CN108665217A - Point-to-point hierarchical cargo immediate distribution system, method and application - Google Patents
Point-to-point hierarchical cargo immediate distribution system, method and application Download PDFInfo
- Publication number
- CN108665217A CN108665217A CN201810478470.7A CN201810478470A CN108665217A CN 108665217 A CN108665217 A CN 108665217A CN 201810478470 A CN201810478470 A CN 201810478470A CN 108665217 A CN108665217 A CN 108665217A
- Authority
- CN
- China
- Prior art keywords
- equipment
- sub
- place
- female
- user
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/083—Shipping
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07B—TICKET-ISSUING APPARATUS; FARE-REGISTERING APPARATUS; FRANKING APPARATUS
- G07B17/00—Franking apparatus
- G07B17/00016—Relations between apparatus, e.g. franking machine at customer or apparatus at post office, in a franking system
- G07B17/0008—Communication details outside or between apparatus
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07B—TICKET-ISSUING APPARATUS; FARE-REGISTERING APPARATUS; FRANKING APPARATUS
- G07B17/00—Franking apparatus
- G07B17/00733—Cryptography or similar special procedures in a franking system
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07B—TICKET-ISSUING APPARATUS; FARE-REGISTERING APPARATUS; FRANKING APPARATUS
- G07B17/00—Franking apparatus
- G07B17/00016—Relations between apparatus, e.g. franking machine at customer or apparatus at post office, in a franking system
- G07B17/0008—Communication details outside or between apparatus
- G07B2017/00112—Wireless
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07B—TICKET-ISSUING APPARATUS; FARE-REGISTERING APPARATUS; FRANKING APPARATUS
- G07B17/00—Franking apparatus
- G07B17/00733—Cryptography or similar special procedures in a franking system
- G07B2017/00935—Passwords
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Business, Economics & Management (AREA)
- Engineering & Computer Science (AREA)
- Economics (AREA)
- Theoretical Computer Science (AREA)
- Human Resources & Organizations (AREA)
- Entrepreneurship & Innovation (AREA)
- Development Economics (AREA)
- Marketing (AREA)
- Operations Research (AREA)
- Quality & Reliability (AREA)
- Strategic Management (AREA)
- Tourism & Hospitality (AREA)
- General Business, Economics & Management (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The cargo immediate distribution system of hierarchical, female equipment, sub- equipment, mster-control centre and corresponding allocator, cargo immediate distribution system include mster-control centre, female equipment and sub- equipment, and mster-control centre receives user's order and distributes to female equipment；Determine that mother's equipment takes the place of article, the place for putting down sub- equipment, the place for recycling sub- equipment；And really stator-device waits for the place that user takes the place of article, itself is waited for be recovered；Assignment of password gives sub- equipment and user；Female equipment carries multiple sub- equipment, traveling to each appointed place puts down corresponding sub- equipment and recycles sub- equipment；Sub- equipment bearing article, is moved to the place for waiting for user to take article after being released, certification user allows user to take article away, then moves to collection site.High-speed equipment is combined in the low-cost advantage of high speed and low-speed device on the broad road, the transport power for compensating for the dispatching of pure manpower is insufficient, compared to existing unmanned delivery system at double improve dispatching efficiency.
Description
Technical field
The present invention relates generally to logistics field, more particularly to intelligentized point-to-point article immediate distribution system, originally
Invention can be used for for example with city immediate distribution, especially apart from the high dispatching of short, the frequency, for example, such as take-away, cake, fresh
The dispatching of flower, drug, urgent needs, forgetting article, urgent file etc..
Background technology
In existing same city immediate distribution system, in order to promote dispatching efficiency while ensure that user can receive article as early as possible,
A usual dispatching person will receive several orders in a wheel dispatching, needs to dispense within the short time as possible and complete.It receives and orders
Dan Hou, dispatching person can first go businessman to take the article of all orders successively, then successively dispense all orders.It should match in the process
Being sent to user, equal users take article to occupy the considerable time afterwards downstairs.
In recent years the increase of domestic human cost, dispatching person's number increase of low income far can not meet same city and dispense in time
The growth in market.Unmanned delivery system slowly starts to occur to supplement the deficiency of transport power.
In existing unmanned delivery system, substantially unmanned machine (such as vehicle, unmanned plane) takes from businessman
Then article is dispensed directly into user appointed place and user is waited for take article.And existing unmanned dispensing device has low speed and height
Two kinds of speed.Low-speed device can be travelled, but speed is relatively low to be caused to dispense using inexpensive sensor on the paths such as pavement
Time is longer；High-speed equipment uses high cost sensor, and technology is not mature enough, it is difficult to travel into complexity such as cell, campuses
Environment, therefore, it is difficult to generally applicable.
Existing unmanned delivery system is usually applied to end sortation hubs, solves the problems, such as the dispatching of last one kilometer, and
And intelligent and the degree of automation is not high, does not utilize the advantage of existing unmanned machine.
Invention content
In view of the foregoing, it is proposed that the present invention.
According to an aspect of the invention, there is provided a kind of cargo immediate distribution system of hierarchical, be characterized in that include
Means of transport type mother equipment and multiple robot formula equipment in mster-control centre, multiple cities, mster-control centre, female equipment and
It is carried out wireless communication between sub- equipment, mster-control centre includes processor and memory, and computer is stored in memory to be held
Line code, the computer-executable code are operable to execute operations described below when being executed by processor：User's order is received, it will
Order splitting gives female equipment；Determine that mother's equipment takes that the place of sub- equipment is put down in the place of article, female equipment, female equipment recycling is set
Standby place simultaneously notifies female equipment；And really stator-device waits for user that the place of article, sub- equipment is taken to wait for and itself being recovered
Place and notify sub- equipment；Assignment of password gives sub- equipment and user, so that sub- device authentication user is to allow user to take object away
Product；Businessman is reminded to be put into article；User is reminded to take article away；Female equipment can carry multiple sub- equipment, traveling is put down to each
It puts down corresponding sub- equipment, the collection site of traveling to each sub- equipment and recycles sub- equipment in the place of sub- equipment；Sub- equipment includes
Processor, memory, moving cell, positioning unit and environment sensing unit, sub- equipment can bearing article, put by female equipment
The place for waiting for user to take article is moved to after going out, certification user then moves to waiting itself to allow user to take article away
The place being recovered waits for and being recycled by female equipment, and the moving area of neutron equipment is less than the moving area of female equipment.
Optionally, mster-control centre monitors position and the load condition of all female equipment and sub- equipment, and monitoring road
Information；Mster-control centre optimizes calculating, and the average female equipment of an order, sub- equipment displacement distance are dispensed to minimize, with
And minimize the one order average cost time of dispatching.
Optionally, the context aware systems of sub- equipment include：Laser radar, millimetre-wave radar, camera, depth camera
One in head, binocular camera, GPS, IMU or combination.
Optionally, for sub- equipment by female equipment when the place that female equipment puts down sub- equipment is put down, mster-control centre is logical
Know that user takes article in the scheduled time to appointed place, and when sub- equipment reaches and user is waited for take the place of article, master control
Center processed notifies user again；And if it is more than certain time to wait for user to take article, it is considered as user and cancels an order, son is set
The specified collection site waiting in standby return mster-control centre is recycled by female equipment.
Optionally, after sub- equipment is assigned order, mster-control centre generates two passwords, and a password is sent to businessman,
Sub- equipment, which is opened, for businessman is put into article；Another is sent to user, opens sub- equipment for user and takes article away.
Optionally, the form of password includes number, character string, bar code, Quick Response Code, the types of facial makeup in Beijing operas, speech manual, pupil, fingerprint
Any one of.
Optionally, female equipment includes positioning unit, environment sensing unit, processor and memory.
Optionally, female equipment is the city incity vehicles, and sub- equipment is miniature mobile robot.
Optionally, female equipment is city incity unmanned vehicle.
Optionally, female equipment sends oneself state to mster-control centre, and oneself state includes unavailable, idle, takes article
On the way, send article on the way, return one of on the way.
Optionally, sub- equipment sends oneself state to mster-control centre, and oneself state includes unavailable, hollow in female equipment
Spare time takes article to send article that article on the way, is independently sent on the way, independently to wait in user, solely on the way, in female equipment in female equipment
It is vertical to return in collection site, independent wait for by the recycling of female equipment, return in female equipment one of on the way.
According to another aspect of the present invention, a kind of mobile robot is provided, is suitable for together with female equipment, mster-control centre
Collaboration carries out cargo immediate distribution, and mobile robot includes：Processor, memory, mobile unit, sensing unit, communication unit,
Load bearing unit, the load bearing unit are suitable for bearing article, and the communication unit is suitable for communicating with female equipment, mster-control centre, institute
Mobile robot is stated to be operable to carry out operations described below：It is assigned order, hold corresponding with order is received by load bearing unit
Loading product；The first place close to dispatching user is checked by female equipment and after putting down, using mobile unit be moved to it is equal for use
Family takes the place of article；Certification user is to allow user to take article away；The place for waiting for and itself being recovered is then moved to, to wait for
It is recycled by female equipment.
In accordance with a further aspect of the present invention, a kind of mster-control centre controlling hierarchical with city immediate distribution, packet are provided
Processor and memory are included, computer-executable code is stored in memory, the code is operable when being executed by processor
To execute operations described below：The order information for receiving user, distributes to female equipment；Determine that mother's equipment takes the place of article, female equipment
Put down the place of sub- equipment, female equipment recycles the place of sub- equipment and notifies the true stator-device of female equipment and mster-control centre
User is waited for take the place of article, sub- equipment to wait for the place itself being recovered and notify sub- equipment；Assignment of password gives sub- equipment
And user；After female equipment takes strap arrangements to businessman, businessman is reminded to be put into article in sub- equipment；It is travelled in female equipment to putting
After sub- equipment is put down in the place of lower sub- equipment, user is reminded to take article away.
According to another aspect of the present invention, the means of transport in a kind of hierarchical cargo immediate distribution system, packet are provided
Containing positioning unit, environment sensing unit, memory and controller, means of transport carries out channel radio with mster-control centre and sub- equipment
Letter, is performed based on the computer-executable code stored in memory and carries out operations described below：Traveling to mster-control centre refers to
Fixed merchant site carries sub- equipment so that businessman places an article in sub- equipment；Specify each in traveling to mster-control centre
Corresponding sub- equipment is put down in place；After having put down all sub- equipment, according to the path of systems organization, go in each master control
The specified place of the heart, recycles sub- equipment；And merchant site is returned, start next round dispatching.
According to a further aspect of the invention, it provides the control that a kind of mster-control centre executes and carries out control with city immediate distribution
Method processed, including：The order information for receiving user, distributes to female equipment；Determine that mother's equipment takes the place of article, female equipment to put down
The place of sub- equipment, female equipment recycle the place of sub- equipment and the true stator-device of female equipment and mster-control centre are notified to wait for
User takes the place of article, sub- equipment to wait for the place itself being recovered and notifies sub- equipment；Assignment of password gives sub- equipment and use
Family；After female equipment takes strap arrangements to businessman, businessman is reminded to be put into article in sub- equipment；It is travelled in female equipment to putting down son
After sub- equipment is put down in the place of equipment, user is reminded to take article away.
According to a further aspect of the present invention, a kind of method for the assistance cargo immediate distribution that female equipment executes is provided, including：
It travels the merchant site specified to mster-control centre and carries sub- equipment so that businessman places an article in sub- equipment；It travels to total
Corresponding sub- equipment is put down in the specified each place of control centre；After having put down all sub- equipment, according to the road of systems organization
Diameter, the place for going to each mster-control centre specified, recycles sub- equipment；And merchant site is returned, start next round dispatching.
According to another aspect of the present invention, a kind of side that the assistance that mobile robot executes dispenses in time with city is provided
Method, including：Receive bearing article corresponding with order by load bearing unit；First close to dispatching user is checked by female equipment
Place and after putting down, the place for waiting for user to take article is moved to using mobile unit；Certification user is to allow user to take article away；
The place for waiting for and itself being recovered is then moved to, is recycled by female equipment with waiting for.
According to another aspect of the present invention, a kind of cargo immediate distribution method of hierarchical is provided, using in master control
The heart, means of transport type mother equipment, robot formula equipment collaboration carry out, and the cargo immediate distribution method includes：In master control
The heart receives order, and distributes order to female equipment；Mster-control centre or female equipment distribute order to sub- equipment；Mster-control centre is true
Mother's equipment takes the place of article, female equipment to put down the place of sub- equipment calmly, female equipment recycles the place of sub- equipment；Sub- equipment waits for
User takes the place of article, sub- equipment to wait for the place itself being recovered and notifies sub- equipment；Assignment of password gives sub- equipment and use
Family；Sub- equipment receives bearing article from businessman, and sub- equipment is carried by female equipment；Female sub- equipment of equipment conveying dispenses user to close
The first place, sub- equipment is put down；Sub- equipment carries bearing article and is moved to the place for waiting for user to take article；In user
After taking bearing article away, sub- equipment is moved to waiting and itself is recycled by female equipment；Female equipment recycles sub- equipment, returns to businessman simultaneously
Start next round dispatching.
The same city immediate distribution system of hierarchical proposed by the present invention, by female equipment of high speed, the sub- equipment of low speed, total
Cooperation between control centre, the approach for point-to-point immediate distribution of setting up between businessman and user, combines high-speed equipment
In the low-cost advantage of high speed and low-speed device on the broad road, the transport power for compensating for pure manpower dispatching is insufficient, compared to existing
Unmanned delivery system at double improve dispatching efficiency.
Description of the drawings
From the detailed description below in conjunction with the accompanying drawings to the embodiment of the present invention, these and/or other aspects of the invention and
Advantage will become clearer and be easier to understand, wherein：
Fig. 1 shows the structure diagram of goods delivery system according to the ... of the embodiment of the present invention.
Fig. 2 shows the overview flow charts of female equipment according to the ... of the embodiment of the present invention, show female equipment in a wheel dispatching
In workflow.
Fig. 3 shows the flow chart of sub- equipment according to the ... of the embodiment of the present invention, gives in system a sub- equipment one
Workflow in wheel dispatching.
Fig. 4 is mster-control centre's flow chart according to the embodiment of the present invention, gives mster-control centre in system and is taken turns one
Workflow in dispatching.
Fig. 5 is the interaction schematic diagram according to the mster-control centre and female equipment, sub- equipment of the embodiment of the present invention.
Fig. 6 is the user equipment flow chart according to the embodiment of the present invention, gives a user equipment in an order
Operating process.
Fig. 7 is the merchant device flow chart according to the embodiment of the present invention, gives a merchant device in an order
Flow.
Fig. 8 is the sequence diagram according to the embodiment of the present invention, gives female equipment, sub- equipment, mster-control centre, a user
The flow and interactive examples of equipment, merchant device in an order.
Specific implementation mode
In order to make those skilled in the art more fully understand the present invention, with reference to the accompanying drawings and detailed description to this hair
It is bright to be described in further detail.
It will be hereinafter described by taking same city immediate distribution system as an example, but the invention is not limited in be only applied to one
A urban inner, in the case where meeting time requirement, the dispatching that can also be applied in the closer several city scopes of distance,
But the present invention be point-to-point dispatching, and unconventional cargo consolidation to the express delivery collecting and distributing centre in some city or city again into
The case where one step dispersion dispatching.
Before introduction, explain in relation to term meaning herein.
Point-to-point indicates in a city that summary responses carry out in time in the demand of user with city immediate distribution system
The system of dispatching is the point-to-point dispatching from cargo from businessman to user.
Fig. 1 is to constitute schematic diagram according to the overall of goods delivery system 100 of the embodiment of the present invention, gives the present invention's
Female equipment, sub- equipment, the relationship in mster-control centre in one example.As shown in Figure 1, including total with city immediate distribution system 100
Control centre 110, one or more female equipment 120 and one or more sub- equipment 130 pass through wireless connection between three.
Here mster-control centre 110 can be that integrated form computing device such as server or Distributed Calculation fill
It sets, such as cloud service.
Female equipment 120 can be intelligent city's means of transport, such as pilotless automobile can be according to mster-control centre
Scheduling and path planning are taken action, or female equipment also can independently carry out path planning, and female equipment 120 has and is used for
Receive and put down the component of sub- equipment 130.Alternatively, female equipment 120 may be to need human assistance driving and artificial assistance
Receive and put down the means of transport of sub- equipment 130.Female equipment 120 can include positioning unit, environment sensing unit, processor and
Memory.
Sub- equipment 130 can be transportation type robot, such as intelligent carriage, can independently carry out path planning and environment sense
Know, or receives the path planning in mster-control centre 110.Sub- equipment can include processor, memory, moving cell, positioning
Unit and environment sensing unit, sub- equipment being capable of bearing articles.Related environment sensing unit includes such as laser radar, infrared
One in line, laser radar, millimetre-wave radar, camera, depth camera, binocular camera, GPS, IMU or combination.
Mster-control centre 110 can be responsible for receiving from female equipment 120, sub- equipment 130, user equipment, merchant device
Information, and distribute order, transmission order etc. to female equipment 120, sub- equipment 130, user equipment, merchant device.
An exemplary operation circulation process with city immediate distribution system 100 is that mster-control centre receives multiple orders,
By several Order splittings therein, certain determines that female equipment, several sub- equipment, and instruction corresponding merchant equipment prepare cargo, female
Several sub- equipment of equipment carrying (can recycle and obtain, or obtained from certain sub- equipment Distribution Center) traveling is to each quotient
Family, each businessman place each cargo to corresponding sub- equipment, and the sub- equipment that female equipment carrying has been placed with cargo starts to send
Goods travels each place specified to mster-control centre, puts down corresponding sub- equipment, after putting down corresponding sub- equipment every time, female equipment
Continue to travel, until next destination for putting down sub- equipment in path planning, puts down corresponding sub- equipment, so continue, until institute
There is sub- equipment releasing to finish.It after sub- equipment is released, is autonomous mobile to and user is waited for take the place of article, such as sub- equipment is female
Cell doorway where equipment is discarded to user, then the sub- equipment autonomously moves into cell, and travels to waiting user and take object
The place of product, such as building doorway that user is lived, or even upstairs and take the entrance that elevator reaches user, sub- equipment
Such as user is authenticated by verifying the password that user is inputted, the user only after certification is just allowed to take away
Article；Confirm that sub- equipment is back to the place for waiting for female equipment to recycle itself, such as cell door after user takes kinds of goods away
Mouthful, waiting is recycled by female equipment, and female equipment recycles sub- equipment after travelling to the place, subsequently into the dispatching of next round.
Fig. 5 shows the interaction schematic diagram in mster-control centre 110 and female equipment 120, sub- equipment 130.Mster-control centre 110
Be sent to female equipment 120 order and/or information may include female equipment 120 receive order (distribute to female equipment in other words
120 order), the driving path of female equipment 120, female equipment 120 take the place of article, female equipment 120 to put down the ground of sub- equipment
Point, female equipment 120 recycle the place etc. of sub- equipment.Mster-control centre 110 is sent to the order of sub- equipment 130 and/or information can
With the mobile route of the order (order for distributing to sub- equipment 130 in other words), sub- equipment 130 that are received including sub- equipment 130, etc.
Wait for that user takes the place of article, sub- equipment 130 to wait for the password etc. in the place, sub- equipment 130 that itself are recovered, password is used for
Certification user, only in the case where user is by certification, sub- equipment can just allow user to take article away.Female equipment 120 is sent to always
The state of control centre 110 can be unavailable, idle, take article on the way, send article on the way, return one of on the way.Sub- equipment
130 states for being sent to mster-control centre 110 are unavailable, in female equipment 120 it is idle, article way is taken in female equipment 120
In, send in female equipment 120 article on the way, independently send article on the way, it is independent wait in user, it is independent return in collection site,
It is independent to wait for by the recycling of female equipment 120, return in female equipment 120 one of on the way.
Fig. 2 shows the assistance performed by female equipment 120 according to the ... of the embodiment of the present invention with city immediate distribution method 200
Overview flow chart.
As shown in Fig. 2, in step S210, the place that female equipment 120 goes to mster-control centre specified takes commodity, herein refers to
Fixed place is usually businessman location, such as in the case where sending food and drink take-away with charge free, place can be restaurant.
In step S220, female equipment determines whether to have taken the corresponding commodity of all distributed orders, such as judgement knot
Fruit is no, then continues to execute step S210, that is, continues to next place and take commodity, such as judges that result is yes, then enters step
S230 just enters step S230, Ye Jiqu in other words after the article that female equipment 120 takes all specified businessmans of a wheel
After the article of all specified businessmans of a complete wheel, just start to send with charge free.
In step S230, female equipment 120 goes to system appointed place to put down or recycle sub- equipment 130.
In step S240, female equipment 120 judges whether to have arrived at all system appointed places, completes and puts down son and set
For task and climax equipment recycling task has been completed, after reaching all appointed places of system if it is i.e. female equipment 120, one
It takes turns flow to complete, otherwise female equipment continues to execute step S230.
In the illustrated example shown in fig. 2, during collecting the commodity of each businessman, do not carry out sub- equipment put down or
Reclaimer operation, but this is example, rather than as limitation, alternatively, in the process, putting down for sub- equipment can also be carried out
Or reclaimer operation, for example, sub- equipment 1 has collected commodity 1 in female equipment, sub- equipment 2 has collected commodity 2, female at present
Equipment in the road of picking product 3, then if road by sub- equipment 1 put down place or sub- equipment 2 put down place, can be with
Put down the operation of sub- equipment 1 or sub- equipment 2；Likewise, it is assumed that in the road of picking product 4, returning for sub- equipment 1 have passed through
Receive the collection site of place or sub- equipment 2, and sub- equipment 1 or sub- equipment 2 such as have been at the state to be recycled, then can carry out
It recycles sub- equipment 1 or recycles the operation of sub- equipment 2.
It should be noted that female equipment can just carry out sub- equipment recycling after carrying out all sub- equipment first and releasing
It operates, it can also sub- equipment releasing and the recycling intersection progress of sub- equipment.In addition, it is necessary to explanation, what a female equipment recycled
Sub- equipment is not necessarily the sub- equipment previously itself released, but can be the sub- equipment that other female equipment are released.
Fig. 3 shows overview flow chart of the assistance performed by sub- equipment 130 with city immediate distribution method 300.
As shown in figure 3, in step S310, sub- equipment 130 receives article corresponding with order, and obtains article letter
Breath.
In step s 320, sub- equipment 130 is released in system appointed place by female equipment 120, and self-navigation takes to user
Article place waits for user to take article.
In step S330, after user for example takes article using password by certification, 130 self-navigation of sub- equipment is arrived
System specifies collection site.
In step S340, the waiting of sub- equipment 130 is recycled by female equipment 120.
After sub- equipment 130 is recycled by female equipment 120, start next round.
Fig. 4 shows that the control performed by mster-control centre 110 according to the ... of the embodiment of the present invention is carried out with city immediate distribution
The exemplary overview flow chart of method 400.
As shown in figure 4, in step S410, mster-control centre 110 receives user's order.
In the step s 420, mster-control centre 110 distributes order to female equipment 120, next by female equipment 120 by order
Distribute to oneself carrying sub- equipment or mster-control centre by Order splitting give sub- equipment.Mster-control centre persistently repeats
While step S410 and S420, in step S430, mster-control centre 110 plans the path of female equipment 120, sub- equipment 130,
Female equipment 120 takes the place of article, and female equipment 120 puts down the place of sub- equipment, mother's equipment recycles place and the notice of sub- equipment
Female equipment and 110 true stator-device of mster-control centre wait for user that the place of article, sub- equipment is taken to wait for and itself being recovered
Place simultaneously notifies sub- equipment.
In step S440, mster-control centre 110 generates password, is sent to sub- equipment 130 and user and (such as passes through transmission
Password notifies user to user equipment).
When there is the arrival of female equipment 120 to take article place, female equipment notifies mster-control centre, in step S450, master control
Businessman's (such as by sending information to merchant device) is reminded to be put into article in center 110 processed.
When there is the arrival user of sub- equipment 130 to take article place, sub- equipment notifies mster-control centre, in step S460,
User is reminded to take article away in mster-control centre.
It should be noted that the state of mster-control centre's monitoring female equipment and sub- equipment, life is sent out according to status information
It enables.Specifically, female equipment sends oneself state to mster-control centre, oneself state includes unavailable, idle, take article on the way,
Send article on the way, return one of on the way.Specifically, sub- equipment sends oneself state to mster-control centre, and oneself state includes not
Can with, in female equipment it is idle, take in female equipment article send on the way, in female equipment article on the way, independently send article on the way,
It is independent wait in user, it is independent return in collection site, it is independent wait for by the recycling of female equipment, return in female equipment on the way it
One.
For example, sub- equipment by female equipment when appointed place is put down, female equipment or sub- equipment notify mster-control centre, always
Control centre notifies user to take article in the scheduled time to appointed place, and the ground for waiting for user to take article is reached in sub- equipment
When point, sub- equipment notifies mster-control centre, mster-control centre to notify user again, is more than as fruit equipment waiting user takes article
Certain time is then considered as user and cancels an order, and sub- equipment returns to the specified collection site in mster-control centre and waits for by female equipment time
It receives.
Fig. 6 shows the flow chart of operation 600 of the user in the same city immediate distribution method of hierarchical.In step S610
In, it places an order to mster-control centre 110.In step S620, receive the transmission of mster-control centre 110 takes article password, son to set
Standby 130 number.In step S630, the article arriving reminding of the transmission of mster-control centre 110 is received.In step S640, according to
The number of sub- equipment 130 finds sub- equipment 130, checks order information, article is got with password.
Fig. 7 shows the flow chart of operation 700 of the businessman in the same city immediate distribution method of hierarchical.In step S710
In, the user for receiving the transmission of mster-control centre 110 places an order request, begins preparing for article.In step S720, receive in master control
The number of female equipment 120 and sub- device numbering that the heart 110 is sent.In step S730, the mother for receiving the transmission of mster-control centre 110 sets
Standby 120 reach information, place an article within the sub- equipment 130 in female equipment 120, sub- equipment herein can be that businessman chooses at random
Free time sub- equipment binding is completed between sub- equipment and order, and this binding information is sent in master control after businessman selects
The heart can also be alternatively that mster-control centre carries out being associated with (binding) between sub- equipment and order first, then by the association
(binding) information is sent to businessman, and businessman is associated with according to this
(binding) places an article within associated sub- equipment.In step S740, tracking order is to being sent to user.
Fig. 8 shows that mster-control centre 110 according to the ... of the embodiment of the present invention, female equipment 120, the collaboration of sub- equipment 130 carry out
The sequence diagram of the same city immediate distribution method 800 of hierarchical.
As shown in figure 8, in step S801, user places an order to mster-control centre 110.In step S802, master control
Center 110 receives user's order.In step S803, mster-control centre 110 distributes order to female equipment 120, and sends and order
Single, female device numbering gives corresponding trade company.In step S804, the user that businessman receives the transmission of mster-control centre 110 places an order and asks
It asks, begins preparing for article.In step S805, mster-control centre 110 plans the path of female equipment 120, sub- equipment 130, takes object
The place of sub- equipment, the place of the sub- equipment of recycling are put down in product place (being, for example, businessman).In step S806, before female equipment 120
Article is taken toward appointed place (such as businessman).In step S807, mster-control centre 110 generates password, is sent to sub- equipment
130, user, while sending sub- device numbering to user.In step S808, businessman receives the mother of the transmission of mster-control centre 110
Equipment 120 is numbered.In step S809, user receives the password of the transmission of mster-control centre 110, sub- equipment 130 is numbered.In step
In S810, the arrival of female equipment 120 takes article place.In step S811, mster-control centre 110 reminds businessman to be put into article.
In step S812, female equipment 120 that businessman receives the transmission of mster-control centre 110 reaches information, places an article in female equipment 120
A free time sub- equipment 130.In step S813, sub- equipment 130 receives article, and obtains Item Information.In step S814
In, female equipment 120 goes to 110 appointed place of mster-control centre.In step S815, female equipment 120 reaches appointed place, releases
Sub- equipment 130.In step S816, sub- equipment 130 is released in 110 appointed place of mster-control centre.In step S817, son
130 self-navigation of equipment takes article place to user.In step S818, female equipment 120 goes to next releasing or recycling
130 place of equipment.In step S819, sub- equipment 130 reaches user and takes article place, and user is waited for take article.In step
In S820, mster-control centre 110 reminds user to take article away.In step S821, user receives the transmission of mster-control centre 110
Article arriving reminding.In step S822, user finds sub- equipment 130 according to the number of sub- equipment 130, checks order information, uses
Password takes article away.In step S823,130 self-navigation of sub- equipment to collection site.In step S824, businessman's tracking is ordered
Single information is until be sent to user.In step S825, sub- equipment 130 reaches collection site, and waiting is recycled by female equipment.In step
In S826, female equipment 120, which reaches, recycles sub- 130 place of equipment.In step S827, female equipment 120 recycles sub- equipment 130.
In step S828, female equipment 120 goes to next releasing or recycles sub- equipment place.
Its neutron equipment is all a function module for female equipment, the sub- equipment of each round mother's equipment recycling and it
The sub- equipment of last round of releasing is not necessarily identical.
It should be noted that about the order that sub- equipment is responsible for, preferably distributed by mster-control centre, but as
Generation can also be that Order splitting is given mother's equipment, female equipment to give Order splitting to sub- equipment again by mster-control centre.
It should be noted that the driving path about female equipment, can be planned by mster-control centre, it can also be in female equipment
After starting point, target point and each intermediate docking point of learning itself, itself planned by female equipment.
It should be noted that the mobile route about sub- equipment, can be planned by mster-control centre, or advised by female equipment
It draws, then can also be planned by sub- equipment itself.
In the example of front, mster-control centre completes user by giving sub- equipment and user equipment to send picking with password
Certification is to ensure that correct user takes article away.Here the form of password there is no limit, can be number, character string,
Bar code, Quick Response Code can also be fingerprint data, pupil data, voice print database, face etc., such as have in mster-control centre
Can be that sub- equipment is equipped with certification finger print data, pupil number in the case of having user's finger print data, pupil data or voice print database
According to or voice print database functional component, thereby certification user.
From existing whole process using the unmanned dispatching of single layer or, the present invention different using nobody dispatching in sortation hubs end
The point-to-point immediate distribution system of the hierarchical of proposition, by between female equipment of high speed, the sub- equipment of low speed, mster-control centre
Cooperation, the approach for point-to-point immediate distribution of setting up between businessman and user combines high-speed equipment in height on the broad road
The low-cost advantage of speed and low-speed device, the transport power for compensating for pure manpower dispatching is insufficient, compares existing unmanned delivery system
At double improve dispatching efficiency, it is especially suitable to the order that time requirement is high for short distance.The point of the embodiment of the present invention
To an immediate distribution system, female equipment is not to wait for sub- equipment after specified point puts down sub- equipment, but continues following
Dispatching, only in the case where not influencing to dispense below, just carrying out the recycling of sub- equipment, (such as sub- equipment is in next dispatching
In phase paths in etc. state to be recycled), or even only after the dispatching for completing oneself all responsible epicycle order
Reclaimer operation is proceeded by, to improve the efficiency of dispatching to the maximum extent, meets user and requires in the given time instant
The requirement of dispatching.
It should be noted that in the example depicted in fig. 8, be described according to the sequence of number in relation to step, but
The description order does not indicate time sequencing, that is, is not that these steps must corresponding sequence is next serially to be executed according to numbering；Phase
Instead, there is no dependences in logic, execution sequence to be arbitrary only between step, such as parallel, or
On time successively can be with number of steps size in turn.
Mster-control centre monitors position and the load condition of all female equipment and sub- equipment, and monitoring road information.Example
If mster-control centre can receive different kinds of roads condition information, totally the walking path of female equipment and sub- equipment is planned, and
The order that programming dispatching mother equipment and sub- equipment are responsible for, the sub- equipment etc. that female equipment is recycled.
Preferably, mster-control centre optimizes calculating, with minimize dispense the average female equipment displacement distance of order,
Average sub- equipment displacement distance, and minimize the one order average cost time of dispatching.
Other than the above method and equipment, embodiments herein can also be computer program product comprising meter
Calculation machine program instruction, it is above-mentioned that the computer program instructions make that the processor executes this specification when being run by processor
The step in the data processing method according to the various embodiments of the application described in " illustrative methods " part.
The computer program product can be write with any combination of one or more programming languages for holding
The program code of row the embodiment of the present application operation, described program design language includes object oriented program language, such as
Java, C++ etc. further include conventional procedural programming language, such as " C " language or similar programming language.Journey
Sequence code can be executed fully, partly execute on a user device, is independent soft as one on the user computing device
Part packet executes, part executes or on a remote computing completely in remote computing device on the user computing device for part
Or it is executed on server.
In addition, embodiments herein can also be computer readable storage medium, it is stored thereon with computer program and refers to
It enables, the computer program instructions make the processor execute above-mentioned " the exemplary side of this specification when being run by processor
The step in the data processing method according to the various embodiments of the application described in method " part.
The arbitrary combination of one or more readable mediums may be used in the computer readable storage medium.Readable medium can
To be readable signal medium or readable storage medium storing program for executing.Readable storage medium storing program for executing for example can include but is not limited to electricity, magnetic, light, electricity
Magnetic, the system of infrared ray or semiconductor, device or device, or the arbitrary above combination.Readable storage medium storing program for executing it is more specific
Example (non exhaustive list) includes：Electrical connection, portable disc with one or more conducting wires, hard disk, random access memory
Device (RAM), read-only memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc
Read-only memory (CD-ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.
Various embodiments of the present invention are described above, above description is exemplary, and non-exclusive, and
It is not limited to disclosed each embodiment.Without departing from the scope and spirit of illustrated each embodiment, for this skill
Many modifications and changes will be apparent from for the those of ordinary skill in art field.Therefore, protection scope of the present invention is answered
This is subject to the protection scope in claims.
Claims (10)
1. a kind of point-to-point cargo immediate distribution system of hierarchical, it is characterized in that including mster-control centre, transports in multiple cities
Defeated tool-type mother equipment and multiple robot formula equipment carry out wireless communication between mster-control centre, female equipment and sub- equipment,
Mster-control centre includes processor and memory, computer-executable code is stored in memory, the computer can
It executes and is operable to execute operations described below when code is executed by processor：User's order is received, gives Order splitting to female equipment；Really
Fixed mother's equipment takes that the place of sub- equipment is put down in the place of article, female equipment, female equipment recycles the place of sub- equipment and mother is notified to set
It is standby；And really stator-device waits for user to take the place of article, sub- equipment to wait for the place itself being recovered and notify sub- equipment；
Assignment of password gives sub- equipment and user, so that sub- device authentication user is to allow user to take article away；Businessman is reminded to be put into article；
User is reminded to take article away；
Female equipment can carry multiple sub- equipment, traveling to each place for putting down sub- equipment puts down corresponding sub- equipment, traveling extremely
The collection site of each sub- equipment simultaneously recycles sub- equipment；
Sub- equipment includes processor, memory, moving cell, positioning unit and environment sensing unit, and sub- equipment being capable of carrier
Product are moved to the place for waiting for user to take article after being released by female equipment, and certification user is to allow user to take article away, then
It is moved to and the place itself being recovered waiting is waited for be recycled by female equipment, the moving area of neutron equipment is less than the shifting of female equipment
Dynamic region.
2. the point-to-point cargo immediate distribution system of hierarchical as described in claim 1, is characterized in that,
Mster-control centre monitors position and the load condition of all female equipment and sub- equipment, and monitoring road information；
Mster-control centre optimizes calculating, and the average female equipment displacement distance of an order, average sub- equipment are dispensed to minimize
Displacement distance, and minimize the one order average cost time of dispatching.
3. a kind of point-to-point cargo immediate distribution system of hierarchical as described in claim 1, is characterized in that the ring of sub- equipment
Border sensory perceptual system includes：One in laser radar, millimetre-wave radar, camera, depth camera, binocular camera, GPS, IMU
Item or combination.
4. a kind of mobile robot is suitable for the collaboration together with female equipment, mster-control centre and carries out cargo immediate distribution, mobile machine
People includes：Processor, memory, mobile unit, sensing unit, communication unit, load bearing unit, the load bearing unit are suitable for carrying
Article, the communication unit are suitable for communicating with female equipment, mster-control centre, and the mobile robot is operable to carry out following behaviour
Make：
It is assigned order, bearing article corresponding with order is received by load bearing unit；
It is checked close to the first place for dispensing user and after putting down by female equipment, is moved to using mobile unit and user is waited for take
The place of article；
Certification user is to allow user to take article away；
The place for waiting for and itself being recovered is then moved to, is recycled by female equipment with waiting for.
5. a kind of mster-control centre of the control point-to-point same city immediate distribution of hierarchical, including processor and memory, memory
In be stored with computer-executable code, the code is operable to execute operations described below when being executed by processor：
The order information for receiving user, distributes to female equipment；
Determine that mother's equipment takes that the place of sub- equipment is put down in the place of article, female equipment, female equipment recycles the place of sub- equipment and leads to
The true stator-device of rhizoma anemarrhenae equipment and mster-control centre waits for user that the place of article, sub- equipment is taken to wait for and itself being recovered
Place simultaneously notifies sub- equipment；
Assignment of password gives sub- equipment and user；
After female equipment takes strap arrangements to businessman, businessman is reminded to be put into article in sub- equipment；
After female equipment travels and puts down sub- equipment to the place for putting down sub- equipment, user is reminded to take article away.
6. the means of transport in a kind of point-to-point cargo immediate distribution system of hierarchical, including positioning unit, environment sensing unit,
Memory and controller, means of transport are carried out wireless communication with mster-control centre and sub- equipment, based on the meter stored in memory
Calculation machine executable code is performed and carries out operations described below：
It travels the merchant site specified to mster-control centre and carries sub- equipment so that businessman places an article in sub- equipment；
The each place specified to mster-control centre is travelled, corresponding sub- equipment is put down；
After having put down all sub- equipment, according to the path of systems organization, the place for going to each mster-control centre specified, recycling
Sub- equipment；And
Merchant site is returned, next round dispatching is started.
7. the control that a kind of mster-control centre executes carries out the control method of point-to-point cargo immediate distribution, including：
The order information for receiving user, distributes to female equipment；
Determine that mother's equipment takes that the place of sub- equipment is put down in the place of article, female equipment, female equipment recycles the place of sub- equipment and leads to
The true stator-device of rhizoma anemarrhenae equipment and mster-control centre waits for user that the place of article, sub- equipment is taken to wait for and itself being recovered
Place simultaneously notifies sub- equipment；
Assignment of password gives sub- equipment and user；
After female equipment takes strap arrangements to businessman, businessman is reminded to be put into article in sub- equipment；
After female equipment travels and puts down sub- equipment to the place for putting down sub- equipment, user is reminded to take article away.
8. a kind of method for the point-to-point cargo immediate distribution of assistance that mother's equipment executes, including：
It travels the merchant site specified to mster-control centre and carries sub- equipment so that businessman places an article in sub- equipment；
The each place specified to mster-control centre is travelled, corresponding sub- equipment is put down；
After having put down all sub- equipment, according to the path of systems organization, the place for going to each mster-control centre specified, recycling
Sub- equipment；And
Merchant site is returned, next round dispatching is started.
9. the method that the point-to-point cargo of assistance that a kind of mobile robot executes dispenses in time, including：
Receive bearing article corresponding with order by load bearing unit；
It is checked close to the first place for dispensing user and after putting down by female equipment, is moved to using mobile unit and user is waited for take
The place of article；
Certification user is to allow user to take article away；
The place for waiting for and itself being recovered is then moved to, is recycled by female equipment with waiting for.
10. a kind of point-to-point cargo immediate distribution method of hierarchical utilizes mster-control centre, means of transport type mother equipment, machine
Device people's formula equipment collaboration carries out, and the cargo immediate distribution method includes：
Mster-control centre receives order, and distributes order to female equipment；
Mster-control centre or female equipment distribute order to sub- equipment；
Mster-control centre determines that female equipment takes the place of article, female equipment to put down the place of sub- equipment, the sub- equipment of female equipment recycling
Place；Sub- equipment waits for user to take the place of article, sub- equipment to wait for the place itself being recovered and notify sub- equipment；Distribution
Password gives sub- equipment and user；
Sub- equipment receives bearing article from businessman, and sub- equipment is carried by female equipment；
Female sub- equipment of equipment conveying puts down sub- equipment to the first place close to dispatching user；
Sub- equipment carries bearing article and is moved to the place for waiting for user to take article；
After user takes bearing article away, sub- equipment is moved to waiting and itself is recycled by female equipment；
Female equipment recycles sub- equipment, returns to businessman and starts next round dispatching.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810478470.7A CN108665217A (en) | 2018-05-18 | 2018-05-18 | Point-to-point hierarchical cargo immediate distribution system, method and application |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810478470.7A CN108665217A (en) | 2018-05-18 | 2018-05-18 | Point-to-point hierarchical cargo immediate distribution system, method and application |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108665217A true CN108665217A (en) | 2018-10-16 |
Family
ID=63776833
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810478470.7A Pending CN108665217A (en) | 2018-05-18 | 2018-05-18 | Point-to-point hierarchical cargo immediate distribution system, method and application |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108665217A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109278056A (en) * | 2018-11-22 | 2019-01-29 | 复旦大学无锡研究院 | Unmanned dispensing machine people |
| CN109443368A (en) * | 2019-01-14 | 2019-03-08 | 轻客小觅智能科技（北京）有限公司 | Air navigation aid, device, robot and the storage medium of unmanned machine people |
| CN110400111A (en) * | 2019-07-31 | 2019-11-01 | 百度在线网络技术（北京）有限公司 | Article based on automatic driving vehicle sends method, apparatus and system with charge free |
| CN110852687A (en) * | 2019-11-15 | 2020-02-28 | 深圳市东方拓宇科技有限公司 | Commodity distribution method and device adopting 5G communication |
| CN111137642A (en) * | 2019-12-20 | 2020-05-12 | 新石器慧通（北京）科技有限公司 | Transport tool, cargo delivery system and delivery method |
| CN111846810A (en) * | 2020-07-17 | 2020-10-30 | 坎德拉（深圳）科技创新有限公司 | Distribution robot, automatic distribution method, robot system, and storage medium |
| CN112562690A (en) * | 2020-10-28 | 2021-03-26 | 上海擎朗智能科技有限公司 | Business processing method, device, equipment and storage medium based on article distribution |
| CN112598346A (en) * | 2020-12-14 | 2021-04-02 | 拉扎斯网络科技（上海）有限公司 | Distribution system, distribution method, and device control method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016167886A1 (en) * | 2015-04-16 | 2016-10-20 | Invia Robotics, Inc. | Autonomous order fulfillment and inventory control robots |
| CN106570667A (en) * | 2016-10-25 | 2017-04-19 | 北京印刷学院 | Vehicle-express delivery cabinet-unmanned aerial vehicle-based express delivery method |
| CN106853640A (en) * | 2017-03-21 | 2017-06-16 | 北京京东尚科信息技术有限公司 | Dispensing machine people control method and device, dispensing machine people and control system |
| CN107609829A (en) * | 2017-10-30 | 2018-01-19 | 深圳市普渡科技有限公司 | A kind of full-automatic robot delivery system and method |
| CN107662216A (en) * | 2017-10-30 | 2018-02-06 | 深圳市普渡科技有限公司 | A kind of robot delivery system and whole process allocator |
-
2018
- 2018-05-18 CN CN201810478470.7A patent/CN108665217A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016167886A1 (en) * | 2015-04-16 | 2016-10-20 | Invia Robotics, Inc. | Autonomous order fulfillment and inventory control robots |
| CN106570667A (en) * | 2016-10-25 | 2017-04-19 | 北京印刷学院 | Vehicle-express delivery cabinet-unmanned aerial vehicle-based express delivery method |
| CN106853640A (en) * | 2017-03-21 | 2017-06-16 | 北京京东尚科信息技术有限公司 | Dispensing machine people control method and device, dispensing machine people and control system |
| CN107609829A (en) * | 2017-10-30 | 2018-01-19 | 深圳市普渡科技有限公司 | A kind of full-automatic robot delivery system and method |
| CN107662216A (en) * | 2017-10-30 | 2018-02-06 | 深圳市普渡科技有限公司 | A kind of robot delivery system and whole process allocator |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109278056A (en) * | 2018-11-22 | 2019-01-29 | 复旦大学无锡研究院 | Unmanned dispensing machine people |
| CN109443368A (en) * | 2019-01-14 | 2019-03-08 | 轻客小觅智能科技（北京）有限公司 | Air navigation aid, device, robot and the storage medium of unmanned machine people |
| CN110400111A (en) * | 2019-07-31 | 2019-11-01 | 百度在线网络技术（北京）有限公司 | Article based on automatic driving vehicle sends method, apparatus and system with charge free |
| CN110400111B (en) * | 2019-07-31 | 2024-03-12 | 阿波罗智联(北京)科技有限公司 | Article dispatch method, device and system based on automatic driving vehicle |
| CN110852687A (en) * | 2019-11-15 | 2020-02-28 | 深圳市东方拓宇科技有限公司 | Commodity distribution method and device adopting 5G communication |
| CN111137642A (en) * | 2019-12-20 | 2020-05-12 | 新石器慧通（北京）科技有限公司 | Transport tool, cargo delivery system and delivery method |
| CN111846810A (en) * | 2020-07-17 | 2020-10-30 | 坎德拉（深圳）科技创新有限公司 | Distribution robot, automatic distribution method, robot system, and storage medium |
| CN112562690A (en) * | 2020-10-28 | 2021-03-26 | 上海擎朗智能科技有限公司 | Business processing method, device, equipment and storage medium based on article distribution |
| CN112598346A (en) * | 2020-12-14 | 2021-04-02 | 拉扎斯网络科技（上海）有限公司 | Distribution system, distribution method, and device control method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108665217A (en) | Point-to-point hierarchical cargo immediate distribution system, method and application | |
| JP7229186B2 (en) | Rideshare management system, rideshare management method, and program | |
| US20190043001A1 (en) | Systems and methods for scheduling en route product delivery | |
| US9940840B1 (en) | Smart platooning of vehicles | |
| US20200036232A1 (en) | Operational control of wireless charging | |
| US20190043370A1 (en) | En route product delivery by unmanned aerial vehicles | |
| CN105159236B (en) | Sell robot system and its control method | |
| JP2022533784A (en) | Warehousing task processing method and apparatus, warehousing system and storage medium | |
| JP7149973B2 (en) | Vehicle dispatch service providing device, vehicle dispatch service providing method, and program | |
| WO2018230676A1 (en) | Ride-sharing management device, ride-sharing management method, and program | |
| US20190227551A1 (en) | Delivery system | |
| CN112313724B (en) | Commercial vehicle operation system | |
| US20190228664A1 (en) | Vehicle calling system | |
| CN107108029A (en) | Carry unmanned vehicle | |
| CN105139180B (en) | A kind of unmanned plane transport roof communication base station | |
| JP2013101577A (en) | Information processing apparatus, information processing system, control method for information processing apparatus and program | |
| JP7264022B2 (en) | Information processing device, information processing method, and program | |
| GB2542905A (en) | Systems, devices, and methods for providing passenger transport | |
| CN109804390A (en) | Method for running motor vehicle in complete autonomous driving mode | |
| WO2021120894A1 (en) | Article delivery method and system | |
| US20180259963A1 (en) | Package management system for robotic vehicles | |
| CN106926767A (en) | Unmanned plane Vehicular system and its management method | |
| CN111754803B (en) | Information processing apparatus, moving object, computer-readable recording medium, and method | |
| US11176829B2 (en) | System and method for operating autonomously driving utility vehicles | |
| US20170242430A1 (en) | Package management system for robotic vehicles |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |