CN110119930A - Dispense querying method, device and the medium of status information - Google Patents
Dispense querying method, device and the medium of status information Download PDFInfo
- Publication number
- CN110119930A CN110119930A CN201910407587.0A CN201910407587A CN110119930A CN 110119930 A CN110119930 A CN 110119930A CN 201910407587 A CN201910407587 A CN 201910407587A CN 110119930 A CN110119930 A CN 110119930A
- Authority
- CN
- China
- Prior art keywords
- dispensing machine
- machine people
- dispatching
- information
- server
- 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.)
- Granted
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
- G06Q10/0833—Tracking
Landscapes
- Business, Economics & Management (AREA)
- Engineering & Computer Science (AREA)
- Economics (AREA)
- Quality & Reliability (AREA)
- Tourism & Hospitality (AREA)
- Human Resources & Organizations (AREA)
- Marketing (AREA)
- Operations Research (AREA)
- Development Economics (AREA)
- Strategic Management (AREA)
- Entrepreneurship & Innovation (AREA)
- Physics & Mathematics (AREA)
- General Business, Economics & Management (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
- Traffic Control Systems (AREA)
Abstract
This application provides querying method, device and the media of dispatching status information, are related to dispatching field.The querying method of dispatching status information provided by the embodiments of the present application, after server obtains user's operation purchase terminal dispatching status query request generated；The distribution information that server is uploaded according to the dispensing machine people for transporting cargo corresponding to order number determines dispatching status information, and dispatching status information is sent to purchase terminal, so that purchase terminal is shown according to the dispatching status information.It is this to show that the mode of dispatching status information is direct to user, and targetedly.
Description
Technical field
This application involves dispatching fields, in particular to querying method, device and the medium of dispatching status information.
Background technique
Currently, China Logistics dispatching industry plays an important role in socio-economic development, and there are two types of shapes for logistics distribution
Formula, one is artificial dispatchings, and one is robot dispatchings.Under normal conditions, outdoor dispatching be usually by artificially dispensing completion,
Robot dispatching can only be for indoor dispatching such case.
Artificial dispatching is common in take-away industry, and user can assign the order of purchase cargo to server, and server again will
Order is pass on to corresponding businessman, and then, cargo is transported in buyer's hand by deliveryman from businessman again.
Robot dispatching is common in indoor track dispatching, for example, AGV trolley, AGV can be arranged in machining manufactory
Trolley can be by raw material on from warehouse delivery to workbench one by one.
Summary of the invention
Querying method, device and the medium for being designed to provide dispatching status information of the application.
In some embodiments, a kind of querying method dispensing status information, comprising:
Server obtains user's operation and buys terminal dispatching status query request generated；It dispenses in status query request
Carry order number；
The distribution information that server is uploaded according to the dispensing machine people for transporting cargo corresponding to order number, determines dispatching
Status information；Dispatching status information include it is below any one or more: dispatching remaining time currently dispenses order, is current
The current location of distribution route and dispensing machine people；
Server will dispense status information and send to purchase terminal, so that purchase terminal is shown according to dispatching status information
Show.
In some embodiments, the current location of dispensing machine people includes: the number of floor where dispensing machine people；
Method further include:
The number of floor where server determines dispensing machine people by the identifier being separately positioned on each floor；
Or, method further include:
Server obtains environmental information transmitted by dispensing machine people；Environmental information is dispensing machine people in its taken electricity
It is got when terraced；Environmental information includes the image information by taking pictures, or the audio letter obtained by way of recording
Breath；
Server identifies environmental information, to determine that dispensing machine people is currently located the number of floor.
In some embodiments, status information is dispensed further include: the cartographic information of floor where dispensing machine people；
The distribution information that server is uploaded according to the dispensing machine people for transporting cargo corresponding to order number, determines dispatching
Status information, comprising:
Server transfers the cartographic information of corresponding floor according to current distribution route；Cartographic information includes below any one
Kind or it is a variety of: the two dimensional model of the threedimensional model of floor, floor.
In some embodiments, this method further include:
According to dispensing machine people, the collected floor terrain data of institute in delivery process adjusts topographic database to server
In terrain data；Terrain data in topographic database is used to generate the predetermined distribution route of dispensing machine people.
In some embodiments, the current location of dispensing machine people includes: the horizontal coordinate information of dispensing machine people；
Method further include:
The server environmental model current according to the environmental information building dispensing machine people that dispensing machine people gets；
Server is compared according to the standard relief model prestored in current environmental model and topographic database, and is tied
The obtained position data of locating module built in dispensing machine people is closed, determines the horizontal coordinate information of dispensing machine people.
In some embodiments, the current location of dispensing machine people includes: the horizontal coordinate information of dispensing machine people；
Method further include:
The environmental information that server is got according to dispensing machine people determines the marker and dispensing machines being preset in building
The relative position of device people；
Server is determined according to the relative position and at least one following location data of default marker and dispensing machine people
The horizontal coordinate information of dispensing machine people: inertial positioning data, external location data.
In some embodiments, this method further include:
The number in purchase order that server is assigned according to user, generates shipping address；Shipping address includes building
Layer number and horizontal coordinate information；
Server generates predetermined distribution route according to shipping address；
Server gives the predetermined distribution route to dispensing machine human hair, so that dispensing machine people obtains corresponding to purchase order
Cargo after, moved according to predetermined distribution route, to complete the dispatching of cargo.
In some embodiments, server has been matched according to what the dispensing machine people for transporting cargo corresponding to order number uploaded
It delivers letters breath, determines dispatching status information, comprising:
Server determines opposite position of the dispensing machine people in predetermined distribution route according to the current location of dispensing machine people
It sets；
Relative position of the server according to dispensing machine people in predetermined distribution route determines and dispenses remaining route；
Server dispenses duration according to the history for dispensing each section in remaining route, determines matching in dispatching status information
Send remaining time.
In some embodiments, a kind of inquiry unit dispensing status information, is set in server, inquiry unit packet
It includes:
First obtains module, obtains user's operation and buys terminal dispatching status query request generated；Dispatching state is looked into
It askes in request and carries order number；
First determining module, for being delivered letters according to having matched for dispensing machine people upload for transporting cargo corresponding to order number
Breath determines dispatching status information；Dispatching status information include it is below any one or more: dispatching remaining time, currently match
Send the current location of order, current distribution route and dispensing machine people；
First sending module is sent for that will dispense status information to purchase terminal, so that purchase terminal is according to dispatching shape
State information is shown.
In some embodiments, a kind of computer-readable Jie for the non-volatile program code that can be performed with processor
Matter, program code make processor execute the querying method for dispensing status information.
The querying method of dispatching status information provided by the embodiments of the present application, obtains user's operation in server and buys terminal
After dispatching status query request generated；Server is uploaded according to the dispensing machine people for transporting cargo corresponding to order number
Distribution information determines dispatching status information, and dispatching status information is sent to purchase terminal, so that purchase terminal is according to institute
Dispatching status information is stated to be shown.It is this to show that the mode of dispatching status information is direct to user, and targetedly.
To enable the above objects, features, and advantages of the application to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
Technical solution in ord to more clearly illustrate embodiments of the present application, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only some embodiments of the application, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 shows the system architecture diagram of indoor automatic delivery provided by the embodiment of the present application；
Fig. 2 shows the basic flow charts for the querying method that status information is dispensed provided by the embodiment of the present application；
Fig. 3 shows the details flow chart of the querying method of dispatching status information provided by the embodiment of the present application；
Fig. 4 shows the schematic diagram of the first calculating equipment provided by the embodiment of the present application.
Specific embodiment
Below in conjunction with attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Ground description, it is clear that described embodiments are only a part of embodiments of the present application, instead of all the embodiments.Usually exist
The component of the embodiment of the present application described and illustrated in attached drawing can be arranged and be designed with a variety of different configurations herein.Cause
This, is not intended to limit claimed the application's to the detailed description of the embodiments herein provided in the accompanying drawings below
Range, but it is merely representative of the selected embodiment of the application.Based on embodiments herein, those skilled in the art are not being done
Every other embodiment obtained under the premise of creative work out, shall fall in the protection scope of this application.
As shown in Figure 1, indoor automatic delivery is usually to be made of following several parts: background server, picking
It stands (vending machine), dispensing machine people and self-service lower single device (mobile phone)；
Wherein, the vending machine (itself just having the function of to sell goods) that unpacking station is normally located in building；Match
Sending robot is the robot with locomotive function that can be automatically transported to cargo from unpacking station from user；It is self-service
Lower single device is usually mobile phone operated by user.
User can generate purchase order by mobile phone when buying cargo, and the purchase order is passed through mobile phone
It is sent to background server；Background server notifies unpacking station and dispensing machine people after receiving the purchase order respectively,
The work of cargo is taken out to complete dispensing machine people from unpacking station；Then, dispensing machine people is mobile according to predetermined distribution route
To user.Herein, predetermined distribution route is usually to be generated by server.
For certain bigger building, dispensing machine people needs the mobile some time, cargo could be sent to use
At family, during this, user may wish to the dispatching state for understanding dispensing machine people at any time, in order to which oneself plans stroke.But phase
In the technology of pass, it is not possible to provide a user accurately dispatching status information when user needs.
For above situation, this application provides information query methods, as shown in Fig. 2, this method comprises the following steps:
S201, server obtain user's operation and buy terminal dispatching status query request generated；Dispense status inquiry
Order number is carried in request；
S202, the distribution information that server is uploaded according to the dispensing machine people for transporting cargo corresponding to order number, really
Surely status information is dispensed；Dispatching status information include it is below any one or more: dispatching remaining time, current dispatching time
The current location of sequence, current distribution route and dispensing machine people；
S203, server will dispense status information and send to purchase terminal, so that purchase terminal is according to dispatching status information
It is shown.
In general, server will after user's operation purchase terminal (such as mobile phone, computer) assigns purchase order to server
It notifies dispensing machine people picking at unpacking station, to obtain the cargo identified in purchase order, and starts to transport these goods
Object.
Predetermined distribution route can be sent to together dispensing machine people when notifying dispensing machine people by server, with
Dispensing machine people is set to complete to transport according to predetermined distribution route.In general, predetermined distribution route is exactly time-consuming shortest distribution route,
Certainly, when determining predetermined distribution route, server (such as peace of different routes it is also contemplated that otherwise factor
Full situation, the smooth degree of passage).
It is, before step S201 execution, as shown in figure 3, method provided herein further includes following steps:
Step S301, the purchase order that server is assigned according to user generate predetermined distribution route；
Step S302, server give the predetermined distribution route to dispensing machine human hair, so that dispensing machine people obtains shopping
It after cargo corresponding to order, is moved according to predetermined distribution route, to complete the dispatching of cargo.
Need to carry user in step S301, in purchase order address information (shipping address) and the goods to be bought
Object, such server can determine dispensing machine people according to the current address information of the address information of user and dispensing machine people
Distribution route.Since scheme provided herein is designed for indoor delivery system, address information can be sky
Between location information (floor+coordinate)；Floor herein refers to that the floor where Shipping Address, coordinate refer to that longitude and latitude is compiled
Number, or similar address information in the horizontal plane is numbered with longitude and latitude.
Address information can also be number other than it can be floor+coordinate form.Server is obtaining door
After the trade mark, floor corresponding to the number+horizontal coordinate information can be inquired according to number.
It is, step S301 can be realized as follows:
The number in purchase order that server is assigned according to user, generates shipping address；Shipping address includes building
Layer number and horizontal coordinate information；
Server generates predetermined distribution route according to shipping address.
Server, can be according to the connection situation in building, to determine to match after the address information of user has been determined
The route for sending robot to be moved to shipping address from current location, and the route is supplied to dispensing machine people.Under normal conditions,
Dispensing machine people be stand together with picking (for example the cabin for accommodating robot is provided in unpacking station, robot is being not required to
It when dispatching, can enter in cabin)；Also in some cases, robot and unpacking station be separate (such as robot is being just
Dispensing on the way), at this point, robot just needs first to be moved to picking in unpacking station, dispensed according still further to predetermined distribution route.
In fact, server is after receiving the purchase order that user is assigned, it is also necessary to according in purchase order
Cargo determines whether to execute this time dispatching (whether having all cargos in unpacking station), if this dispatching can be executed,
Predetermined distribution route can be generated, otherwise also need to link up with user.
In step S302, in specific implementation, what server was sent to dispensing machine human hair is to transport instruction, transport instruction
In carry distribution route transport instruction in can also carry the information such as purchase order.
Later, dispensing machine people can move according to scheduled distribution route, and complete delivery.
During dispensing machine people's delivery, user may be it should be understood that the case where current dispatching, at this point, user will
Operation purchase terminal generates dispatching status query request, and the dispatching status query request is sent to server (for example, user
Some key can be clicked to ask to server transmission dispatching status inquiry in the dispatching status page shown by purchase terminal
Ask), server (can be ordering for purchase order in step S301 according to the order number in dispatching status query request at this time
Odd numbers) transfer the location information of dispensing machine people.In general, might have multiple dispensing machine people under the same time to transport goods
Object, therefore, it is necessary to use order number to determine it is which dispensing machine people to transport sending dispatching state in step S201 by look into
Ask the cargo of the user of request.
In general, a robot may transport more single (multiple purchase orders) cargos simultaneously, and a single cargo may also
It needs to be transported by multiple robots, therefore, in specific implementation, needs to determine that user it is expected which is tracked using order number
The shipping situation information of robot.
Dispensing machine people has been typically required the distribution information of real-time report dispensing machine people (after starting to transport
Distribution information may include current location, the order for having completed dispatching etc.), therefore, step S202 when being executed, can be and face
Shi Yaoqiu dispensing machine people reports its distribution information at that time；Can not also temporary requirements dispensing machine people report it to dispense
Information, but directly extract the distribution information that dispensing machine people last time reports.Then, server can be according to this
Distribution information dispenses status information to determine.
Specifically, dispatching status information include it is below any one or more: dispatching remaining time, current dispatching time
The current location of sequence, current distribution route and dispensing machine people；It is, dispatching status information may include this four information
(dispatching remaining time, currently dispense order, current distribution route and dispensing machine people current location) in any one, appoint
Meaning two, it is three any, or all.
Wherein, dispatching remaining time is primarily referred to as dispensing machine people and is moved in step S201 to receive corresponding to order number
The time of address.Before determining dispatching remaining time, first have to determine the remaining route of dispatching, because dispatching remaining time is main
It is to be determined according to the travel speed for dispensing remaining route and dispensing machine people.Dispensing remaining route is mainly to be matched according to predetermined
It send the current location of route and dispensing machine people to determine, for example, dispensing machine people has been on predetermined distribution route
Some position, then can determine in predetermined distribution route, starting point the location of (dispensing machine people carry out dispense preceding)
Route between current location has been passed by, it is only necessary to by the road in predetermined distribution route between current location and shipping address
Line is as the remaining route of dispatching.It then, can be according to the average movement speed of robot and the length of the remaining route of dispatching come really
Make dispatching remaining time.It is, server can be according to the current location of dispensing machine people and the phase of predetermined distribution route
To positional relationship, determines and dispense remaining route.
Specifically, can be and passed through in conjunction on the remaining route of dispatching to more accurately calculate dispatching remaining time
The history in each section crossed is determined by duration.Although this mainly considers that different section length is similar, pass through
Time required for these sections is differentiated.It carries out time in the mobile section passed through for example, sitting elevator and is gathering around
The time in mobile passed through section is different on crowded corridor, in turn, when dispatching status information includes dispatching remaining time, step
S202 can be realized as follows:
Step 2021, server determines dispensing machine people in predetermined distribution route according to the current location of dispensing machine people
In relative position；
Relative position of step 2022 server according to dispensing machine people in predetermined distribution route determines and dispenses remaining road
Line；
Step 2023, duration is dispensed according to the history for dispensing each section in remaining route, determined in dispatching status information
Dispatching remaining time.
It is, can be according to once the time span in the section multipass A predicts the current section A in delivery process
Time span.In turn, by the way of in step 2023, it is necessary to first according to connection situation, determine that section (such as can will be every
Two meters of long routes are as a section), then, robot passes through required for each section in statistical history delivery process respectively
Time span, and then predict according to the time span counted on dispatching remaining time.
Current dispatching order is primarily referred to as when robot, which once dispense, to dispense multiple orders, and dispensing order can be with
Give expression to the sequence for dispensing each order.At this point, when planning distribution route, it is necessary to guarantee that distribution route can sequence
By each shipping address.And then the sequencing that each shipping address arranges in distribution route is exactly to dispense order.
It should be noted that dispatching order may be adjusted with distribution time, such as: share 5 place of acceptances
Point is ABCDE respectively, and on the predetermined distribution route determined, ABCDE sequence is arranged, (i.e. predetermined to match before being dispensed
Send on route), the dispatching time of place A is exactly first (place that place A is first process on predetermined distribution route), place B
Dispatching time be exactly second (place that place B is second process on predetermined distribution route), and so on；As dispensing machine people
After the dispatching for completing place A, the dispatching order of place B is exactly first.In turn, such dispatching order can be basis
The current location of dispensing machine people determines；For example, working as dispensing machine when dispensing machine people is mobile according to predetermined distribution route
When people has already been through place A, BCDE can only be passed through by dispensing in remaining route, then currently dispatching order is exactly BCDE.Into
And currently dispensing order can obtain as follows:
Server determines opposite position of the dispensing machine people in predetermined distribution route according to the current location of dispensing machine people
It sets；
Relative position of the server according to dispensing machine people in predetermined distribution route determines and dispenses remaining route；
Server determines current dispatching order according to each place of receipt sequentially passed through in remaining route is dispensed.
Wherein, place corresponding to order number may be the place of acceptance for dispensing and being passed through in remaining route in step S201
Point, it is also possible to the place passed through in the route that dispensing machine people had walked.The current location of dispensing machine people can be with
It is that dispensing machine people carrying reports in distribution information.
It is, of course, also possible to currently matched to determine according to having dispensed the order number of completion/do not dispense the order number of completion
Send order.For example, current dispatching order can be determined as follows: server is right according to the order number institute for not dispensing completion
Sequencing of the place of receipt answered in predetermined distribution route determines current dispatching order.
Further, when dispensing machine people moves according to the distribution route both set, discovery is blocked by barrier,
At this time, it is necessary to change distribution route, under new distribution route, the dispatching order of each place of receipt can may be adjusted also
Whole, therefore, the current order that dispenses needs the order number of the unfinished dispatching reported according to dispensing machine people (to carry and dispensing
In information) it determines.
It is, if dispensing machine people carries the impassable information of predetermined distribution route in distribution information,
Then method provided herein further includes following steps:
Step 401, it if server gets the request for reformulating distribution route that dispensing machine people is uploaded, services
Device regenerates predetermined distribution route according to the order number that dispensing machine people does not complete dispatching；The order number for not completing dispatching carries
In distribution information；
Step 402, server send the predetermined distribution route regenerated to dispensing machine human hair, so that dispensing machine
People is moved according to predetermined distribution route, to complete not completing the dispatching of cargo corresponding to the order number of dispatching.
Current distribution route is primarily referred to as dispensing remaining route, and the meaning of the dispatching residue route and determining method are preceding
Illustrate in text, is not repeated to illustrate herein.
It should be noted that predetermined distribution route is when generating, the main ground according in the topographic database prestored
What graphic data generated, the terrain data in topographic database is usually using the terrain data scanned in building for the first time, knot comprehensively
When closing dispatching every time in such a way that dispensing machine people updates terrain data, to guarantee the authenticity and timeliness of terrain data.
Therefore, server can be according to dispensing machine people in delivery process collected designated floor terrain data adjustment ground
Terrain data in graphic data library；Terrain data in topographic database is used to generate the predetermined distribution route of dispensing machine people.
The current location of dispensing machine people is usually directly to carry in distribution information, and server can be directly sharp
With.In some cases, the location information that dispensing machine people is uploaded may be needed can be by after decryption is either converted
It buys terminal to read, therefore, server may be solved before the current location for sending dispensing machine people to purchase terminal
Close and transcoding.
In step S203, server can directly dispense order, current distribution route and be matched by dispatching remaining time, currently
It send any one or more purchase terminals into step S201 in the current location of robot to send, is also possible to other
Terminal is bought to send.For example, computer (the purchase terminal in step S201), which can be used, in user initiates dispatching state to server
Inquiry request is sent out with driving server that will dispense status information to specified mobile phone (the purchase terminal in step S203)
It send.
After purchase terminal receives dispatching status information, dispatching status information can be shown, directly on mobile phone with complete
The purpose of situation is currently dispensed at informing user.
Specifically, since scheme provided herein is mainly dispensed in building by robot, phase
For outdoor dispatching, make in addition to getting latitude and longitude coordinates (being also possible to other two-dimensional coordinates under earth axes)
Other than current location for dispensing machine people, it is also necessary to determine floor that dispensing machine people is currently located (it can be appreciated that
Current height).It is, the current location of dispensing machine people is needed by two kinds of information groups in scheme provided herein
At being floor information (floor number) and horizontal coordinate information respectively；Wherein, floor information has reacted dispensing machine people at which
Floor, in which of some floor, (such as longitude and latitude is exactly horizontal coordinate to horizontal coordinate message reflection dispensing machine people
One kind of information).In the following, being illustrated respectively to the method for determination of the two information:
The number of floor where floor information, that is, dispensing machine people, can obtain in the following way:
The number of floor where server determines dispensing machine people by the identifier being separately positioned on each floor.
It is, scheme provided herein before realization, needs that identifier is arranged on each floor, with identification
Which floor robot is moved on.The existence form of the identifier can be RFID chip be also possible to it is similar have read
Take the wireless identification chip of function.It is numbered due to being write on each dispensing machine people with unique one, RFID chip
Only needing to read the number on dispensing machine people can know that dispensing machine people is moved to which floor suffers.
The floor where dispensing machine people is determined in addition to using the identifier being arranged in outside dispensing machine people, it can be with
It is to determine the floor where it by way of dispensing machine people's autonomous classification.
For example, dispensing machine people when taking elevator, can obtain environmental information (such as while moving out elevator
Photo or sound), then environmental information is identified, to determine which the floor that dispensing machine people is currently located is.Tool
Body, if environmental information is photo, it can be by dispensing machine people to the floor label in elevator either floor
It takes pictures, then, is determined and be currently located in which floor by the way of image recognition.If environmental information is sound
Words then need elevator to broadcast the floor being currently located when switch gate and are uploaded to recording after dispensing machine people recording
Server, then server determines the floor that dispensing machine people is currently located by the way of speech recognition.
It is, method provided herein further includes following steps:
Server obtains environmental information transmitted by dispensing machine people；Environmental information is dispensing machine people in its taken electricity
It is got when terraced；Environmental information includes the image information by taking pictures, or the audio letter obtained by way of recording
Breath；
Server identifies environmental information, to determine that dispensing machine people is currently located the number of floor.
Horizontal coordinate information can also be determined using more accurate mode, specifically, under normal circumstances, obtaining horizontal
The mode of coordinate information is come using inertial positioning technology, or using external positioning techniques (GPS system, dipper system etc.)
It obtains, or is to realize mode that inertial positioning technology and external positioning techniques are combined.Provided herein
In method, it has been recognised by the inventors that due in scheme provided herein, the dispatching range of dispensing machine people only in building, because
This, can assist being positioned by the way of telltale mark is arranged indoors.In turn, in scheme provided herein,
Horizontal coordinate information can obtain in the following way:
Step 501, the environmental information that server is got according to dispensing machine people determines the marker being preset in building
With the relative position of dispensing machine people；
Step 502, relative position and following at least one positioning of the server according to default marker with dispensing machine people
Data determine the horizontal coordinate information of dispensing machine people: inertial positioning data, external location data.
In step 501, there are several types of forms for environmental information: by take pictures/the obtained building of laser scanning in building
Image (such as includes the image of some marker, distinctive mark object refers to pair for having enough discriminations with other objects of surrounding
As, such as some special sculpture)；Some identifier read otherwise by radio identification is (as read certain by RFID
For a identifier just in the left front of dispensing machine people, this identifier is exactly marker).Due in the topographic database prestored
The identified position of each marker therefore, can be by the relative position of marker and itself, to determine in step 502
Dispensing machine people is in which of building out.Certainly, in order to guarantee the accuracy positioned, horizontal coordinate information is being determined
When, it can be combined in inertial positioning data and external location data (such as GPS positioning data, Beidou location data) at least
One calculates.
It should be noted that the implementation procedure of above-mentioned steps 501-502 can be completed or by dispensing by server
Robot completes, and only after dispensing machine people completes, needs calculated result being uploaded to server.
In addition to carrying out auxiliary positioning by the way of marker, can also be positioned by the way of modeling+comparison,
Specifically, can determine the horizontal coordinate information of dispensing machine people in the following way in method provided herein:
Step 503, the current environment of the environmental information building dispensing machine people that server is got according to dispensing machine people
Model；
Step 504, server is carried out according to the standard terrain data prestored in current environmental model and topographic database
Comparison, and the obtained position data of locating module in conjunction with built in dispensing machine people, determine the horizontal coordinate of dispensing machine people
Information.
In step 503, environmental information can be identical with the environmental information in step 501, that is, include some marker
Image；Environmental information in step 503 is also possible to the image not comprising marker.In step 503, pass through dispensing machine people
The environmental model that the environmental information got can be currently located with constructing environment robot, for example, the environmental model of building can be with
It is the threedimensional model at some floor turning, the model being provided in some floor at central flower bed etc..
After establishing environmental model, in step 504, so that it may will be prestored in current environment model and topographic database
The standard relief model current location that compares to determine dispensing machine people and standard relief model difference, and then determine
The relative position of dispensing machine people.Certainly, in order to guarantee positioning accuracy may be used also when determining horizontal coordinate information
To combine inertial positioning data and external location data, (such as GPS positioning data, Beidou location data pass through in dispensing machine people
The locating module set obtained position data) at least one of calculate.
When purchase terminal is shown according to dispatching status information, in order to facilitate the use of the user, progress can choose
Two-dimensional map shows and carries out three-dimensional map displaying.The two-dimensional map and three-dimensional map for needing to show can be user and download in advance
It expires and buys in terminal, be also possible to be sent two-dimensional map and three-dimensional map by server when needing to be shown
Into purchase terminal.
When server sends two-dimensional map and three-dimensional map in purchase terminal, a part can be only sent
Map, that is, only send the cartographic information for the floor that current distribution route is passed through.It is, dispatching status information is also wrapped
It includes: the cartographic information of floor where dispensing machine people；
The distribution information that server is uploaded according to the dispensing machine people for transporting cargo corresponding to order number, determines dispatching
Status information, comprising:
Server transfers the cartographic information of corresponding floor according to current distribution route；Cartographic information includes below any one
Kind or it is a variety of: the two dimensional model of the threedimensional model of floor, floor.
Similar with preceding method, present invention also provides a kind of inquiry units for dispensing status information, are set to service
In device, inquiry unit includes:
First obtains module, obtains user's operation and buys terminal dispatching status query request generated；Dispatching state is looked into
It askes in request and carries order number；
First determining module, for being delivered letters according to having matched for dispensing machine people upload for transporting cargo corresponding to order number
Breath determines dispatching status information；Dispatching status information include it is below any one or more: dispatching remaining time, currently match
Send the current location of order, current distribution route and dispensing machine people；
First sending module is sent for that will dispense status information to purchase terminal, so that purchase terminal is according to dispatching shape
State information is shown.
Preferably, the current location of dispensing machine people includes: the number of floor where dispensing machine people；
Device further include:
Second determining module, building where determining dispensing machine people for the identifier by being separately positioned on each floor
The number of layer；
Or, device further include:
Second obtains module, for obtaining environmental information transmitted by dispensing machine people；Environmental information is dispensing machine people
It is got in its taken elevator；Environmental information includes the image information by taking pictures, or by way of recording
Obtained audio-frequency information；
Third determining module, for being identified to environmental information, to determine that dispensing machine people is currently located the volume of floor
Number.
Preferably, status information is dispensed further include: the cartographic information of floor where dispensing machine people；
4th determining module, for being delivered letters according to having matched for dispensing machine people upload for transporting cargo corresponding to order number
Breath determines dispatching status information, comprising:
Module is transferred, for transferring the cartographic information of corresponding floor according to current distribution route；Cartographic information includes following
Any one or more: the two dimensional model of the threedimensional model of floor, floor.
Preferably, the device further include:
Module is adjusted, for the collected floor terrain data of institute to adjust landform in delivery process according to dispensing machine people
Terrain data in database；Terrain data in topographic database is used to generate the predetermined distribution route of dispensing machine people.
Preferably, the current location of dispensing machine people includes: the horizontal coordinate information of dispensing machine people；
Device further include:
First building module, the environmental information building dispensing machine people got for server according to dispensing machine people work as
Preceding environmental model；
First contrast module, for according to the standard relief model prestored in current environmental model and topographic database into
Row comparison, and the obtained position data of locating module in conjunction with built in dispensing machine people determine that the horizontal of dispensing machine people sits
Mark information.
Preferably, the current location of dispensing machine people includes: the horizontal coordinate information of dispensing machine people；
Device further include:
5th determining module, the environmental information for being got according to dispensing machine people determine the mark being preset in building
The relative position of will object and dispensing machine people；
6th determining module, for according to the relative position of presetting marker and dispensing machine people and following at least one is fixed
Position data determine the horizontal coordinate information of dispensing machine people: inertial positioning data, external location data.
Preferably, the device further include:
First generation module, the number in purchase order for being assigned according to user generate shipping address；It receives
Address includes floor number and horizontal coordinate information；
Second generation module, for generating predetermined distribution route according to shipping address；
Second sending module, for giving the predetermined distribution route to dispensing machine human hair, so that dispensing machine people obtains purchase
It after cargo corresponding to object order, is moved according to predetermined distribution route, to complete the dispatching of cargo.
Preferably, the first determining module, comprising:
First determination unit determines dispensing machine people on predetermined dispatching road for the current location according to dispensing machine people
Relative position in line；
Second determination unit determines that dispatching is surplus for the relative position according to dispensing machine people in predetermined distribution route
Remaining route；
Third determination unit determines dispatching shape for dispensing duration according to the history for dispensing each section in remaining route
Dispatching remaining time in state information.
It corresponds to the above method, present invention also provides a kind of non-volatile program generations that can be performed with processor
Code computer-readable medium, said program code make the processor execute the signal lamp dispatching status information inquiry
Method.
As shown in figure 4, equipment schematic diagram is calculated for provided by the embodiment of the present application first, the first calculating equipment 1000
It include: processor 1001, memory 1002 and bus 1003, memory 1002, which is stored with, to be executed instruction, when the first calculating equipment
It when operation, is communicated between processor 1001 and memory 1002 by bus 1003, processor 1001 executes in memory 1002
The step of querying method as dispensed status information of storage.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In several embodiments provided herein, it should be understood that disclosed systems, devices and methods, it can be with
It realizes by another way.The apparatus embodiments described above are merely exemplary, for example, the division of the unit,
Only a kind of logical function partition, there may be another division manner in actual implementation, in another example, multiple units or components can
To combine or be desirably integrated into another system, or some features can be ignored or not executed.Another point, it is shown or beg for
The mutual coupling, direct-coupling or communication connection of opinion can be through some communication interfaces, device or unit it is indirect
Coupling or communication connection can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, each functional unit in each embodiment of the application can integrate in one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer readable storage medium.Based on this understanding, the technical solution of the application is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, server or network equipment etc.) execute each embodiment the method for the application all or part of the steps.
And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic or disk.
The above, the only specific embodiment of the application, but the protection scope of the application is not limited thereto, it is any
Those familiar with the art within the technical scope of the present application, can easily think of the change or the replacement, and should all contain
Lid is within the scope of protection of this application.Therefore, the protection scope of the application shall be subject to the protection scope of the claim.
Claims (10)
1. a kind of querying method for dispensing status information characterized by comprising
Server obtains user's operation and buys terminal dispatching status query request generated；In the dispatching status query request
Carry order number；
The distribution information that server is uploaded according to the dispensing machine people for transporting cargo corresponding to order number, determines dispatching state
Information；Dispatching status information include it is below any one or more: dispatching remaining time currently dispenses order, current dispatching
The current location of route and dispensing machine people；
Server will dispense status information and send to purchase terminal, so that purchase terminal is shown according to the dispatching status information
Show.
2. the method according to claim 1, wherein the current location of dispensing machine people includes: dispensing machine people
The number of place floor；
The method also includes:
The number of floor where server determines dispensing machine people by the identifier being separately positioned on each floor；
Or, the method also includes:
Server obtains environmental information transmitted by dispensing machine people；Environmental information is dispensing machine people in its taken elevator
It gets；Environmental information includes the image information by taking pictures, or the audio-frequency information obtained by way of recording；
Server identifies environmental information, to determine that dispensing machine people is currently located the number of floor.
3. according to the method described in claim 2, it is characterized in that, dispatching status information further include: building where dispensing machine people
The cartographic information of layer；
The distribution information that server is uploaded according to the dispensing machine people for transporting cargo corresponding to order number, determines dispatching state
Information, comprising:
Server transfers the cartographic information of corresponding floor according to current distribution route；The cartographic information includes below any one
Kind or it is a variety of: the two dimensional model of the threedimensional model of floor, floor.
4. the method according to claim 1, wherein further include:
Server according to dispensing machine people in delivery process in collected floor terrain data adjustment topographic database
Terrain data；Terrain data in the topographic database is used to generate the predetermined distribution route of dispensing machine people.
5. the method according to claim 1, wherein the current location of dispensing machine people includes: dispensing machine people
Horizontal coordinate information；
The method also includes:
The server environmental model current according to the environmental information building dispensing machine people that dispensing machine people gets；
Server is compared according to the standard relief model prestored in the current environmental model and topographic database, and is tied
The obtained position data of locating module built in dispensing machine people is closed, determines the horizontal coordinate information of dispensing machine people.
6. the method according to claim 1, wherein the current location of dispensing machine people includes: dispensing machine people
Horizontal coordinate information；
The method also includes:
The environmental information that server is got according to dispensing machine people determines the marker being preset in building and dispensing machine people
Relative position；
Server is determined according to the relative position and at least one following location data of default marker and dispensing machine people and is dispensed
The horizontal coordinate information of robot: inertial positioning data, external location data.
7. the method according to claim 1, wherein further include:
The number in purchase order that server is assigned according to user, generates shipping address；The shipping address includes building
Layer number and horizontal coordinate information；
Server generates predetermined distribution route according to shipping address；
Server gives the predetermined distribution route to dispensing machine human hair, so that dispensing machine people obtains goods corresponding to purchase order
It after object, is moved according to predetermined distribution route, to complete the dispatching of cargo.
8. the method according to the description of claim 7 is characterized in that
The distribution information that server is uploaded according to the dispensing machine people for transporting cargo corresponding to order number, determines dispatching state
Information, comprising:
Server determines relative position of the dispensing machine people in predetermined distribution route according to the current location of dispensing machine people；
Relative position of the server according to dispensing machine people in predetermined distribution route determines and dispenses remaining route；
Server dispenses duration according to the history for dispensing each section in remaining route, determines that the dispatching in dispatching status information is surplus
The remaining time.
9. a kind of inquiry unit for dispensing status information, which is characterized in that be set in server, the inquiry unit includes:
First obtains module, obtains user's operation and buys terminal dispatching status query request generated；The dispatching state is looked into
It askes in request and carries order number；
First determining module, the distribution information for being uploaded according to the dispensing machine people for transporting cargo corresponding to order number,
Determine dispatching status information；Dispatching status information include it is below any one or more: dispatching remaining time, current dispatching time
The current location of sequence, current distribution route and dispensing machine people；
First sending module is sent for that will dispense status information to purchase terminal, so that purchase terminal is according to the dispatching shape
State information is shown.
10. a kind of computer-readable medium for the non-volatile program code that can be performed with processor, which is characterized in that described
Program code makes the processor execute described any the method for claim 1-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910407587.0A CN110119930B (en) | 2019-05-16 | 2019-05-16 | Distribution state information query method, device and medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910407587.0A CN110119930B (en) | 2019-05-16 | 2019-05-16 | Distribution state information query method, device and medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110119930A true CN110119930A (en) | 2019-08-13 |
| CN110119930B CN110119930B (en) | 2021-05-07 |
Family
ID=67522626
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910407587.0A Active CN110119930B (en) | 2019-05-16 | 2019-05-16 | Distribution state information query method, device and medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110119930B (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110599088A (en) * | 2019-08-26 | 2019-12-20 | 深圳市航通北斗信息技术有限公司 | Order distribution monitoring method and device and computer readable storage medium |
| CN110808954A (en) * | 2019-09-29 | 2020-02-18 | 口碑(上海)信息技术有限公司 | Display method, device and system of timer assembly |
| CN111652536A (en) * | 2020-04-16 | 2020-09-11 | 浙江口碑网络技术有限公司 | Distribution data processing method and device |
| CN111928837A (en) * | 2020-06-28 | 2020-11-13 | 北京京东振世信息技术有限公司 | Article distribution track display method, device, equipment, system and storage medium |
| CN112766545A (en) * | 2021-01-04 | 2021-05-07 | 深圳优地科技有限公司 | Delivery method and computer-readable storage medium |
| CN112819396A (en) * | 2019-11-15 | 2021-05-18 | 北京三快在线科技有限公司 | Method and device for determining delivery mode, storage medium and electronic equipment |
| CN113327084A (en) * | 2021-06-24 | 2021-08-31 | 北京金和网络股份有限公司 | Method, device and terminal for rapidly searching for takeout |
| WO2021184913A1 (en) * | 2020-03-18 | 2021-09-23 | 拉扎斯网络科技（上海）有限公司 | Ordering method, device and system, and order delivery method and device |
| CN113537815A (en) * | 2021-07-28 | 2021-10-22 | 拉扎斯网络科技（上海）有限公司 | Progress information pushing method and device |
| CN113902366A (en) * | 2021-10-09 | 2022-01-07 | 中兴耀维科技江苏有限公司 | Container type robot service system for intelligent distribution of hotel articles |
| CN114997351A (en) * | 2022-08-08 | 2022-09-02 | 天津渤海物联科技股份有限公司 | Food sample keeping supervision system and method |
| CN112835355B (en) * | 2019-11-25 | 2024-05-28 | 丰田自动车株式会社 | Transport control system, transport control program, and transport control method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107578206A (en) * | 2017-05-12 | 2018-01-12 | 顺丰速运有限公司 | A kind of barcode scanning posts part method and service end, reading terminals and client |
| CN107878990A (en) * | 2017-12-11 | 2018-04-06 | 上海木爷机器人技术有限公司 | A kind of goods delivery management method, system, server and distributed robot |
| CN108428087A (en) * | 2018-03-26 | 2018-08-21 | 深圳市零度智控科技有限公司 | Logistics monitoring method, apparatus and computer readable storage medium |
| WO2018176278A1 (en) * | 2017-03-29 | 2018-10-04 | 深圳市翼动科技有限公司 | Centralized logistics monitoring system based on cloud computing |
-
2019
- 2019-05-16 CN CN201910407587.0A patent/CN110119930B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018176278A1 (en) * | 2017-03-29 | 2018-10-04 | 深圳市翼动科技有限公司 | Centralized logistics monitoring system based on cloud computing |
| CN107578206A (en) * | 2017-05-12 | 2018-01-12 | 顺丰速运有限公司 | A kind of barcode scanning posts part method and service end, reading terminals and client |
| CN107878990A (en) * | 2017-12-11 | 2018-04-06 | 上海木爷机器人技术有限公司 | A kind of goods delivery management method, system, server and distributed robot |
| CN108428087A (en) * | 2018-03-26 | 2018-08-21 | 深圳市零度智控科技有限公司 | Logistics monitoring method, apparatus and computer readable storage medium |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110599088A (en) * | 2019-08-26 | 2019-12-20 | 深圳市航通北斗信息技术有限公司 | Order distribution monitoring method and device and computer readable storage medium |
| CN110808954B (en) * | 2019-09-29 | 2022-07-12 | 口碑(上海)信息技术有限公司 | Display method, device and system of timer component |
| CN110808954A (en) * | 2019-09-29 | 2020-02-18 | 口碑(上海)信息技术有限公司 | Display method, device and system of timer assembly |
| CN112819396A (en) * | 2019-11-15 | 2021-05-18 | 北京三快在线科技有限公司 | Method and device for determining delivery mode, storage medium and electronic equipment |
| CN112819396B (en) * | 2019-11-15 | 2023-04-07 | 北京三快在线科技有限公司 | Method and device for determining delivery mode, storage medium and electronic equipment |
| CN112835355B (en) * | 2019-11-25 | 2024-05-28 | 丰田自动车株式会社 | Transport control system, transport control program, and transport control method |
| WO2021184913A1 (en) * | 2020-03-18 | 2021-09-23 | 拉扎斯网络科技（上海）有限公司 | Ordering method, device and system, and order delivery method and device |
| CN111652536A (en) * | 2020-04-16 | 2020-09-11 | 浙江口碑网络技术有限公司 | Distribution data processing method and device |
| CN111928837A (en) * | 2020-06-28 | 2020-11-13 | 北京京东振世信息技术有限公司 | Article distribution track display method, device, equipment, system and storage medium |
| CN111928837B (en) * | 2020-06-28 | 2022-11-08 | 北京京东振世信息技术有限公司 | Method, device, equipment, system and storage medium for displaying article distribution track |
| CN112766545A (en) * | 2021-01-04 | 2021-05-07 | 深圳优地科技有限公司 | Delivery method and computer-readable storage medium |
| CN113327084A (en) * | 2021-06-24 | 2021-08-31 | 北京金和网络股份有限公司 | Method, device and terminal for rapidly searching for takeout |
| CN113537815B (en) * | 2021-07-28 | 2023-02-03 | 拉扎斯网络科技（上海）有限公司 | Progress information pushing method and device |
| CN113537815A (en) * | 2021-07-28 | 2021-10-22 | 拉扎斯网络科技（上海）有限公司 | Progress information pushing method and device |
| CN113902366A (en) * | 2021-10-09 | 2022-01-07 | 中兴耀维科技江苏有限公司 | Container type robot service system for intelligent distribution of hotel articles |
| CN114997351A (en) * | 2022-08-08 | 2022-09-02 | 天津渤海物联科技股份有限公司 | Food sample keeping supervision system and method |
| CN114997351B (en) * | 2022-08-08 | 2022-11-22 | 天津渤海物联科技股份有限公司 | Food sample keeping supervision system and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110119930B (en) | 2021-05-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110119930A (en) | Dispense querying method, device and the medium of status information | |
| US11853062B2 (en) | Autonomous mobile goods transfer | |
| CN103913162B (en) | The mobile platform of enhancing positions | |
| US9534906B2 (en) | Shopping space mapping systems, devices and methods | |
| CN110286673A (en) | Storage task processing method, device, warehousing system and storage medium | |
| CN106228302A (en) | A kind of method and apparatus for carrying out task scheduling in target area | |
| CN105973236A (en) | Indoor positioning or navigation method and device, and map database generation method | |
| JP2005535879A (en) | Target position information acquisition management system and method | |
| CN109540125B (en) | Park map generation method, server and storage medium | |
| CN104703118A (en) | System of indoor robot for locating mobile terminal based on bluetooth technology | |
| US10740503B1 (en) | Spatial self-verifying array of nodes | |
| CN109690437A (en) | Vehicle with UAV Landing function | |
| CN113525981A (en) | Autonomous mobile pico fulfillment center | |
| JP6903063B2 (en) | Transportation methods between many target-specific locations | |
| CN103761638B (en) | Logistic storage managing device based on multiple spatial locations information superposition location | |
| US20210334917A1 (en) | Method for providing real estate service using autonomous vehicle | |
| WO2017120290A1 (en) | Systems and methods of assisting in the delivery of products | |
| CA3148476C (en) | Spatially self-verifying array of nodes | |
| GB2562835A (en) | Shopping space mapping systems, devices and methods | |
| CN102779305A (en) | Commodity moving information management system | |
| CN110092132A (en) | Article storage system, information processing unit and information processing method | |
| US20190026696A1 (en) | System and method to enable sharing of delivery resources between non-affiliated entities | |
| CN114360274B (en) | Distribution vehicle navigation method, system, computer equipment and storage medium | |
| CN104581631B (en) | A kind of high-precision command dispatching system based on GPS and LBS stationkeeping abilities | |
| US20240086811A1 (en) | Method for use in planning of tasks to be performed by a vehicle |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: Room 201, building 4, courtyard 8, Dongbeiwang West Road, Haidian District, Beijing Patentee after: Beijing Yunji Technology Co.,Ltd. Address before: Room 201, building 4, courtyard 8, Dongbeiwang West Road, Haidian District, Beijing Patentee before: BEIJING YUNJI TECHNOLOGY Co.,Ltd. |