduced by more than 50%; the process is stable, distribution is performed in a fixed building number sequence, and uncertainty introduced by a dynamic algorithm is avoided; manual intervention is efficient, abnormal events are directly reported to a manual platform, and the response speed is increased by 30%.

Description

Technical Field

[0001] The present invention relates to the field of logistics and delivery technology, and in particular to an automated delivery method and system based on the collaboration of an unmanned courier vehicle and a robot dog. Background Art

[0002] Existing terminal delivery technologies in logistics distribution primarily rely on manual delivery or automated equipment equipped with complex algorithms, which present the following problems: High labor costs: Delivery personnel must deliver door-to-door, resulting in low efficiency and difficulty in reducing labor costs; Complex equipment redundancy: Existing automation solutions require the coordination of multiple devices or rely on dynamic path planning algorithms, resulting in high hardware and operation and maintenance costs; Limited environmental adaptability: Complex algorithms can easily lead to resource waste in simple scenarios, and lack a mechanism for rapid manual intervention when equipment fails; Rigid exception handling: Existing systems often rely on preset procedures to handle exceptions, lacking flexibility and easily leading to delivery interruptions. Existing patents, such as the Chinese patent with publication number CN113715987A, disclose a method for collaborative delivery between drones and unmanned vehicles, but do not address delivery issues indoors or on stairs; Some solutions rely on high-cost lidar positioning, making them difficult to promote in older communities. Therefore, there is an urgent need to design a low-cost, highly adaptable, integrated delivery method. Summary of the Invention

[0003] Purpose of the invention: The purpose of the present invention is to provide an automated delivery method and system based on the collaboration of an unmanned courier vehicle and a robot dog.

[0004] Technical Solution: The automated delivery method based on the collaboration of an unmanned delivery vehicle and a robot dog according to the present invention comprises the following steps:

[0005] (1) The unmanned delivery vehicle loads the express package and a robot dog at the logistics center, generates a fixed delivery route according to the preset building number sequence, and heads to the unit door of the target building in turn;

[0006] (2) The unmanned vehicle identifies the unit door number of the target building or the digital sign on the ground through the onboard camera and stops at the current target unit door;

[0007] (3) The unmanned vehicle releases the robot dog, which enters the building through the use of laser radar and basic visual sensors, goes directly to the target floor via stairs or elevator, and confirms the user's door by comparing the house number;

[0008] (4) The robot dog sends a pickup notification to the user's mobile phone. The user completes the identity verification and picks up the item by scanning the code or entering the pickup code;

[0009] (5) After the robot dog completes the delivery, it returns to the unmanned vehicle, which then drives to the next target unit according to the building number sequence and repeats steps (2)-(4) until all deliveries are completed;

[0010] (6) If the robot dog fails to deliver, the unmanned vehicle will suspend the mission and report to the manual operation platform, which will be handled by human remote intervention.

[0011] Furthermore, the ground digital signage in step (2) is a pre-laid sign containing a building number, which is enhanced for identification by reflective material or fluorescent coating.

[0012] Furthermore, the house number comparison of the robot dog in step (3) includes capturing the house number image through a camera, extracting the house number information based on a template matching algorithm, and verifying the consistency of the extracted result with the target delivery address.

[0013] Furthermore, the identity verification in step (4) includes:

[0014] (4.1) If the user fails to complete the verification within the preset time, the robot dog will trigger a voice prompt and extend the waiting time;

[0015] (4.2) After the timeout, the vehicle automatically returns to the unmanned vehicle and marks the task as an abnormal event.

[0016] Furthermore, the conditions for determining whether the robot dog fails to deliver in step (6) include:

[0017] The house number matching fails continuously for more than the set number of times;

[0018] The user fails to pick up the package within the time limit and does not respond to the second notification;

[0019] The robot dog's navigation is blocked for more than the preset time threshold.

[0020] The automated delivery system based on the collaboration of an unmanned delivery vehicle and a robot dog described in the present invention includes a single unmanned delivery vehicle, a single robot dog, and a manual operation platform. The single unmanned delivery vehicle is equipped with a fixed path execution module, a building number recognition module, and a robot dog loading compartment; the single robot dog is equipped with a laser radar, a basic visual sensor, a communication module, and a cargo box; and the manual operation platform is used to receive abnormal event notifications and initiate remote manual intervention processes.

[0021] Furthermore, the building number recognition module of the unmanned delivery vehicle uses a low-resolution camera and only supports digital character recognition functions.

[0022] Furthermore, the robot dog's communication module supports direct interaction with the user's mobile phone via 4G / 5G network without relying on cloud server transfer.

[0023] Furthermore, the manual operation platform is configured with a task priority queue to allocate manual processing resources according to the urgency of the abnormal event.

[0024] Furthermore, the cargo box of the robot dog adopts a mechanical lock structure, which is triggered to open by the user scanning a code or entering a pickup code.

[0025] Beneficial effects: Compared with the existing technology, the present invention has the following significant advantages: the equipment of the present invention is streamlined, only a single unmanned vehicle and a single robot dog are required, and the hardware cost is reduced by more than 50%; the process is stable, and the delivery is carried out in a fixed building number sequence, avoiding the uncertainty introduced by the dynamic algorithm; manual intervention is efficient, and abnormal events are directly reported to the manual platform, and the response speed is increased by 30%; adaptability is enhanced, and the basic sensors and template matching algorithms meet the needs of small and medium-sized communities, and the failure rate is reduced; user interaction is convenient, and direct mobile phone communication and multiple verification methods are supported, with a low operating threshold. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a flow chart of the method of the present invention;

[0027] Figure 2 It is a structural diagram of the system of the present invention. DETAILED DESCRIPTION

[0028] The technical solution of the present invention will be further described below with reference to the accompanying drawings.

[0029] like Figure 1 As shown, the automated delivery method based on the collaboration of an unmanned delivery vehicle and a robot dog according to the present invention includes the following steps:

[0030] (1) Unmanned vehicle loading and route execution: The unmanned delivery vehicle loads the express package and a robot dog at the logistics center, generates a fixed delivery route according to the preset building number sequence, and heads to the unit door of the target building in turn;

[0031] (2) Basic positioning of unit door: The unmanned vehicle uses the on-board camera to identify the unit door number of the target building or the ground digital sign and stops at the current target unit door; the ground digital sign is a pre-laid sign containing the building number, and the recognition reliability is enhanced by reflective materials or fluorescent coatings.

[0032] (3) Single delivery by robot dog: The unmanned vehicle releases the robot dog, which enters the building through the use of laser radar and basic visual sensors, goes directly to the target floor along the stairs or elevator, and confirms the user's door by comparing the house number; the robot dog's house number comparison includes capturing the house number image through the camera, extracting the house number information based on the template matching algorithm, and verifying the consistency of the extracted result with the target delivery address.

[0033] (4) Return and switch buildings: The robot dog sends a pickup notification to the user's mobile phone. The user completes identity verification and picks up the item by scanning the code or entering the pickup code. Identity verification includes:

[0034] (4.1) If the user fails to complete the verification within the preset time, the robot dog will trigger a voice prompt and extend the waiting time;

[0035] (4.2) After the timeout, the vehicle automatically returns to the unmanned vehicle and marks the task as an abnormal event.

[0036] (5) After the robot dog completes the delivery, it returns to the unmanned vehicle, which then drives to the next target unit according to the building number sequence and repeats steps (2)-(4) until all deliveries are completed;

[0037] (6) Exception handling: If the robot dog fails to deliver, the unmanned vehicle will suspend the mission and report to the manual operation platform, which will be handled by human remote intervention. The conditions for determining the failure of the robot dog delivery include:

[0038] The house number matching fails continuously for more than the set number of times;

[0039] The user fails to pick up the package within the time limit and does not respond to the second notification;

[0040] The robot dog's navigation is blocked for more than the preset time threshold.

[0041] The automated delivery system based on the collaboration of an unmanned courier vehicle and a robot dog described in the present invention includes a single unmanned courier vehicle, a single robot dog, and a manual operation platform. The single unmanned courier vehicle is equipped with a fixed path execution module, a building number recognition module, and a robot dog loading compartment; the single robot dog is equipped with a laser radar, a basic visual sensor, a communication module, and a cargo box; and the manual operation platform is used to receive notifications of abnormal events and initiate a remote manual intervention process. The building number recognition module of the unmanned courier vehicle uses a low-resolution camera and only supports digital character recognition functions. The communication module of the robot dog supports 4G / 5G networks to interact directly with the user's mobile phone without relying on cloud server transit. The robot dog's cargo box adopts a mechanical lock structure, which is triggered to open by the user scanning the code or entering the pickup code. The manual operation platform is equipped with a task priority queue to allocate manual processing resources according to the urgency of the abnormal event.

[0042] This solution is suitable for small and medium-sized residential communities. Through lightweight equipment and process design, it achieves low-cost, high-reliability terminal automated delivery. The equipment is streamlined, requiring only a single unmanned vehicle and a single robot dog, significantly reducing hardware costs. It is highly stable, relying on basic sensors and manual review to reduce the risk of technical failures.

Claims

1. An automated delivery method based on the collaboration of an unmanned delivery vehicle and a robot dog, characterized in that: The steps include: (1) The unmanned delivery vehicle loads the express package and a robot dog at the logistics center, generates a fixed delivery route according to the preset building number sequence, and heads to the unit door of the target building in turn; (2) The unmanned vehicle identifies the unit door number of the target building or the digital sign on the ground through the onboard camera and stops at the current target unit door; (3) The unmanned vehicle releases the robot dog, which enters the building through the use of laser radar and basic visual sensors, goes directly to the target floor via stairs or elevator, and confirms the user's door by comparing the house number; (4) The robot dog sends a pickup notification to the user's mobile phone. The user completes the identity verification and picks up the item by scanning the code or entering the pickup code; (5) After the robot dog completes the delivery, it returns to the unmanned vehicle, which then drives to the next target unit according to the building number sequence and repeats steps (2)-(4) until all deliveries are completed; (6) If the robot dog fails to deliver, the unmanned vehicle will suspend the mission and report to the manual operation platform, which will be handled by human remote intervention.

2. The automated delivery method based on the collaboration of an unmanned delivery vehicle and a robot dog according to claim 1, characterized in that: The ground digital signage in step (2) is a pre-laid sign containing the building number, which is enhanced in recognition by reflective material or fluorescent coating.

3. The automated delivery method based on the collaboration of an unmanned delivery vehicle and a robot dog according to claim 1, characterized in that: The house number comparison of the robot dog in step (3) includes capturing the house number image through a camera, extracting the house number information based on a template matching algorithm, and verifying the consistency of the extracted result with the target delivery address.

4. The automated delivery method based on the collaboration of an unmanned delivery vehicle and a robot dog according to claim 1, characterized in that: The identity verification in step (4) includes: (4.1) If the user fails to complete the verification within the preset time, the robot dog will trigger a voice prompt and extend the waiting time; (4.2) After the timeout, the vehicle automatically returns to the unmanned vehicle and marks the task as an abnormal event.

5. The automated delivery method based on the collaboration of an unmanned delivery vehicle and a robot dog according to claim 1, characterized in that: The conditions for determining whether the robot dog fails to deliver in step (6) include: The house number matching fails continuously for more than the set number of times; The user fails to pick up the package within the time limit and does not respond to the second notification; The robot dog's navigation is blocked for more than the preset time threshold.

6. An automated delivery system based on the collaboration of an unmanned delivery vehicle and a robot dog, characterized in that: It includes a single unmanned delivery vehicle, a single robot dog and a manual operation platform. The single unmanned delivery vehicle is equipped with a fixed path execution module, a building number recognition module and a robot dog loading compartment; the single robot dog is equipped with a laser radar, a basic visual sensor, a communication module and a cargo box; the manual operation platform is used to receive abnormal event notifications and initiate remote manual intervention processes.

7. The automated delivery method based on the collaboration of an unmanned delivery vehicle and a robot dog according to claim 6, characterized in that: The building number recognition module of the unmanned delivery vehicle uses a low-resolution camera and only supports digital character recognition functions.

8. The automated delivery method based on the collaboration of an unmanned delivery vehicle and a robot dog according to claim 6, characterized in that: The robot dog's communication module supports direct interaction with the user's mobile phone over 4G / 5G networks without relying on cloud servers for transfer.

9. The automated delivery method based on the collaboration of an unmanned delivery vehicle and a robot dog according to claim 6, characterized in that: The manual operation platform is configured with a task priority queue to allocate manual processing resources according to the urgency of abnormal events.

10. The automated delivery method based on the collaboration of an unmanned delivery vehicle and a robot dog according to claim 6, characterized in that: The cargo box of the robot dog adopts a mechanical lock structure, which is triggered to open by the user scanning the code or entering the pickup code.

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