CN109993476A - Goods delivery method and apparatus applied to automatic delivery vehicle - Google Patents
Goods delivery method and apparatus applied to automatic delivery vehicle Download PDFInfo
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- 230000004044 response Effects 0.000 claims abstract description 38
- 238000000034 method Methods 0.000 claims abstract description 21
- 230000033001 locomotion Effects 0.000 claims description 46
- 230000005540 biological transmission Effects 0.000 claims description 9
- 238000004590 computer program Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 6
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- 238000005516 engineering process Methods 0.000 description 2
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Classifications
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- 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
- G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
- G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
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- 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
- G06Q10/0835—Relationships between shipper or supplier and carriers
- G06Q10/08355—Routing methods
Abstract
The embodiment of the present application discloses the goods delivery method and apparatus applied to automatic delivery vehicle.One specific embodiment of this method includes: not reach message in response to receive that the terminal for the user that receives sends, plays boot request voice；In response to getting the guidance information of guidance pedestrian, whether judgement produces guiding route based on guidance information；In response to producing guiding route based on guidance information, controls automatic delivery vehicle and travelled according to guiding route.Realize when the terminal for the delivery route that automatic delivery vehicle is cooked up automatically be not receive user place of acceptance when, automatic delivery vehicle is controlled based on the guidance information for obtaining guidance user and reaches place of acceptance, by goods delivery to the user that receives.
Description
Technical field
This application involves computer fields, and in particular to automatic Pilot field, more particularly to it is applied to automatic delivery vehicle
Goods delivery method and apparatus.
Background technique
Automatic delivery vehicle is the terminal that can reach the delivery route cooked up according to current location and place of acceptance automatically
Intelligent vehicle.In the case that road near such as place of acceptance is complicated, delivery that automatic delivery vehicle is cooked up automatically sometimes
The terminal of route is not the place of acceptance of user of receiving, and is led to not goods delivery to the user that receives.
Summary of the invention
The embodiment of the present application provides the goods delivery method and apparatus applied to automatic delivery vehicle.
In a first aspect, the embodiment of the present application provides the goods delivery method applied to automatic delivery vehicle, this method packet
Include: what the terminal in response to receiving the user that receives was sent does not reach message, plays boot request voice；Draw in response to getting
Whether the guidance information of leading people, judgement produce guiding route based on guidance information；In response to being produced based on guidance information
Guiding route controls automatic delivery vehicle and travels according to guiding route.
Second aspect, the embodiment of the present application provide the goods delivery device applied to automatic delivery vehicle, the device packet
Include: broadcast unit is configured to not reach message in response to what the terminal for receiving the user that receives was sent, plays boot request language
Sound；Judging unit, is configured to the guidance information in response to getting guidance pedestrian, and whether judgement is produced based on guidance information
Guiding route；Control unit is configured to control automatic delivery vehicle in response to producing guiding route based on guidance information and press
It is travelled according to guiding route.
Goods delivery method and apparatus provided by the embodiments of the present application applied to automatic delivery vehicle, by response to connecing
Receive the terminal transmission for the user that receives does not reach message, plays boot request voice；In response to getting drawing for guidance pedestrian
Information is led, whether judgement produces guiding route based on guidance information；In response to producing guiding route, control based on guidance information
Automatic delivery vehicle is made to travel according to guiding route.Realize the terminal for working as the delivery route that automatic delivery vehicle is cooked up automatically
Be not receive user place of acceptance when, the arrival of automatic delivery vehicle is controlled based on the guidance information for obtaining guidance user and is received
Ground, by goods delivery to the user that receives.
Detailed description of the invention
By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, the application's is other
Feature, objects and advantages will become more apparent upon:
Fig. 1 is shown can be using the exemplary system of the goods delivery method applied to automatic delivery vehicle of the application
Framework；
Fig. 2 shows the streams according to one embodiment of the goods delivery method applied to automatic delivery vehicle of the application
Cheng Tu；
Fig. 3 shows one exemplary process diagram of goods delivery method applied to automatic delivery vehicle in the application；
Fig. 4 shows the knot of one embodiment of the goods delivery device applied to automatic delivery vehicle according to the application
Structure schematic diagram.
Specific embodiment
The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining related invention, rather than the restriction to the invention.It also should be noted that in order to
Convenient for description, part relevant to related invention is illustrated only in attached drawing.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Fig. 1 is shown can be using the exemplary system of the goods delivery method applied to automatic delivery vehicle of the application
Framework.
As shown in Figure 1, system architecture may include automatic delivery vehicle 101, network 102 and terminal 103.Network 102 is
Cordless communication network.Automatic delivery vehicle 101 is configured with CPU, memory, wireless network card, GPS, depth camera, microphone, raises
Sound device.The user's using terminal 103 of receiving for the cargo for collecting automatic delivery vehicle dispatching is waited to pass through network 102 and automatic delivery
Vehicle 101 interacts.Terminal 103 can include but is not limited to smart phone, tablet computer.Automatic delivery vehicle 101 can be with
Delivery route is cooked up automatically according to the place of acceptance of current location and the user that receives, and is travelled automatic reach according to delivery route and is moved rule
Mark the terminal of delivery route.Automatic delivery vehicle 101 stops traveling when reaching the terminal for the delivery route cooked up automatically,
Picking notification message is sent to terminal 103.
Referring to FIG. 2, it illustrates according to one of the goods delivery method applied to automatic delivery vehicle of the application
The process of embodiment.It should be noted that being applied to the goods delivery side of automatic delivery vehicle provided by the embodiment of the present application
Method can be executed by automatic delivery vehicle.Method includes the following steps:
Step 201, message is not reached in response to receive that the terminal for the user that receives sends, play boot request voice.
In the present embodiment, when automatic delivery vehicle receive the user that receives terminal send when not reaching message, can
To play boot request voice.What automatic delivery vehicle received for the first time, which does not reach message, is advised automatically based on automatic delivery vehicle
The terminal of the delivery route marked is not the place of acceptance of user and generates.Automatic delivery vehicle reaches the delivery road cooked up automatically
When the terminal of line, automatic delivery vehicle waits for parking the user that receives.Meanwhile automatic delivery vehicle is sent to the terminal for the user that receives
Picking notification message.When the terminal that automatic delivery vehicle reaches the delivery route cooked up automatically is not receiving for the user to receive
When ground, positioned at place of acceptance the user that receives terminal after receiving the picking notification message that automatic delivery vehicle is sent, can
Not reach message in the generation of the terminal for the user that receives, for example, the user that receives can click terminal with automatic delivery vehicle into
Button is not reached on interface in the application of row interaction, and the terminal for the user that receives will not reach message and be sent to automatic delivery car
?.After automatic delivery vehicle, which receives, does not reach message, automatic delivery vehicle traveling can be guided with playing request pedestrian
Boot request voice, the place of acceptance comprising the user that receives in boot request voice.For example, automatic delivery vehicle reaches automatic planning
The terminal of delivery route out, the terminal are not place of acceptance " buildings xx of xx cell ", and the terminal for receiving the user that receives is sent
Do not reach message after, play boot request voice " need delivery that please help to the building xx of xx cell and refer to road, thank
It thanks ".
Step 202, the guidance information of pedestrian is guided in response to getting, whether judgement produces guidance based on guidance information
Route.
In the present embodiment, after the terminal that automatic delivery vehicle reaches the delivery route cooked up automatically stops, drawing
The pedestrian for leading automatic delivery vehicle traveling can be referred to as guidance pedestrian.Guidance pedestrian guidance information may include it is following at least
One: guidance gesture, guidance voice.Guidance gesture is the gesture for guiding automatic delivery vehicle traveling, and guidance voice is to use
In the voice for guiding automatic delivery vehicle traveling.For example, the guidance that a guidance pedestrian has heard that automatic delivery vehicle plays is asked
After seeking voice, guidance voice is had issued in the position of the microphone of automatic delivery vehicle and " is gone ahead 100 meters of left sides along this road
Go to a path and reach head always again and arrive ", meanwhile, it is made that corresponding guidance gesture.
In the present embodiment, ambient image can be collected by the camera that automatic delivery vehicle configures, it is collected
Include the pedestrian near automatic delivery vehicle in ambient image.Automatic delivery car can be detected by collected ambient image
Whether there is pedestrian to be made that guidance gesture near, there is pedestrian to be made that guidance gesture when detecting near automatic delivery vehicle
When, it is determined that the pedestrian is guidance pedestrian, it is thus possible to get the guidance gesture of guidance pedestrian.
, can be by recognition of face when whether detect near vehicle has pedestrian to be made that guidance gesture, determination collects
Multiple ambient images in the same pedestrian, can based on the image of the hand of the same pedestrian in multiple ambient images,
Determine whether the same pedestrian is made that guidance gesture.When there is pedestrian to be made that guidance gesture, can be done according to the pedestrian
The image for guiding the hand of collected multiple ambient image pedestrians in the period of gesture out, determines that the pedestrian is made that
Gesture is guided, it is thus possible to determine that the pedestrian is guidance pedestrian, gets the guidance gesture of guidance pedestrian.
In the present embodiment, the voice around automatic delivery vehicle can be acquired by microphone, to collected voice
Speech recognition is carried out, it is when identifying a voice is the voice for guiding automatic delivery vehicle traveling, then available to arrive
Guide voice.The microphone for guiding pedestrian to automatic delivery vehicle can be played by identifying in order to be more accurate to voice
The voice of position.After guidance pedestrian hears the voice, the position of the microphone of automatic delivery vehicle can be arrived, as guidance pedestrian
When the position of the microphone of automatic delivery vehicle issues voice, the microphone of automatic delivery vehicle can collect guidance pedestrian
The voice of sending can identify voice it is thus possible to get the voice of guidance pedestrian, avoid in addition to guiding pedestrian
Except interference of other sound to speech recognition process.When by speech recognition determine collected voice for guidance voice
When, then it is available to guidance voice.
In some optional implementations of the present embodiment, in order to obtain the guidance gesture of guidance pedestrian, it can use
Depth camera collects ambient image, and the collected ambient image of depth camera has depth data, depth camera can be adopted
The depth data of the ambient image collected is converted to ambient image and corresponds to point cloud data.The depth data packet of one ambient image
Include: the depth value of each of ambient image pixel, each of ambient image pixel correspond to one in space
Three-dimensional point.The depth data of ambient image can be converted to the corresponding point cloud data of ambient image.One ambient image is corresponding
Point cloud data include: the three-dimensional point that each of ambient image pixel corresponds in space three-dimensional coordinate, according to three-dimensional
The three-dimensional coordinate of point, determines the position of all three-dimensional points, and then can determine that the ambient image that all three-dimensional points are constituted is corresponding
Point cloud.
Multiple corresponding clouds of collected ambient image can be based on, determine guidance pedestrian and guide the guidance hand of pedestrian
Gesture.Corresponding cloud of multiple ambient images collected for depth camera, can carry out point cloud segmentation respectively, obtain each
Multiple sub- point clouds in corresponding cloud of ambient image.It can be determined every in multiple clouds based on the contour feature of sub- point cloud
The son point cloud of expression pedestrian in one cloud, it is then possible to according between the contour feature for the son point cloud for indicating pedestrian
With degree, the son point cloud of the same pedestrian of expression in multiple clouds is determined.Determining multiple sons for indicating the same pedestrian
It, can be according to the three-dimensional of the hand for indicating the same pedestrian in multiple son point clouds for indicating the same pedestrian after point cloud
Point determines the profile of multiple hands of the same pedestrian, and then can be determined according to the profile of multiple hands of the same pedestrian
Whether the same pedestrian is made that guidance gesture out.It, then can be according to passing through depth camera when there is pedestrian to be made that guidance gesture
Collected corresponding cloud of multiple ambient images within the period that the pedestrian makes guidance gesture, determines that the pedestrian makes
Guidance gesture gets the guidance gesture of guidance pedestrian it is thus possible to determine that the pedestrian is guidance pedestrian.
Step 203, in response to producing guiding route based on guidance information, automatic delivery vehicle is controlled according to guiding route
Traveling.
In the present embodiment, after getting guidance information, it can be determined that whether produce guidance based on guidance information
Route.When being based on guidance information, when can determine travel route, then the travel route determined is guiding route, can be controlled
Automatic delivery vehicle is made to travel according to guiding route.
For example, after a guidance pedestrian hears the boot request voice that automatic delivery vehicle plays, in automatic delivery car
Microphone position have issued guidance voice " go ahead 100 meters to turn left to a path along this road and open always again just
Arrive ", meanwhile, it is made that corresponding guidance gesture.It can be determined in the guidance gesture for guiding pedestrian by searching for electronic map
100 meters of the road of direction is turned left there are a path, and some of the small road is closely located to the building xx of place of acceptance xx cell, can
To determine that guiding route, control automatic freighter travel according to guiding route and reach place of acceptance.
It, can when that can not determine guiding route based on guidance information in some optional implementations of the present embodiment
Voice request guidance pedestrian is requested to lead the way to play to lead the way.For example, place of acceptance is the xx building of xx cell, when based on getting
The multiple guidance gestures and/or guidance voice for guiding pedestrian, when can not determine guiding route, broadcasting, which is led the way, requests voice " trouble
It leads the way to the building xx of xx cell, thanks ".It, can when guidance pedestrian, which issues, is designated as the voice that automatic delivery vehicle is led the way
To get the voice for being designated as automatic delivery vehicle and leading the way of guidance pedestrian.Multiple environment can be based at interval of preset duration
Corresponding cloud of image determines the motion profile of guidance pedestrian.
It is being based on corresponding cloud of ambient image, when obtaining the guidance gesture of guidance pedestrian, it has been determined that indicate guidance out
The son point cloud of pedestrian.It is being based on corresponding cloud of multiple ambient images at interval of preset duration, is determining the movement rail of guidance pedestrian
When mark, it can determine in preset duration and collect according to the contour feature of the son point cloud for the expression guidance pedestrian having confirmed
Corresponding cloud of each ambient image in indicate the son point cloud of guidance pedestrian, and then can determine in preset duration and collect
Each ambient image corresponding cloud in indicate guidance pedestrian son point cloud position, indicate the son point cloud of guidance pedestrian
Position can be the position of the central point of all three-dimensional points in the son point cloud of expression guidance pedestrian, thus, determine preset duration
The motion profile of interior guidance pedestrian.
It is determined in preset duration each time after the motion profile of guidance pedestrian, it can be determined that whether motion profile is credible
Motion profile.When motion profile is credible track, it can be based on motion profile, control the traveling of automatic delivery vehicle.For example,
, can whether the terminal in electronic map exists by judging motion profile after determining the motion profile in preset duration
On road near place of acceptance or place of acceptance, when terminal of the motion profile not in electronic map is near place of acceptance or place of acceptance
Road on, if following guidance pedestrian that can not reach place of acceptance, which is not credible motion profile, do not control from
Dynamic delivery vehicle traveling, does not follow guidance pedestrian.When terminal of the motion profile in electronic map is attached in place of acceptance or place of acceptance
On close road, which is credible motion profile, then can control automatic delivery based on the motion profile of guidance pedestrian
Vehicle driving, to follow guidance pedestrian.When guidance pedestrian is from the end of the delivery route cooked up automatically of automatic delivery vehicle
It lights and leads the way when reaching place of acceptance, automatic delivery vehicle can be by following always guidance pedestrian to reach place of acceptance.
In some optional implementations of the present embodiment, when automatic delivery vehicle reaches the guiding route determined
When terminal, picking notification message can be sent to the terminal for the user that receives, when the terminal of guiding route is the receiving of user of receiving
When ground, then the user that receives can complete to receive, when the terminal that automatic delivery vehicle reaches guiding route is not still the user that receives
Receive position when, then can receive again the user that receives terminal send do not reach message, again play boot request language
The guidance pedestrian that sound please look for novelty guides the traveling of automatic delivery vehicle.When automatic delivery vehicle follows guidance pedestrian, when guidance is gone
At the end of people leads the way, the voice for the end that indicates to lead the way can be issued, automated guided vehicle can collect the voice by microphone,
By speech recognition, determine the voice be guide the instruction of pedestrian to lead the way the voice of end, thus, get the finger for guiding pedestrian
Show the voice for end of leading the way, picking notification message, the automatic delivery car at the end of leading the way can be sent to the terminal for the user that receives
Position be receive user place of acceptance when, then the user that receives can complete to receive, the automatic delivery vehicle at the end of leading the way
Position be not still receive user receive position when, then can receive that the terminal of the user that receives sends again does not reach and disappears
Breath plays the traveling that the new guidance pedestrian of boot request voice request guides automatic delivery vehicle again.
In some optional implementations of the present embodiment, when get guidance pedestrian multiple guidance gestures and/or
After guiding voice, when can not still determine guiding route, then automatic delivery vehicle will not be controlled from the delivery cooked up automatically
The terminal starting of route continues to travel, meanwhile, it can detecte between the position of guidance pedestrian and the position of automatic delivery vehicle
Whether distance is greater than distance threshold.The distance between the position of pedestrian and the position of automatic delivery vehicle is guided to be greater than when detecting
When distance threshold, it can determine that guidance pedestrian no longer helps, then can play boot request voice again, the guidance row that please be look for novelty
People guides automatic delivery vehicle traveling.After determining the motion profile for guiding pedestrian in preset duration, motion profile is not can
When believing motion profile, boot request voice can be played again, and the guidance pedestrian that please be looked for novelty guides automatic delivery vehicle traveling.
Referring to FIG. 3, it illustrates one examples of goods delivery method applied to automatic delivery vehicle in the application
Property flow chart.
Automatic delivery vehicle reaches the terminal for the delivery route cooked up automatically, and it is logical to send picking to the terminal for the user that receives
Know message.After sending picking notification message to the terminal for the user that receives, it can be determined that whether can receive the user that receives
What terminal was sent does not reach message.When the terminal for the delivery route that automatic delivery vehicle is cooked up automatically is the receiving of user of receiving
When ground, then the user that receives completes to receive, and will not receive the terminal transmission for the user that receives does not reach message.When automatic delivery car
Reach the terminal of delivery route cooked up automatically be not receive user place of acceptance when, automatic delivery vehicle can receive receipts
What the terminal of goods user was sent does not reach message.
Automatic delivery vehicle receives do not reach message after, can use the Kinect sensor of automatic delivery vehicle configuration
In loudspeaker play boot request voice.Meanwhile it can use the depth in the Kinect sensor that automatic delivery vehicle configures
The microphone spent in camera acquisition ambient image and Kinect sensor acquires voice.It is then possible to be based on collected environment
Image determines the guidance pedestrian in the pedestrian around automatic delivery vehicle and gets guidance gesture, by collected language
Sound carries out speech recognition, gets the guidance voice of guidance pedestrian.The guidance gesture and guidance voice got can be multiple.
It is then possible to judge whether can determine guiding route based on the guidance voice that gets and/or guidance voice, when based on obtaining
When the guidance voice and/or guidance voice got can determine guiding route, it can control and travelled according to guiding route.When certainly
When dynamic delivery vehicle reaches the terminal of guiding route, picking notification message can be sent to the terminal for the user that receives, when guidance road
The terminal of line be receive user place of acceptance when, then the user that receives can complete to receive, when automatic delivery vehicle reach guidance road
The terminal of line be not still receive user receive position when, then can receive again the user that receives terminal send do not reach
Message plays the traveling that the new guidance pedestrian of boot request voice request guides automatic delivery vehicle again.
Based on guidance pedestrian guidance gesture and/or guidance voice can not determine guiding route in the case where, can be with
Leading the way of leading the way of playing request guidance pedestrian requests voice.When guiding pedestrian to lead the way, can draw at interval of preset duration determination
The motion profile of leading people, when the motion profile in the credible i.e. preset duration of the motion profile of the guidance pedestrian in preset duration is
When credible motion profile, guidance pedestrian is followed.When guidance pedestrian leads the way from the terminal of the delivery route of automatic delivery vehicle to receipts
Goods when, at interval of preset duration determine guidance pedestrian track be credible track, automatic delivery vehicle can always with
Place of acceptance is reached with guidance pedestrian.It, can be to receiving user's when the voice of end is led the way in the instruction for getting guidance pedestrian
Terminal send picking notification message, at the end of leading the way the position of automatic delivery vehicle be receive user place of acceptance when, then receive
Goods user can complete to receive, and the position of automatic delivery vehicle is not still the position of receiving of user of receiving at the end of leading the way
When, then can receive that the terminal of the user that receives sends again do not reach message, and it is new to play boot request voice request again
Guidance pedestrian guides the traveling of automatic delivery vehicle.
Referring to FIG. 4, this application provides one kind to be applied to automatic delivery as the realization to method shown in above-mentioned each figure
One embodiment of the goods delivery device of vehicle, the Installation practice are corresponding with embodiment of the method shown in Fig. 2.
As shown in figure 4, the goods delivery device applied to automatic delivery vehicle of the present embodiment includes: broadcast unit 401,
Judging unit 402, control unit 403.Wherein, broadcast unit 401 is configured to the terminal hair in response to receiving the user that receives
That send does not reach message, plays boot request voice；Judging unit 402 is configured to the guidance in response to getting guidance pedestrian
Whether information, judgement produce guiding route based on guidance information；Control unit 403 is configured to produce based on guidance information
Guiding route controls automatic delivery vehicle and travels according to guiding route.
In some optional implementations of the present embodiment, the goods delivery device applied to automatic delivery vehicle is also wrapped
Include: determination unit is configured to determine guidance pedestrian and guidance pedestrian based on multiple corresponding clouds of collected ambient image
Guidance gesture.
In some optional implementations of the present embodiment, the goods delivery device applied to automatic delivery vehicle is also wrapped
Include: tracking cell is configured in response to not producing guiding route based on guidance information, and broadcasting, which is led the way, requests voice；Response
It is corresponding based on multiple collected ambient images in the voice for being designated as automatic delivery vehicle and leading the way for getting guidance pedestrian
Point cloud, determines the motion profile of guidance pedestrian；Judge whether the motion profile is credible motion profile；When motion profile be can
When believing motion profile, it is based on the motion profile, controls automatic delivery vehicle traveling.
In some optional implementations of the present embodiment, the goods delivery device applied to automatic delivery vehicle is also wrapped
Include: message sending unit is configured to meet transmission condition in response to detecting, sends picking notice to the terminal for the user that receives
Message, transmission condition includes following one: reaching the terminal of guiding route, gets the language for guiding the instruction of pedestrian to lead the way end
Sound.
In some optional implementations of the present embodiment, the goods delivery device applied to automatic delivery vehicle is also wrapped
Include: voice playing unit is configured to meet playing condition in response to detecting, plays boot request voice, the broadcasting item
Part includes following one: automatic delivery vehicle is between the position of position and automatic delivery vehicle for guiding pedestrian under halted state
Distance be greater than distance threshold, the guidance pedestrian determined motion profile be not credible motion profile.
Present invention also provides a kind of automatic delivery vehicle, which can be configured with one or more processing
Device；Memory is may include in one or more programs for storing one or more programs to execute above-mentioned steps 201-
It is instructed described in 203.When one or more programs are executed by one or more processors, so that one or more processors
It executes and is operated described in above-mentioned steps 201-203.
Present invention also provides a kind of computer-readable medium, which be can be in automatic delivery vehicle
Included；It is also possible to individualism, without in the automatic delivery vehicle of supplying.Above-mentioned computer-readable medium carries one
Or multiple programs, when one or more program is executed by automatic delivery vehicle, so that automatic delivery vehicle: in response to connecing
Receive the terminal transmission for the user that receives does not reach message, plays boot request voice；In response to getting drawing for guidance pedestrian
Information is led, whether judgement produces guiding route based on guidance information；In response to producing guiding route, control based on guidance information
Automatic delivery vehicle is made to travel according to guiding route.
It should be noted that computer-readable medium described herein can be computer-readable signal media or meter
Calculation machine readable storage medium storing program for executing either the two any combination.Computer readable storage medium for example may include but unlimited
In the system of electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor, device or device, or any above combination.Computer can
The more specific example for reading storage medium can include but is not limited to: electrical connection, portable meter with one or more conducting wires
Calculation machine disk, hard disk, random access storage 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
The above-mentioned any appropriate combination of person.In this application, computer readable storage medium can be it is any include or storage program
Tangible medium, which can be executed system by message, device or device use or in connection.And in this Shen
Please in, computer-readable signal media may include in a base band or as carrier wave a part propagate data-signal,
In carry computer-readable program code.The data-signal of this propagation can take various forms, including but not limited to
Electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be computer-readable
Any computer-readable medium other than storage medium, the computer-readable medium can send, propagate or transmit for by
Message executes system, device or device use or program in connection.The journey for including on computer-readable medium
Sequence code can transmit with any suitable medium, including but not limited to: wireless, electric wire, optical cable, RF etc. are above-mentioned
Any appropriate combination.
Flow chart and block diagram in attached drawing are illustrated according to the system of the various embodiments of the application, method and computer journey
The architecture, function and operation in the cards of sequence product.In this regard, each box in flowchart or block diagram can generation
A part of one module, program segment or code of table, a part of the module, program segment or code include one or more use
The executable message of the logic function as defined in realizing.It should also be noted that in some implementations as replacements, being marked in box
The function of note can also occur in a different order than that indicated in the drawings.For example, two boxes succeedingly indicated are actually
It can be basically executed in parallel, they can also be executed in the opposite order sometimes, and this depends on the function involved.Also it to infuse
Meaning, the combination of each box in block diagram and or flow chart and the box in block diagram and or flow chart can be with holding
The dedicated hardware based system of functions or operations as defined in row is realized, or can use specialized hardware and computer message
Combination realize.
Being described in unit involved in the embodiment of the present application can be realized by way of software, can also be by hard
The mode of part is realized.Described unit also can be set in the processor, for example, can be described as: a kind of processor packet
Include broadcast unit, judging unit, control unit.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.Those skilled in the art
Member is it should be appreciated that invention scope involved in the application, however it is not limited to technology made of the specific combination of above-mentioned technical characteristic
Scheme, while should also cover in the case where not departing from the inventive concept, it is carried out by above-mentioned technical characteristic or its equivalent feature
Any combination and the other technical solutions formed.Such as features described above has similar function with (but being not limited to) disclosed herein
Can technical characteristic replaced mutually and the technical solution that is formed.
Claims (12)
1. a kind of goods delivery method applied to automatic delivery vehicle, comprising:
What the terminal in response to receiving the user that receives was sent does not reach message, plays boot request voice；
In response to getting the guidance information of guidance pedestrian, whether judgement produces guiding route based on guidance information；
In response to producing guiding route based on guidance information, controls automatic delivery vehicle and travelled according to guiding route.
2. according to the method described in claim 1, the method also includes: based on the corresponding point of multiple collected ambient images
Cloud determines guidance pedestrian and guides the guidance gesture of pedestrian.
3. according to the method described in claim 2, the method also includes:
In response to not producing guiding route based on guidance information, broadcasting, which is led the way, requests voice；
In response to getting the voice for being designated as automatic delivery vehicle and leading the way of guidance pedestrian, it is based on multiple collected environment maps
As corresponding cloud, the motion profile of the guidance pedestrian is determined；
Judge whether the motion profile is credible motion profile；
When motion profile is credible motion profile, it is based on the motion profile, controls automatic delivery vehicle traveling.
4. according to the method described in claim 3, the method also includes:
Meet transmission condition in response to detecting, sends picking notification message, the transmission condition packet to the terminal for the user that receives
It includes following one: reaching the terminal of guiding route, gets the voice for guiding the instruction of pedestrian to lead the way end.
5. according to the method described in claim 4, the method also includes:
Meet playing condition in response to detecting, plays boot request voice, the playing condition includes following one: being sent automatically
Lorry under halted state guide pedestrian position between the position of automatic delivery vehicle at a distance from be greater than distance threshold, really
The motion profile of the guidance pedestrian made is not credible motion profile.
6. a kind of goods delivery device applied to automatic delivery vehicle, comprising:
Broadcast unit is configured to not reach message in response to what the terminal for receiving the user that receives was sent, plays boot request
Voice；
Judging unit, is configured to the guidance information in response to getting guidance pedestrian, and whether judgement can be given birth to based on guidance information
At guiding route；
Control unit is configured to control automatic delivery vehicle according to drawing in response to producing guiding route based on guidance information
Lead route running.
7. device according to claim 6, described device further include:
Determination unit is configured to determine guidance pedestrian and guidance row based on multiple corresponding clouds of collected ambient image
The guidance gesture of people.
8. device according to claim 7, described device further include:
Tracking cell is configured in response to not producing guiding route based on guidance information, and broadcasting, which is led the way, requests voice；Response
It is corresponding based on multiple collected ambient images in the voice for being designated as automatic delivery vehicle and leading the way for getting guidance pedestrian
Point cloud determines the motion profile of the guidance pedestrian；Judge whether the motion profile is credible motion profile；Work as motion profile
When for credible motion profile, it is based on the motion profile, controls automatic delivery vehicle traveling.
9. device according to claim 8, described device further include:
Message sending unit is configured to meet transmission condition in response to detecting, it is logical to send picking to the terminal for the user that receives
Know message, the transmission condition includes following one: reaching the terminal of guiding route, the instruction that gets guidance pedestrian is led the way knot
The voice of beam.
10. device according to claim 9, described device further include:
Voice playing unit is configured to meet playing condition in response to detecting, plays boot request voice, the broadcasting item
Part includes following one: automatic delivery vehicle is between the position of position and automatic delivery vehicle for guiding pedestrian under halted state
Distance be greater than distance threshold, the guidance pedestrian determined motion profile be not credible motion profile.
11. a kind of automatic delivery vehicle characterized by comprising
One or more processors；
Memory, for storing one or more programs,
When one or more of programs are executed by one or more of processors, so that one or more of processors
Realize such as method as claimed in any one of claims 1 to 5.
12. a kind of computer readable storage medium, which is characterized in that be stored thereon with computer program, which is characterized in that the journey
Such as method as claimed in any one of claims 1 to 5 is realized when sequence is executed by processor.
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