Parcel delivery method, device and equipment

Abstract

The present disclosure provides a parcel delivery method, device and equipment, the method includes: obtaining delivery demands of a plurality of delivery points in a delivery task; dividing the plurality of delivery points into at least one delivery point group according to the delivery demands of each delivery point and the delivery capacity of a robot; determining a target delivery route corresponding to one of the at least one delivery point group; and controlling a first robot to deliver parcels corresponding to the one delivery point group in the delivery task to each delivery point in the one delivery point group according to the target delivery route. The method can control a multi-layer bin robot to complete delivery of parcels in a buffer warehouse, optimize the delivery process of the multi-layer bin robot, and improve delivery efficiency.

Description

[Technical Field]

[0001] This application claims priority to a Chinese patent application bearing application number 202210252695.7 and entitled "Parcel delivery method, device and apparatus," filed with the State Intellectual Property Office of the People's Republic of China on March 15, 2022, the entire contents of which are incorporated herein by reference.

[0002] The present invention relates to the field of display technology, and in particular to a backlight brightness control method, device and display device. [Background technology]

[0003] In order to ensure production efficiency, production lines are widely used. To ensure the operating efficiency of the production line, a temporary storage warehouse, also called a buffer warehouse, is generally provided beside the production line, which can shorten the delivery distance of goods to the production line.

[0004] To improve delivery efficiency, robots are commonly used to deliver packages, and in the prior art, single-bin robots are commonly used to perform deliveries.

[0005] However, if loads are required for multiple production lines or different locations on the same production line, the single-bin robot must repeatedly travel back and forth between the delivery point and the pick-up point, resulting in low delivery efficiency. Summary of the Invention [Problem to be solved by the invention]

[0006] According to the package delivery method, device, and equipment disclosed herein, a multi-bin robot can be controlled to complete package delivery in a buffer warehouse, thereby optimizing the delivery process of the multi-bin robot and improving delivery efficiency. [Means for solving the problem]

[0007] In a first aspect, the present disclosure provides a parcel delivery method including the steps of: acquiring delivery demands of a plurality of delivery points in a delivery task; dividing the plurality of delivery points into at least one delivery point group according to the delivery demands of each delivery point and the delivery capacity of a robot; determining a target delivery route corresponding to one of the at least one delivery point group; and controlling a first robot to deliver parcels corresponding to one delivery point group in the delivery task to each delivery point in the one delivery point group based on the target delivery route.

[0008] Preferably, the step of dividing the plurality of delivery points into at least one delivery point group according to the delivery demand of each of the delivery points and the delivery capacity of the robot includes: determining whether there is a saturation point among the plurality of delivery points where the delivery demand is greater than the delivery capacity of the robot; If the saturated delivery point exists, determining a difference between the delivery demand of the saturated delivery point and the delivery capacity of the robot as a new delivery demand of the saturated delivery point; and dividing the plurality of delivery points into at least one delivery point group according to new delivery demands of the saturated delivery point, delivery demands of other delivery points among the plurality of delivery points other than the saturated delivery point, and delivery capacity of a robot.

[0009] Preferably, the step of dividing the plurality of delivery points into at least one delivery point group according to a new delivery demand of the saturated delivery point, delivery demands of other delivery points other than the saturated delivery point among the plurality of delivery points, and a delivery capacity of a robot includes: determining whether a sum of a new delivery demand of the saturated delivery point and delivery demands of other delivery points among the plurality of delivery points other than the saturated delivery point is greater than a delivery capacity of the robot; If the sum is greater than the delivery capacity of the robot, the method includes a step of dividing the plurality of delivery points into at least one delivery point group according to new delivery demand of the saturated delivery point, delivery demand of other delivery points among the plurality of delivery points other than the saturated delivery point, and delivery capacity of the robot.

[0010] Preferably, the method comprises: If the sum is equal to or less than the delivery capacity of the robot, the method further includes determining the plurality of delivery points as one delivery point group.

[0011] Preferably, the step of dividing the plurality of delivery points into at least one delivery point group according to the delivery demands of the delivery points and the delivery capacity of the robot comprises: acquiring location information for each of the delivery points; selecting a first number of said delivery points as first cluster centers; determining a distance between location information of each of the delivery points and each of the first cluster centers; clustering all of the delivery points according to the distances to form a first number of first delivery point groups; determining a group delivery demand for each of the first delivery point groups according to the delivery demand of each delivery point in each of the first delivery point groups; determining at least one of the delivery point groups according to each of the group delivery demands, the delivery capacity of the robot, and the first number of first delivery point groups.

[0012] Preferably, the step of determining at least one of the delivery point groups according to each of the group delivery demands, the delivery capacity of the robot, and the first number of first delivery point groups comprises: The method includes a step of comparing each of the group delivery demands with the delivery capacity of the robot, and if each of the group delivery demands is less than or equal to the delivery capacity of the robot, determining the first number of first delivery point groups as at least one of the delivery point groups.

[0013] Preferably, the step of determining at least one of the delivery point groups according to each of the group delivery demands, the delivery capacity of the robot, and the first number of first delivery point groups comprises: The method includes a step of comparing each of the group delivery demands with the delivery capacity of the robot, and if at least one of the group delivery demands is greater than the delivery capacity of the robot, selecting a second number of the delivery points greater than the first number as second cluster centers, re-clustering all the delivery points to obtain a second number of second delivery point groups, and determining the second number of second delivery point groups as at least one of the delivery point groups.

[0014] Preferably, the step of determining at least one of the delivery point groups according to each of the group delivery demands, the delivery capacity of the robot, and the first number of first delivery point groups comprises: comparing each of the group delivery demands with the delivery capacity of the robot, and if at least one of the group delivery demands is greater than the delivery capacity of the robot, defining the delivery point group of the first delivery point group whose group delivery demand is greater than the delivery capacity of the robot as a third delivery point group, and re-clustering each delivery point in the third delivery point group according to the location information and delivery demand of each of the delivery points in the third delivery point group and the delivery capacity of the robot to form at least one fourth delivery point group; and determining, as at least one of the delivery point groups, a delivery point group other than the third delivery point group among the first delivery point groups and the fourth delivery point group.

[0015] Preferably, before selecting the first number of said delivery points as first cluster centers: determining an overall delivery demand for all of said delivery points according to the delivery demand of each of said delivery points; The method further includes determining the first number, which is an integer equal to or greater than the ratio, according to a ratio between the total delivery demand and the delivery capacity of the robot.

[0016] Preferably, the step of determining a target delivery route corresponding to one delivery point group of the at least one delivery point group comprises: Obtaining location information of the first robot corresponding to one delivery point group among the at least one delivery point group; and determining the target delivery route based on position information of each of the delivery points in the one delivery point group and position information of the first robot.

[0017] Preferably, the step of determining the target delivery route based on position information of each of the delivery points in the one delivery point group and position information of the first robot includes: Determining a distance matrix corresponding to the one delivery point group, the distance matrix including the distance between the position of each of the delivery points in the one delivery point group and the position information of the first robot; Randomly generating an initial route corresponding to the delivery point group based on the distance matrix; iterating the initial route based on the distance matrix and stopping the iteration when a preset condition is met; and determining the target delivery route based on the iteration results.

[0018] Preferably, the step of determining a target delivery route corresponding to one delivery point group of the at least one delivery point group comprises: The method includes a step of obtaining the target delivery route corresponding to one delivery point group among at least one of the delivery point groups stored in advance.

[0019] Preferably, the delivery point group includes P delivery points, and before acquiring the target delivery route corresponding to one of the at least one delivery point group stored in advance, the method includes: determining a first delivery route based on position information of each of the delivery points in one of the at least one delivery point groups and position information of a first robot; Controlling a first robot to deliver the package corresponding to the delivery task to a Q-th delivery point in the delivery point group based on the first delivery route; The method further includes a step of determining and storing the target delivery route based on the location information of the number of delivery points (P minus Q) in the delivery point group that have not yet completed delivery and the starting location information of the first robot.

[0020] Preferably, the method comprises: In the process of controlling a first robot to deliver packages corresponding to the delivery task to delivery points in the delivery point group based on the target delivery route, determining a second delivery route based on location information of first delivery points in the delivery point group that have not yet completed delivery and current location information of the first robot; The method further includes a step of controlling the first robot to deliver the package corresponding to the delivery task to a first delivery point within the delivery point group that has not completed delivery, based on the second delivery route.

[0021] Preferably, before controlling the first robot to deliver the package corresponding to the delivery task to the delivery point in the delivery point group based on the target delivery route, the method includes: The method further includes a step of determining the first robot from the plurality of robots whose distance to the delivery point group is less than a predetermined value based on location information of delivery points within the delivery point group and location information of each of the plurality of robots.

[0022] Preferably, the parcel corresponding to the delivery task is located on a transportation line, and before controlling the first robot to deliver the parcel corresponding to the delivery task to a delivery point in the delivery point group based on the target delivery route, the method includes: determining a delivery order for the delivery points in the delivery point group based on the target delivery route; determining a delivery sequence for the packages based on the packages and delivery sequence required for each delivery point; The method further includes controlling a second robot to transport the packages to a transportation line in order according to the delivery order, and controlling the first robot to retrieve the packages from the transportation line.

[0023] Preferably, the parcel corresponding to the delivery task is located on a temporary storage shelf, and before controlling the first robot to deliver the parcel corresponding to the delivery task to a delivery point in the delivery point group based on the target delivery route, the method includes: determining packages corresponding to the delivery point group based on the delivery task; The method further includes controlling the first robot to retrieve the package from a temporary storage shelf.

[0024] In a second aspect, the present disclosure provides a method for manufacturing a method of a semiconductor device comprising: an acquisition module that acquires delivery demands of multiple delivery points in a delivery task; and a processing module that divides the plurality of delivery points into at least one delivery point group according to the delivery demand of each delivery point and the delivery capacity of the robot.

[0025] The processing module further determines a target delivery route corresponding to one of the at least one delivery point group.

[0026] The processing module further controls the first robot to deliver packages corresponding to one delivery point group to each delivery point in the delivery task based on the target delivery route.

[0027] In a third aspect, the present disclosure provides an electronic device comprising at least one processor and a memory communicatively coupled to the at least one processor, the memory storing instructions executable by the at least one processor and which, when executed by said at least one processor, cause the at least one processor to perform a method provided by the first aspect and preferred forms thereof.

[0028] In a fourth aspect, the present disclosure provides a computer-readable storage medium having stored thereon computer-executable instructions which, when executed by a processor, implement the method of the first aspect or a preferred form of the first aspect.

[0029] In a fifth aspect, the present disclosure provides a computer program product comprising a computer program / instructions which, when executed by a processor, implements the method of the first aspect or a preferred form of the first aspect. [Effects of the Invention]

[0030] According to the parcel delivery method, device, and equipment disclosed herein, the delivery demands of multiple delivery points in a delivery task are obtained, the multiple delivery points are divided into at least one delivery point group according to the delivery demands of the delivery points and the delivery capacity of the robot, a target delivery route corresponding to one of the at least one delivery point group is determined, and a first robot is controlled to deliver parcels corresponding to one delivery point group in the delivery task to each delivery point in the one delivery point group based on the target delivery route, thereby controlling a multi-layer bin robot to complete delivery of the parcels in the buffer warehouse, thereby optimizing the delivery process of the multi-layer bin robot and improving delivery efficiency. [Brief explanation of the drawings]

[0031] The drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the specification, serve to explain the principles of the present disclosure.

[0032] [Figure 1] 1 is a schematic diagram of an application scenario of a parcel delivery method according to the present disclosure; [Figure 2] 1 is a flowchart of a package delivery method according to the present disclosure. [Figure 3] 10 is a flowchart of another package delivery method according to the present disclosure. [Figure 4] 1 is a flowchart of another package delivery method according to the present disclosure. [Figure 5] 10 is a flowchart of yet another package delivery method according to the present disclosure. [Figure 6] 10 is a flowchart of yet another package delivery method according to the present disclosure. [Figure 7] 1 is a schematic configuration diagram of a parcel delivery device according to the present disclosure. [Figure 8] 1 is a schematic configuration diagram of an electronic device according to the present disclosure.

[0033] Specific embodiments of the present disclosure are shown in the drawings above and are described in detail below. These drawings and textual descriptions are not intended to limit the scope of the concepts of the present disclosure in any way, but rather to explain the concepts of the present disclosure to those skilled in the art with reference to specific embodiments. DETAILED DESCRIPTION OF THE INVENTION

[0034] Illustrative examples are described in detail below, examples of which are illustrated in the drawings. Where the following description refers to the drawings, identical numerals in different drawings refer to identical or similar elements unless otherwise stated. The embodiments described in the following illustrative examples do not represent all embodiments consistent with the present disclosure. On the contrary, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

[0035] To ensure production efficiency, production lines are widely used. To ensure the operating efficiency of the production line, a temporary storage warehouse, also known as a buffer warehouse, is generally provided next to the production line, which can shorten the delivery distance of packages to the production line. To improve delivery efficiency, packages are generally delivered using robots. In conventional technology, delivery is generally performed using a single-bin robot. When packages are required for multiple production lines or at different locations on the same production line, the single-bin robot must repeatedly travel between the delivery point and the pickup point, which reduces delivery efficiency and increases the probability of robot crossing and collision, making it more difficult to control the robot.

[0036] The above problem can be solved if multiple multi-bin robots can be used to deliver to multiple delivery points. However, since multi-bin robots frequently travel between multiple different delivery points, how to ensure the delivery efficiency of the robots is an issue that needs to be resolved urgently.

[0037] Based on this, the parcel delivery method of the present disclosure first groups multiple delivery points corresponding to delivery tasks according to the delivery demand of the delivery points and the delivery capacity of the robot so that the overall delivery demand of each delivery point group matches the delivery capacity of the robot, and then controls the multi-tier bin robot to efficiently complete the delivery tasks of multiple delivery points by planning a highly efficient delivery route for each delivery point group or by obtaining a pre-stored delivery route and controlling the robot to complete the delivery task corresponding to the delivery point group.

[0038] FIG. 1 is a schematic diagram of an application scene of the parcel delivery method according to the present disclosure, which can be applied to a scene including a delivery point 11, a first robot 12, and an electronic device 13.

[0039] The electronic device 13 acquires location information of multiple delivery points 11 in the delivery task and the delivery demands of each delivery point 11, divides the multiple delivery points 11 into at least one delivery point group according to the location information of the delivery points 11, the delivery demands of the delivery points 11 and the delivery capacity of the robot, determines a target delivery route corresponding to one of the at least one delivery point group, and controls the first robot 12 to deliver packages corresponding to one delivery point group in the delivery task to each delivery point 11 in the delivery point group based on the target delivery route.

[0040] Based on the received control command, the first robot 12 delivers the package corresponding to the delivery task to a delivery point 11 in the delivery point group.

[0041] The application scenario of the parcel delivery method according to the present disclosure includes a parcel storage area adjacent to a production line. The parcel storage area may be a temporary storage shelf or a transportation line. However, the application scenario of the parcel delivery method according to the present disclosure is not limited to the above.

[0042] The first robot 12 transports the luggage from the luggage storage area to the corresponding delivery point.

[0043] FIG. 2 is a flowchart of a parcel delivery method according to the present disclosure, which is applied to a control terminal. As shown in FIG. 2, the method includes the following steps S201 to S204.

[0044] In step S201, delivery demands for a plurality of delivery points in a delivery task are acquired.

[0045] The multiple delivery points are located around the production line. The delivery demands of each delivery point may be the same or different. The control terminal may acquire the delivery demands of the multiple delivery points in the delivery task by analyzing the received delivery task, or may receive the delivery demands of the multiple delivery points transmitted from a higher-level device.

[0046] The delivery demand of a delivery point includes information such as the type and quantity of cargo required at the delivery point.

[0047] In step S202, the plurality of delivery points are divided into at least one delivery point group according to the delivery demand of each delivery point and the delivery capacity of the robot.

[0048] The delivery capacity of a robot is the total number or volume of packages that the robot can transport at one time.

[0049] A delivery point group includes one or more delivery points. As shown below, each delivery point to be delivered is rationally clustered and grouped according to its delivery demand and robot capacity, and each robot delivers to one group. Furthermore, each robot performs optimal delivery for the delivery tasks within its own group, for example, delivery along the shortest route. Using the concept of delivery point groups to assign multi-layer bin robots and perform route planning can simplify complex delivery algorithms and improve delivery efficiency.

[0050] Illustratively, if there is a first delivery point among the plurality of delivery point groups whose delivery demand is equal to the delivery capacity of the robot, the first delivery point is determined as one delivery point group; if there is a second delivery point among the plurality of delivery point groups whose delivery demand is greater than the delivery capacity of the robot, at least one delivery point group is determined according to the delivery demand of the second delivery point, such that the total delivery demand corresponding to each delivery point group is equal to the delivery capacity of the robot, thereby the remaining delivery demand of the second delivery point is less than the delivery capacity of the robot. If the remaining capacity of the second delivery point is 0, the multiple third delivery points are divided into at least one delivery point group according to the delivery demand of the multiple third delivery points in the multiple delivery point groups and the delivery capacity of the robot, so that the total delivery demand of each delivery point group is less than or equal to the delivery capacity of the robot; if the remaining capacity of the second delivery point is greater than 0 and less than the delivery capacity of the robot, the second delivery point and the multiple third delivery points are divided into at least one delivery point group according to the remaining demand of the second delivery point, the delivery demand of the multiple third delivery points in the multiple delivery point groups and the delivery capacity of the robot, so that the total delivery demand of each delivery point group is less than or equal to the delivery capacity of the robot.

[0051] Preferably, for delivery points whose delivery demand is smaller than the delivery capacity of the robot or whose remaining delivery demand is smaller than the delivery capacity of the robot, the delivery points may be clustered and grouped using a K-means clustering algorithm in combination with the location information of the delivery points.

[0052] In step S203, a target delivery route corresponding to one of the at least one delivery point group is determined.

[0053] The target delivery route is a route that covers all delivery points within the delivery point group.

[0054] A target delivery route may be planned based on the location of each delivery point in the delivery point group and a preset route planning principle, and the preset rule may be the shortest delivery time principle, the nearest delivery principle, etc. Alternatively, the target delivery route may be obtained from pre-stored delivery routes. Similarly, a corresponding target delivery route may be determined for each delivery point group in the at least one delivery point group.

[0055] In step S204, the first robot is controlled to deliver packages corresponding to one delivery point group to each delivery point in the delivery task based on the target delivery route.

[0056] The first robot is controlled to complete a delivery task for one of the delivery points along the determined target delivery route, and the first robot is further controlled to complete a delivery task for each of the delivery points along the determined target delivery route.

[0057] The first robot is a multi-bin robot.

[0058] Preferably, before step S204, the method further includes the step of determining a first robot from the plurality of robots based on the position information of the delivery points in the delivery point group and the position information of each of the plurality of robots.

[0059] The distance between the first robot and the delivery point group is equal to or less than a predetermined value.

[0060] This method can select the nearest robot to complete the delivery task corresponding to the delivery point group, further reduce the scheduling distance of the robot, reduce the difficulty of scheduling the robot, reduce the occurrence of robot crossing operations, improve the delivery efficiency of the robot, and ensure the safety of the robot delivery process.

[0061] Preferably, before step S204, if the luggage corresponding to the delivery task is located on a transportation line, the method further includes the steps of determining a delivery order of the delivery points in the delivery point group based on the target delivery route, determining a delivery order of the luggage based on the luggage required at each delivery point and the delivery order, controlling the second robot to sequentially transport the luggage to the transportation line according to the delivery order, and controlling the first robot to retrieve the luggage from the transportation line.

[0062] This method allows the packages corresponding to each delivery point group to be concentrated and placed continuously on the transportation line, improving the efficiency of the first robot in picking up packages, reducing unnecessary waiting time, and improving delivery efficiency.

[0063] Preferably, if the parcel corresponding to the delivery task is located on the temporary storage shelf, before step S204, the method further includes a step of determining the parcel corresponding to the delivery point group based on the delivery task, and controlling the first robot to retrieve the parcel from the temporary storage shelf.

[0064] When a package is located on a transport line, there is a sequence of bins placed on the transport line, which places restrictions on the method and order of transporting and placing bins in the storage warehouse in order to improve the efficiency of the first robot transporting the package to the delivery point. This means that the efficiency of the warehouses on both sides affects each other. That is, to improve delivery efficiency, the transport efficiency of some storage warehouses must be sacrificed. Maximizing transport efficiency affects the efficiency of the delivery warehouse. When a package is located on a temporary storage shelf, the warehouses on both sides are decoupled. The removal of bins from the storage warehouse and the first robot transporting the package to the delivery point are almost completely independent, allowing efficiency to be optimized without affecting each other.

[0065] This method allows the robot to accurately pick up the packages corresponding to each delivery point group, improving the accuracy of the delivery process.

[0066] According to the parcel delivery method disclosed herein, the delivery demands of multiple delivery points in a delivery task are obtained, the multiple delivery points are divided into at least one delivery point group according to the delivery demands of each delivery point and the delivery capacity of the robot, a target delivery route corresponding to one of the at least one delivery point group is determined, and a first robot is controlled to deliver parcels corresponding to one delivery point group in the delivery task to each delivery point within one of the delivery point group based on the target delivery route, thereby optimizing the delivery process of a multi-tier bin robot and improving delivery efficiency.

[0067] FIG. 3 is a flowchart of another parcel delivery method according to the present disclosure, which is applied to a control terminal. FIG. 3 further illustrates how to divide multiple delivery points into at least one delivery point group according to the delivery demands of the delivery points and the delivery capacity of the robot. As shown in FIG. 3, the method includes the following steps S301 to S306.

[0068] In step S301, delivery demands for a plurality of delivery points in a delivery task are acquired.

[0069] In step S302, it is determined whether there is a saturated delivery point among the plurality of delivery points.

[0070] The delivery demand at a saturated delivery point is greater than the delivery capacity of the robot.

[0071] The saturated delivery point may be a first type of saturated delivery point where the delivery demand is greater than the delivery capacity of the robot and the ratio between the delivery demand and the delivery capacity of the robot is an integer, or a second type of saturated delivery point where the delivery demand is greater than the delivery capacity of the robot and the ratio between the delivery demand and the delivery capacity of the robot is not an integer.

[0072] In step S303, if a saturated delivery point exists, the difference between the delivery demand of the saturated delivery point and the delivery capacity of the robot is determined as a new delivery demand of the saturated delivery point.

[0073] Specifically, if the saturated delivery point is a second type of saturated delivery point whose delivery demand is greater than the delivery capacity of the robot and the ratio between the delivery demand and the delivery capacity of the robot is not an integer, if the delivery demand of the second type of saturated delivery point is greater than the delivery capacity of N*robots and less than the delivery capacity of M*robots, determine the difference between the delivery demand of the second type of saturated delivery point and the delivery capacity of N*robots as the new delivery demand of the saturated delivery point, where N and M are positive integers.

[0074] If the delivery demand of a saturated delivery point is an integer multiple of the delivery capacity of the robot, the new delivery demand of the saturated delivery point is considered to be zero, that is, the saturated delivery point does not need to participate in the subsequent division of the delivery point group.

[0075] In the above two cases, a robot can be designated to deliver to a saturated delivery point for a portion of the delivery demand of the saturated delivery point that is an integer multiple of the robot's delivery capacity. This means that these delivery demands do not need to be considered in subsequent division of delivery point groups. In one embodiment, a robot can be designated to deliver to the saturated delivery point. In one embodiment, if the delivery demand of the saturated delivery point is multiple times the robot's delivery capacity, multiple robots can be designated to deliver to the saturated delivery point.

[0076] In step S304, the multiple delivery points are divided into at least one delivery point group according to the new delivery demand of the saturated delivery point, the delivery demand of other delivery points among the multiple delivery points other than the saturated delivery point, and the delivery capacity of the robot.

[0077] In one possible implementation, the step of dividing the plurality of delivery points into at least one delivery point group according to the new delivery demand of the saturated delivery point, the delivery demand of other delivery points among the plurality of delivery points other than the saturated delivery point, and the delivery capacity of the robot includes the steps of determining whether the sum of the new delivery demand of the saturated delivery point and the delivery demand of other delivery points among the plurality of delivery points other than the saturated delivery point is greater than the delivery capacity of the robot, and if the sum is greater than the delivery capacity of the robot, dividing the plurality of delivery points into at least one delivery point group according to the new delivery demand of the saturated delivery point, the delivery demand of other delivery points among the plurality of delivery points other than the saturated delivery point, and the delivery capacity of the robot.

[0078] This method determines that the overall delivery demand corresponding to each delivery point group is less than the delivery capacity of the robot, allowing one robot to complete the internal delivery of the entire delivery point group, reducing robot crossing operations and improving delivery efficiency.

[0079] Preferably, the method further comprises the step of determining the plurality of delivery points as one delivery point group if the sum is less than or equal to the delivery capacity of the robot.

[0080] For a delivery point group determined by this method, one robot can complete the internal delivery of the entire delivery point group, reducing robot crossing work and improving delivery efficiency.

[0081] In step S305, a target delivery route corresponding to one of the at least one delivery point group is determined.

[0082] In step S306, the first robot is controlled to deliver packages corresponding to one delivery point group in the delivery task to each delivery point in that one delivery point group based on the target delivery route.

[0083] Steps S305 and S306 have the same technical features as steps S203 and S204, and the specific description can refer to steps S203 and S204, and the description will be omitted here.

[0084] According to the package delivery method of the present disclosure, based on the above embodiment, it is determined whether or not there are saturated delivery points among multiple delivery points where the delivery demand is greater than the delivery capacity of the robot, and if a saturated delivery point exists, the difference between the delivery demand of the saturated delivery point and the delivery capacity of the robot is determined as the new delivery demand of the saturated delivery point, and the multiple delivery points are divided into at least one delivery point group according to the new delivery demand of the saturated delivery point, the delivery demand of other delivery points among the multiple delivery points other than the saturated delivery point, and the delivery capacity of the robot, thereby implementing different division methods for delivery points with different levels of delivery demand and making the grouping situation more rational.

[0085] FIG. 4 is a flowchart of another parcel delivery method according to the present disclosure, which is applied to a control terminal. FIG. 4 further illustrates how to divide a plurality of delivery points into at least one delivery point group according to the delivery demands of the delivery points and the delivery capacity of the robot. The embodiment shown in FIG. 4 can be combined with any of the above method embodiments. To save space, the method is based on FIG. 2. As shown in FIG. 4, the method includes the following steps S401 to S408.

[0086] In step S401, delivery demands for a plurality of delivery points in a delivery task are acquired.

[0087] Step S401 has the same technical features as step S201, and the specific description can refer to step S201, and the description will be omitted here.

[0088] Preferably, before step S402, the method further includes a step of determining the total delivery demand of all delivery points according to the delivery demand of each delivery point, and determining the first number according to the ratio between the total delivery demand and the delivery capacity of the robot.

[0089] The first number is an integer greater than or equal to the ratio.

[0090] This method can determine a more reasonable number of groups, reduce the number of iterations in the grouping process, optimize the grouping process, and improve the grouping efficiency.

[0091] In step S402, a first number of delivery points are selected as first cluster centers.

[0092] Preferably, the first number of delivery points may be selected randomly as the first cluster centers, or the first number of delivery points may be selected according to a pre-set principle, such as selecting the first number of delivery points based on the principle of as much dispersion as possible of the first cluster centers.

[0093] The first number may be calculated according to the delivery demand and the delivery capacity of the robot, or may be a randomly set positive integer.

[0094] The first cluster center is the initial cluster center for the K-means clustering algorithm.

[0095] In step S403, the distance between the location information of each delivery point and each first cluster center is determined.

[0096] Specifically, the Euclidean distance between the location information of each delivery point and each first cluster center is determined.

[0097] In step S404, all delivery points are clustered according to distance to form a first number of first delivery point groups.

[0098] Specifically, all delivery points are clustered based on distance using the K-means clustering algorithm.

[0099] Steps S402 to S404 will be explained in more detail below using an example.

[0100] First, select K delivery points as the initial cluster centers for the K-means clustering algorithm. For example, select the first number of delivery points based on the principle of maximizing the dispersion of the first cluster centers. That is, first, randomly select one point from the input delivery point location information set as the first cluster center μ1. For each delivery point x i The distance D(x i )=argmin||x i- Calculate μ1||. Next, a new distribution point is selected as a new cluster center. The selection is based on the principle that points farther away from the selected cluster center, i.e., points with a larger D(x), are more likely to be selected as cluster centers. This step is repeated until K cluster centers are selected. The cluster centers are updated through repeated iterations. When the number of iterations reaches a preset threshold, the iterations are terminated and the clustering result is the final clustering grouping result. Alternatively, the cluster centers may be updated through repeated iterations until the clustering grouping effect no longer improves, and the iterations are terminated and the clustering result is the final clustering grouping result. Alternatively, the cluster centers may be updated through repeated iterations until the iteration time reaches a predetermined time, and the iterations are terminated and the clustering result is the final clustering grouping result.

[0101] In step S405, the group delivery demand of each first delivery point group is determined according to the delivery demand of each delivery point in each first delivery point group.

[0102] Specifically, the sum of the delivery demands corresponding to each delivery point in each first delivery point group is determined as the group delivery demand of each first delivery point group.

[0103] In step S406, at least one delivery point group is determined according to each group's delivery demand, the delivery capacity of the robot, and the first number of first delivery point groups.

[0104] In one possible implementation, the step of determining at least one delivery point group according to each group delivery demand, the delivery capacity of the robot, and the first number of first delivery point groups includes a step of comparing each group delivery demand with the delivery capacity of the robot, and if each group delivery demand is less than or equal to the delivery capacity of the robot, determining the first number of first delivery point groups as the at least one delivery point group.

[0105] This method can assign a delivery point group whose group delivery demand is less than or equal to the delivery capacity of the robot to one robot, and since the delivery points in the delivery point group are relatively concentrated, this method can effectively improve delivery efficiency.

[0106] In another possible embodiment, the step of determining at least one delivery point group according to each group delivery demand, the delivery capacity of the robot, and the first number of first delivery point groups includes the steps of: comparing each group delivery demand with the delivery capacity of the robot, respectively; if the at least one group delivery demand is greater than the delivery capacity of the robot, selecting a second number of delivery points as second cluster centers, clustering all delivery points again to obtain a second number of second delivery point groups, and determining the second number of second delivery point groups as the at least one delivery point group.

[0107] The second number is greater than the first number.

[0108] According to this method, if there is a delivery point group among the group delivery demands corresponding to the clustered delivery point groups that is larger than the capacity of the robot, the delivery point groups can be re-clustered and grouped so that the group delivery demands corresponding to each grouped delivery point group can all be completed by one robot, further avoiding robot crossing operations and improving robot delivery efficiency.By re-clustering and grouping all delivery points, this method can comprehensively optimize the grouping situation and improve grouping quality.

[0109] In another possible embodiment, the step of determining at least one delivery point group according to each group delivery demand, the delivery capacity of the robot, and the first number of first delivery point groups includes comparing each group delivery demand with the delivery capacity of the robot, and if at least one group delivery demand is greater than the delivery capacity of the robot, determining the delivery point group among the first delivery point groups whose group delivery demand is greater than the delivery capacity of the robot as a third delivery point group, and re-clustering each delivery point in the third delivery point group according to the location information, delivery demand, and delivery capacity of each delivery point in the third delivery point group to form at least one fourth delivery point group, and determining the delivery point groups among the first delivery point groups other than the third delivery point group and the fourth delivery point group as at least one delivery point group.

[0110] If this method is used to cluster delivery point groups and there is a delivery point group whose group delivery demands are greater than the robot's capacity, the delivery points included in the delivery point group whose group delivery demands are greater than the robot's capacity are re-clustered and grouped, so that the group delivery demands corresponding to each delivery point group obtained are all less than the robot's capacity and can be completed with a single robot, and furthermore, crossing work by the robot can be avoided and the delivery efficiency of the robot can be improved.This method reduces the amount of calculation data and improves the cluster grouping efficiency by re-clustering and grouping only the delivery points within the delivery point group whose group delivery demands are greater than the robot's capacity.

[0111] In step S407, a target delivery route corresponding to one of the at least one delivery point group is determined.

[0112] In step S408, the first robot is controlled to deliver packages corresponding to one delivery point group in the delivery task to delivery points in the delivery point group based on the target delivery route.

[0113] Steps S407 and S408 have the same technical features as steps S203 and S204, and the specific description can refer to steps S203 and S204, and the description will be omitted here.

[0114] Preferably, the method comprises: In the process of controlling the first robot to deliver the parcel corresponding to the delivery task to a delivery point in the delivery point group based on the target delivery route, the method further includes a step of determining a second delivery route based on location information of a first delivery point in the delivery point group that has not completed delivery and current location information of the first robot, and a step of controlling the first robot to deliver the parcel corresponding to the delivery task to the first delivery point in the delivery point group that has not completed delivery based on the second delivery route.

[0115] This method allows the robot's delivery route to be continuously optimized and updated during the robot's delivery process based on the robot's current location and the location information of delivery points to which the robot has not yet completed delivery, thereby further improving delivery efficiency.

[0116] Preferably, the method comprises: In the process of controlling the first robot to deliver the parcel corresponding to the delivery task to a delivery point in the delivery point group based on the target delivery route, the method further includes a step of determining and storing a second delivery route based on location information of a first delivery point in the delivery point group that has not completed delivery and current location information of the first robot.

[0117] The second delivery route is used to control the first robot to deliver the parcel corresponding to the delivery task to a delivery point in the delivery point group based on the second delivery route the next time the robot needs to complete the same delivery task.

[0118] By using this method, the next time the robot needs to complete the same task, it can obtain the optimal delivery route without complex calculation processes, thereby reducing the calculation processes and effectively improving delivery efficiency.

[0119] According to the parcel delivery method of the present disclosure, based on the above embodiment, a first number of delivery points are selected as first cluster centers, a distance between the location information of each delivery point and each first cluster center is determined, and all delivery points are clustered according to the distance to form a first number of first delivery point groups. A group delivery demand for each first delivery point group is determined according to the delivery demand of each delivery point in each first delivery point group. At least one delivery point group is determined according to each group delivery demand, the delivery capacity of the robot, and the first number of first delivery point groups. This realizes clustering and grouping of delivery points, and ensures matching of the delivery demand with the delivery capacity of the robot. This allows the group delivery demand corresponding to one delivery point group to be completed with as few robots as possible, avoiding robot crossing operations, reducing the difficulty of controlling the robot, and improving the utilization rate of the robot. Furthermore, by concentrating the delivery points included in each delivery point group as much as possible, the method reduces the robot's working range, improves the robot's working efficiency, and improves delivery efficiency.

[0120] 5 is a flowchart of another package delivery method according to the present disclosure, the method being applied to a control terminal, and FIG. 5 further illustrates how to determine a target delivery route corresponding to a delivery point group based on any of the above method embodiments, which will now be described in detail based on FIG. 2. As shown in FIG. 5, the method includes the following steps S501 to S505.

[0121] In step S501, delivery demands for a plurality of delivery points in a delivery task are acquired.

[0122] In step S502, the plurality of delivery points are divided into at least one delivery point group according to the delivery demand of each delivery point and the delivery capacity of the robot.

[0123] Steps S501 and S502 have the same technical features as steps S201 and S202, and for specific explanations, please refer to steps S201 and S202, and the explanations will be omitted here.

[0124] In step S503, the location information of the first robot corresponding to one of the at least one delivery point group is acquired.

[0125] Specifically, the first robot completes the delivery task corresponding to the delivery point group.

[0126] For example, the location information of the first robot may be obtained from another device, such as a scheduling system, or may be obtained by interacting with the first robot based on the location information reported by the robot.

[0127] In step S504, a target delivery route is determined based on the position information of each delivery point in one delivery point group and the position information of the first robot.

[0128] For example, the target delivery route may be determined according to the nearest delivery principle based on the distance between the location information of each delivery point and the location information of the first robot. The target delivery route may be determined using a heuristic algorithm.

[0129] In one possible implementation, the step of determining a target delivery route based on the location information of each delivery point and the location information of the first robot includes the steps of: determining a distance matrix corresponding to the delivery point group, the distance matrix including the distance between the location of each delivery point in the delivery point group and the location information of the first robot; randomly generating an initial route corresponding to the delivery point group based on the distance matrix; iterating the initial route based on the distance matrix and stopping the iteration when a predetermined condition is met; and determining a target delivery route based on the iteration result, where the predetermined condition includes at least one of the iteration time reaching a predetermined time, the iteration count reaching a predetermined number, or the optimization degree of M consecutive iteration results from the Nth iteration being equal to or less than a predetermined threshold, where N and M are both positive integers.

[0130] This method allows for a relatively fast determination of a rational delivery route, shortens the processing time, and improves the delivery efficiency of the robot.

[0131] In step S505, the first robot is controlled to deliver packages corresponding to one delivery point group in the delivery task to each delivery point in that one delivery point group based on the target delivery route.

[0132] Step S505 has the same technical features as step S204, and the specific description can refer to step S204, and the description will be omitted here.

[0133] According to the parcel delivery method of the present disclosure, based on any of the embodiments of the above methods, location information of a first robot corresponding to one delivery point in at least one delivery point group is further obtained, and a target delivery route is determined based on the location information of each delivery point in one of the delivery point groups and the location information of the first robot, thereby making it possible to determine a delivery route by combining the location information of the robot and the location information of the delivery points, thereby ensuring the rationality of the delivery route and improving the delivery efficiency of the robot.

[0134] Figure 6 is a flowchart of yet another parcel delivery method according to the present disclosure, which is applied to a control terminal, and Figure 6 further illustrates how to determine a target delivery route corresponding to a delivery point group based on the embodiment shown in Figures 2 to 4 above, which will now be described in detail based on Figure 2. As shown in Figure 6, the method includes the following steps S601 to S604.

[0135] In step S601, delivery demands for a plurality of delivery points in a delivery task are acquired.

[0136] In step S602, the plurality of delivery points are divided into at least one delivery point group according to the delivery demand of each delivery point and the delivery capacity of the robot.

[0137] Steps S601 and S602 have the same technical features as steps S201 and S202, and for specific explanations, please refer to steps S201 and S202, and the explanations will be omitted here.

[0138] In step S603, a target delivery route corresponding to one of at least one delivery point group stored in advance is acquired.

[0139] Illustratively, the target delivery route corresponding to the pre-stored delivery point group is obtained from a real or virtual storage medium, or by communicating with another device.

[0140] Preferably, the delivery point group includes P delivery points, and before obtaining the target delivery route corresponding to the pre-stored delivery point group, the method further includes the steps of: determining a first delivery route based on location information of each delivery point in the delivery point group and location information of the first robot; controlling the first robot to deliver the package corresponding to the delivery task to the Qth delivery point in the delivery point group based on the first delivery route; and determining and storing the target delivery route based on location information of a number of delivery points in the delivery point group (P minus Q) that have not completed delivery and starting location information of the first robot.

[0141] The Qth delivery point is the Qth delivery point corresponding to the delivery order of the first delivery route.

[0142] For example, if a delivery point group includes 10 delivery points, and after controlling the first robot to complete delivery to the first delivery point based on the first delivery route, delivery to the remaining nine delivery points in the delivery point group has not been completed, a sub-delivery route covering the remaining nine delivery points to which delivery has not been completed is determined based on the current location information of the first robot and the location information of the remaining nine delivery points to which delivery has not been completed, and a route combining the actual delivery route from the starting position of the first robot to the first delivery point and the sub-delivery route is determined as the target delivery route.

[0143] Note that, within an allowable error range, after the first robot completes delivery to the first delivery point, the current position of the first robot may be the position of the first delivery point. Of course, after the first robot completes delivery to the first delivery point, the current position of the first robot may also be the actual position of the first robot.

[0144] Preferably, a route that corresponds to the first delivery route and covers the remaining nine delivery points where the delivery has not been completed is compared with the determined sub-delivery route, and if the sub-delivery route is found to be superior, a route that combines the actual delivery route from the starting position of the first robot to the first delivery point with the sub-delivery route is determined to be the target delivery route, and if a route that corresponds to the first delivery route and covers the remaining nine delivery points where the delivery has not been completed is superior, the first delivery route is determined to be the target delivery route. Specifically, the superiority or inferiority of the routes can be determined based on rules such as route length and delivery time.

[0145] This method allows a more rational delivery route to be determined in advance in accordance with the delivery process that has actually been carried out previously, and further optimizes the delivery process and improves delivery efficiency.

[0146] In step S604, the first robot is controlled to deliver packages corresponding to one delivery point group to each delivery point in the delivery task based on the target delivery route.

[0147] Step S604 has the same technical features as step S204, and the specific description can refer to step S204, and the description will be omitted here.

[0148] According to the parcel delivery method of the present disclosure, based on the above-mentioned method embodiment, a pre-stored target delivery route corresponding to one of the at least one delivery point group is further obtained, thereby simplifying the processing process, improving the response speed of the delivery task, and improving the delivery efficiency.

[0149] The above method embodiments can be combined with each other, and such combinations also fall within the scope of the present disclosure.

[0150] FIG. 7 is a schematic diagram of a parcel delivery device according to the present disclosure. As shown in FIG. 7, the device includes: an acquisition module 71 for acquiring delivery demands of a plurality of delivery points in a delivery task; and a processing module 72 for dividing the plurality of delivery points into at least one delivery point group according to the delivery demand of each delivery point and the delivery capacity of the robot.

[0151] The processing module 72 further determines a target delivery route corresponding to one of the at least one delivery point group.

[0152] The processing module 72 further controls the first robot to deliver packages corresponding to one delivery point group to each delivery point in the delivery task based on the target delivery route.

[0153] Preferably, the processing module 72 specifically determines whether there is a saturated delivery point among the multiple delivery points whose delivery demand is greater than the delivery capacity of the robot, and if there is a saturated delivery point, determines the difference between the delivery demand of the saturated delivery point and the delivery capacity of the robot as the new delivery demand of the saturated delivery point, and divides the multiple delivery points into at least one delivery point group according to the new delivery demand of the saturated delivery point, the delivery demand of other delivery points among the multiple delivery points other than the saturated delivery point, and the delivery capacity of the robot.

[0154] Preferably, the processing module 72 specifically determines whether the sum of the new delivery demand of the saturated delivery point and the delivery demands of other delivery points other than the saturated delivery point among the plurality of delivery points is greater than the delivery capacity of the robot, and if the sum is greater than the delivery capacity of the robot, divides the plurality of delivery points into at least one delivery point group according to the new delivery demand of the saturated delivery point, the delivery demands of other delivery points other than the saturated delivery point among the plurality of delivery points, and the delivery capacity of the robot.

[0155] Preferably, the processing module 72 determines multiple delivery points as a delivery point group if the sum is less than or equal to the delivery capacity of the robot.

[0156] Preferably, the processing module 72 specifically obtains location information of each delivery point, selects a first number of delivery points as first cluster centers, determines a distance between the location information of each delivery point and each first cluster center, clusters all delivery points according to the distance to form a first number of first delivery point groups, determines a group delivery demand of each first delivery point group according to the delivery demand of each delivery point in each first delivery point group, and determines at least one delivery point group according to each group delivery demand, the delivery capacity of the robot and the first number of first delivery point groups.

[0157] Preferably, the processing module 72 specifically compares each group delivery demand with the delivery capacity of the robot, and if each group delivery demand is less than or equal to the delivery capacity of the robot, determines a first number of first delivery point groups as at least one delivery point group.

[0158] Preferably, the processing module 72 specifically compares each group delivery demand with the robot's delivery capacity, and if at least one group delivery demand is greater than the robot's delivery capacity, selects a second number of delivery points greater than the first number as second cluster centers, re-clusters all delivery points to obtain second delivery point groups, and determines the second number of second delivery point groups as at least one delivery point group.

[0159] Preferably, the processing module 72 specifically compares each group delivery demand with the robot's delivery capacity, and if at least one group delivery demand is greater than the robot's delivery capacity, determines the delivery point group in the first delivery point group whose group delivery demand is greater than the robot's delivery capacity as a third delivery point group, and re-clusters each delivery point in the third delivery point group according to the location information, delivery demand, and delivery capacity of each delivery point in the third delivery point group to form at least one fourth delivery point group, and determines the delivery point groups in the first delivery point group other than the third delivery point group and the fourth delivery point group as at least one delivery point group.

[0160] Preferably, before selecting the first number of delivery points as the first cluster centers, the processing module 72 determines the total delivery demand of all delivery points according to the delivery demand of each delivery point, and determines a first number that is an integer greater than or equal to the ratio according to the ratio between the total delivery demand and the delivery capacity of the robot.

[0161] Preferably, the processing module 72 specifically acquires location information of a first robot corresponding to one of the at least one delivery point group, and determines a target delivery route based on the location information of each delivery point in the one delivery point group and the location information of the first robot.

[0162] Preferably, the processing module 72 specifically determines a distance matrix corresponding to one delivery point group, including the distance between the position of each delivery point in one delivery point group and the position information of the first robot; randomly generates an initial route corresponding to the delivery point group based on the distance matrix; iterates the initial route based on the distance matrix, stops the iteration when a preset condition is met; and determines a target delivery route based on the iteration result.

[0163] Preferably, the processing module 72 specifically obtains a target delivery route corresponding to one delivery point group among the at least one delivery point group pre-stored.

[0164] Preferably, the delivery point group includes P delivery points, and before obtaining the target delivery route corresponding to one of the at least one pre-stored delivery point groups, the processing module 72 further determines a first delivery route based on the location information of each delivery point in one of the at least one delivery point groups and the location information of the first robot, controls the first robot to deliver the package corresponding to the delivery task to the Qth delivery point in the delivery point group based on the first delivery route, and determines and stores the target delivery route based on the location information of a number of delivery points in the delivery point group (P minus Q) that have not completed delivery and the starting location information of the first robot.

[0165] Preferably, the processing module 72 specifically determines a second delivery route based on location information of a first delivery point in the delivery point group that has not yet completed delivery and current location information of the first robot in the process of controlling the first robot to deliver a package corresponding to the delivery task to a delivery point in the delivery point group based on a target delivery route, and controls the first robot to deliver the package corresponding to the delivery task to a first delivery point in the delivery point group that has not yet completed delivery based on the second delivery route.

[0166] Preferably, the processing module 72 further determines a first robot from the plurality of robots whose distance to the delivery point group is less than or equal to a predetermined value based on the location information of the delivery points within the delivery point group and the location information of each of the plurality of robots.

[0167] Preferably, the packages corresponding to the delivery task are located on a transportation line, and the processing module 72 further determines a delivery order of the delivery points in the delivery point group based on the target delivery route, determines a delivery order of the packages based on the packages required at each delivery point and the delivery order, controls the second robot to transport the packages to the transportation line sequentially according to the delivery order, and controls the first robot to retrieve the packages from the transportation line.

[0168] Preferably, the parcels corresponding to the delivery task are located in a temporary storage shelf, and the processing module 72 further determines the parcels corresponding to the delivery point group based on the delivery task and controls the first robot to retrieve the parcels from the temporary storage shelf.

[0169] The luggage delivery device can execute the luggage delivery method described above, and the content and effects thereof can be referred to in the method embodiments, and the description thereof will be omitted here.

[0170] 8 is a schematic configuration diagram of an electronic device according to the present disclosure. As shown in FIG. 8, the electronic device of this embodiment includes a processor 81 and a memory 82, and the processor 81 is connected to communicate with the memory 82. The memory 82 stores a computer program. The processor 81 invokes the computer program stored in the memory 82 to implement the method of the above embodiment.

[0171] Preferably, the electronic device further includes a transceiver 83 configured to communicate with other devices.

[0172] The electronic device can execute the above-mentioned package delivery method, and the content and effects thereof can be referred to in the method embodiments, and the description thereof will be omitted here.

[0173] The present disclosure further provides a computer-readable storage medium having stored thereon computer-executable instructions that, when executed by a processor, implement the method of any of the above method embodiments.

[0174] When the computer-executable instructions stored in the computer-readable storage medium are executed by a processor, the above-mentioned parcel delivery method can be realized, and for the content and effects thereof, please refer to the method examples section, and the description will be omitted here.

[0175] The present disclosure further provides a computer program product comprising computer programs / instructions which, when executed by a processor, implement the method in any of the above method embodiments.

[0176] When the computer-executable instructions stored in the computer-readable storage medium are executed by a processor, the above-mentioned parcel delivery method can be realized, and for the content and effects thereof, please refer to the method examples section, and the description will be omitted here.

[0177] Finally, it should be explained that the above embodiments are merely for illustrating the technical solutions of the present disclosure, and are not limiting. Although the present disclosure has been described in detail with reference to the above embodiments, it should be understood by those skilled in the art that the technical solutions described in the above embodiments may still be modified, or all or part of the technical features may be replaced with equivalents, and such modifications or replacements will not deviate from the scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. An electronic device comprising: obtaining delivery demands for a plurality of delivery points in a delivery task; Dividing the plurality of delivery points into at least one delivery point group according to the delivery demand of each delivery point and the delivery capacity of a robot; determining a target delivery route corresponding to one of the at least one delivery point group; and controlling a first robot in the delivery task to deliver packages corresponding to the one delivery point group to each delivery point in the one delivery point group based on the target delivery route; The step of dividing the plurality of delivery points into at least one delivery point group according to the delivery demand of each delivery point and the delivery capacity of the robot, determining whether there is a saturation point among the plurality of delivery points where the delivery demand is greater than the delivery capacity of the robot; If the saturated delivery point exists, determining a difference between the delivery demand of the saturated delivery point and the delivery capacity of the robot as a new delivery demand of the saturated delivery point; and dividing the plurality of delivery points into at least one delivery point group according to a new delivery demand of the saturated delivery point, delivery demands of other delivery points among the plurality of delivery points other than the saturated delivery point, and a delivery capacity of a robot. A method for delivering luggage characterized by the above.

2. The step of dividing the plurality of delivery points into at least one delivery point group according to a new delivery demand of the saturated delivery point, delivery demands of other delivery points among the plurality of delivery points other than the saturated delivery point, and a delivery capacity of a robot, includes: determining whether a sum of a new delivery demand of the saturated delivery point and delivery demands of other delivery points among the plurality of delivery points other than the saturated delivery point is greater than a delivery capacity of the robot; If the sum is greater than the delivery capacity of the robot, dividing the plurality of delivery points into at least one delivery point group according to a new delivery demand of the saturated delivery point, delivery demands of other delivery points among the plurality of delivery points other than the saturated delivery point, and a delivery capacity of the robot.

2. The method of claim 1 .

3. If the sum is equal to or less than the delivery capacity of the robot, determining the plurality of delivery points as one delivery point group.

3. The method of claim 2.

4. The step of dividing the plurality of delivery points into at least one delivery point group according to delivery demands of the delivery points and delivery capacity of the robot includes: acquiring location information for each of the delivery points; selecting a first number of said delivery points as first cluster centers; determining a distance between location information of each of the delivery points and each of the first cluster centers; clustering all of the delivery points according to the distances to form a first number of first delivery point groups; determining a group delivery demand for each of the first delivery point groups according to the delivery demand of each delivery point in each of the first delivery point groups; determining at least one of the delivery point groups in response to each of the group delivery demands, the delivery capacity of the robot, and the first number of first delivery point groups; 3. The method according to claim 1 or 2.

5. determining at least one of the delivery point groups in response to each of the group delivery demands, the delivery capacity of the robot, and the first number of first delivery point groups, comparing each of the group delivery demands with the delivery capacity of the robot, and if each of the group delivery demands is equal to or less than the delivery capacity of the robot, determining the first number of first delivery point groups as at least one of the delivery point groups; 5. The method of claim 4.

6. determining at least one of the delivery point groups in response to each of the group delivery demands, the delivery capacity of the robot, and the first number of first delivery point groups, The method includes the steps of: comparing each of the group delivery demands with the delivery capacity of the robot; if at least one of the group delivery demands is greater than the delivery capacity of the robot, selecting a second number of the delivery points greater than the first number as second cluster centers; and re-clustering all the delivery points to obtain a second number of second delivery point groups; and determining the second number of second delivery point groups as at least one of the delivery point groups.

5. The method of claim 4.

7. determining at least one of the delivery point groups in response to each of the group delivery demands, the delivery capacity of the robot, and the first number of first delivery point groups, comparing each of the group delivery demands with the delivery capacity of the robot, and if at least one of the group delivery demands is greater than the delivery capacity of the robot, defining the delivery point group of the first delivery point group whose group delivery demand is greater than the delivery capacity of the robot as a third delivery point group, and clustering each delivery point in the third delivery point group again according to the location information and delivery demand of each delivery point in the third delivery point group and the delivery capacity of the robot to form at least one fourth delivery point group; determining a delivery point group other than the third delivery point group among the first delivery point group and the fourth delivery point group as at least one of the delivery point groups, 5. The method of claim 4.

8. Before selecting a first number of the delivery points as first cluster centers, the method further comprises: determining an overall delivery demand for all of said delivery points according to the delivery demand of each of said delivery points; and determining the first number, which is an integer equal to or greater than a ratio between the total delivery demand and the delivery capacity of the robot, according to the ratio.

5. The method of claim 4.

9. at least one processor; a memory communicatively coupled to the at least one processor; The memory stores instructions executable by at least one of the processors, and when executed by the at least one processor causes the at least one processor to perform the method of any one of claims 1 to 8. A server characterized by:

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