CN112053065A

CN112053065A - Local delivery method and device of robot and robot

Info

Publication number: CN112053065A
Application number: CN202010939082.1A
Authority: CN
Inventors: 王超
Original assignee: Shanghai Yogo Robot Co Ltd
Current assignee: Shanghai Yogo Robot Co Ltd
Priority date: 2020-09-09
Filing date: 2020-09-09
Publication date: 2020-12-08

Abstract

The invention discloses a local delivery method and a local delivery device of a robot and the robot, wherein the method comprises the following steps: acquiring basic information of at least one waybill; judging whether a preset starting condition is met; delivering the target freight notes in sequence according to the principle that the shorter the residual delivery time is, the earlier the delivery is; completing the current scheduling task of the prior delivery point position according to the principle that the closer the floor is, the earlier the delivery is, and the smaller the moving distance is, the earlier the delivery is when the floor is the same; and acquiring the next target freight note or the next preferential delivery point until all freight notes are delivered. According to the invention, the delivery sequence of a plurality of delivery waybills is arranged in real time according to the dimensionality of the scheduling task and the residual delivery duration, the floor distance and the flat-bed moving distance, so that a central controller is not needed, the delivery efficiency of the robot is improved, the robot is prevented from running back and forth among a plurality of task points, and the intelligence and the flexibility of the robot are improved.

Description

Local delivery method and device of robot and robot

Technical Field

The invention relates to the field of robots, in particular to a robot local delivery method and device and a robot.

Background

With the rapid development of the robot industry, various service robots emerge endlessly, and the robots are widely applied in life and work. Robots that are now serviced within a building typically have flat-floor delivery capabilities within the building and have multiple bays for items stored therein so that the robot can deliver items at multiple different destinations in a single pass. Meanwhile, in modern buildings, especially business office buildings and market buildings, general floors are high, for a delivery task of crossing floors in the buildings, the robot needs to take the elevator to move between different floors, in order to reduce the times of taking the elevator for the robot to go up and down the building and avoid the robot to move back and forth at an arrival point in flat-layer delivery, the robot needs to reasonably select the delivery sequence of a plurality of articles. Therefore, the decision-making manner of the robot will affect the delivery time of the robot to deliver all the items, and thus the delivery efficiency and the service experience of the robot are concerned. In addition, as an infrastructure of a service public in a building, the robot is also required to be more intelligent and have behavior closer to real human behavior, such as not running a useless journey, while pursuing delivery efficiency.

Disclosure of Invention

The invention provides a local delivery method and device of a robot and the robot, and solves the technical problems of reasonably arranging a multi-task delivery sequence and improving the delivery efficiency and intelligence of the robot.

The technical scheme for solving the technical problems is as follows: a method of local delivery of a robot, comprising the steps of:

step 1, obtaining basic information of at least one waybill, wherein the basic information comprises a task ID, a task state, a task point location and task creation time;

step 2, judging whether a preset starting condition is met or not according to basic information of all waybills in the robot waybill pool, if so, executing step 3, and if not, waiting for inputting a new waybill until the preset starting condition is met;

step 3, judging whether at least one target waybill with the residual delivery time length smaller than a first preset threshold value exists in all waybill, if so, sequentially delivering the target waybill according to the principle that the residual delivery time length is shorter and the target waybill is delivered first, otherwise, executing step 4;

step 4, splitting each waybill into at least one scheduling task according to the execution flow of the waybill, obtaining the current scheduling task of each waybill, and obtaining a priority delivery point position from all the current scheduling tasks according to the principle that the closer the floors are, the earlier the delivery is, and the smaller the moving distance is, the earlier the delivery is when the floors are the same;

and 5, controlling the robot to move to the prior delivery point position to complete the corresponding current scheduling task, and then returning to the step 3 to obtain the next target waybill or the next prior delivery point position until all waybills are delivered.

In a preferred embodiment, the preset starting condition includes any one or more of the following:

condition 1: the robot is full;

condition 2: the robot is not full, but obtains an immediate starting instruction;

condition 3: the robot is not full, but the task creation time of the current time and the earliest waybill is longer than the preset timeout duration;

condition 4: the robot is not full of the bin, but the number of floors distributed by all the task point positions is greater than or equal to the preset number.

In a preferred embodiment, the obtaining a preferential delivery point specifically includes the following steps:

s401, splitting each waybill into at least one scheduling task according to an execution flow of the waybill, wherein each scheduling task has a corresponding initial point location and a corresponding target point location;

s402, acquiring a current scheduling task of each waybill and a target point corresponding to the current scheduling task, and merging and de-duplicating the same target point to form a candidate point list;

s403, calculating the relative floor of each target point location in the candidate point location list, wherein the relative floor is the difference value between the floor where the target point location is located and the floor where the robot is currently located;

s404, taking the target point position with the minimum relative floor as a candidate point position, taking the candidate point position as a preferential delivery point position if only one candidate point position exists, calculating the relative distance between the current point position of the robot and each candidate point position if a plurality of candidate point positions exist, and taking the candidate point position with the minimum relative distance as the preferential delivery point position.

In a preferred embodiment, if the relative floor is 0, the relative distance is the euler distance between the current point location and the alternative point location of the robot; and if the relative floor is not 0, the relative distance is the Euler distance between the exit point of the elevator predicted to be carried by the robot and the alternative point.

In a preferred embodiment, when the preferred delivery point is the target delivery point, acquiring a time length for the robot to wait for the movement to the target delivery point, if the time length for waiting for the check-in is greater than a second preset threshold, changing the state of the waybill corresponding to the preferred delivery point into a retained state, and returning to the step 3 to acquire the next target waybill or the next preferred delivery point until all the waybills are delivered completely or are in the retained state.

A second aspect of the embodiments of the present invention provides a local delivery apparatus for a robot, including an obtaining module, a list pressing module, a judging module, a sorting module, and a control module,

the acquisition module is used for acquiring basic information of at least one waybill, wherein the basic information comprises a task ID, a task state, a task point location and task creation time;

the bill pressing module is used for judging whether a preset starting condition is met or not according to basic information of all bills in the robot bill pool, if so, the judging module is driven, and if not, a new bill is waited to be input until the preset starting condition is met;

the judging module is used for judging whether at least one target waybill with the residual delivery time length smaller than a first preset threshold value exists in all waybill, if yes, the control module is driven to deliver the target waybill in sequence according to the principle that the residual delivery time length is shorter and earlier, and if not, the sorting module is driven;

the sequencing module is used for splitting each waybill into at least one scheduling task according to an execution flow of the waybill, obtaining the current scheduling task of each waybill, obtaining a priority delivery point from all the current scheduling tasks according to the principle that the closer the floors are, the earlier the waybill is delivered, and the smaller the moving distance is, the earlier the waybill is delivered when the floors are the same, and driving the control module to control the robot to move to the priority delivery point to complete the corresponding current scheduling task, and then obtaining the next target waybill or the next priority delivery point until all the waybill are delivered.

condition 1: the robot is full;

In a preferred embodiment, the sorting module specifically includes a splitting unit, a list forming unit, a calculating unit and a sorting unit,

the splitting unit is used for splitting each waybill into at least one scheduling task according to the execution flow of the waybill, and each scheduling task has a corresponding initial point location and a corresponding target point location;

the list forming unit is used for acquiring a current scheduling task of each waybill and a target point corresponding to the current scheduling task, and merging and de-duplicating the same target point to form a candidate point list;

the computing unit is used for computing the relative floor of each target point location in the candidate point location list, and the relative floor is the difference value between the floor where the target point location is located and the floor where the robot is currently located;

the sequencing unit is used for taking the target point position with the smallest relative floor as a candidate point position, taking the candidate point position as a preferential delivery point position when only one candidate point position exists, calculating the relative distance between the current point position of the robot and each candidate point position when a plurality of candidate point positions exist, and taking the candidate point position with the smallest relative distance as the preferential delivery point position.

In a preferred embodiment, the local delivery device further includes a state switching module, where the state switching module is configured to, when the preferred delivery point location is a target delivery point location, obtain a length of time for the robot to wait for the robot to move to the target delivery point location to sign off, and if the length of time for waiting for the robot to sign off is greater than a second preset threshold, switch a state of the waybill corresponding to the preferred delivery point location to a retained state.

A third aspect of embodiments of the present invention provides a robot, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the local delivery method of the robot when executing the computer program.

A fourth aspect of embodiments of the present invention provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the steps of the above-described local delivery method of a robot.

The invention provides a local delivery method and device of a robot and the robot, so that the robot can self-decide the whole delivery process like a human, namely, the delivery sequence of a plurality of delivery waybills is arranged in real time according to the dimensionality of a scheduling task and the residual delivery duration, the floor distance and the flat-bed moving distance, a central controller such as a cloud server is not needed for scheduling, the delivery efficiency of the robot is improved, the robot is prevented from running back and forth among a plurality of task points, and the intelligence and the flexibility of the robot are improved.

In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic flow chart of a local delivery method of a robot provided in embodiment 1;

fig. 2 is a schematic structural diagram of a local delivery apparatus of a robot provided in embodiment 2;

fig. 3 is a schematic circuit diagram of a controller provided in embodiment 3.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that, if not conflicted, the various features of the embodiments of the invention may be combined with each other within the scope of protection of the invention. Additionally, while functional block divisions are performed in apparatus schematics, with logical sequences shown in flowcharts, in some cases, steps shown or described may be performed in sequences other than block divisions in apparatus or flowcharts. The terms "first", "second", "third", and the like used in the present invention do not limit data and execution order, but distinguish the same items or similar items having substantially the same function and action.

The robot of embodiments of the present invention may be configured in any suitable shape to perform a particular business function operation, for example, the robot of embodiments of the present invention may be a delivery robot, a transfer robot, a care robot, and the like.

The robot generally includes a housing, a sensor unit, a drive wheel assembly, a memory assembly, and a controller. The housing may be substantially circular in shape, and in some embodiments, the housing may be substantially oval, triangular, D-shaped, cylindrical, or otherwise shaped.

The sensor unit is used for collecting some motion parameters of the robot and various data of the environment space. In some embodiments, the sensor unit comprises a lidar mounted above the housing at a mounting height above a top deck height of the housing, the lidar being for detecting an obstacle distance between the robot and an obstacle. In some embodiments, the sensor unit may also include an Inertial Measurement Unit (IMU), a gyroscope, a magnetic field meter, an accelerometer or velocimeter, an optical camera, and so forth.

The driving wheel component is arranged on the shell and drives the robot to move on various spaces, and in some embodiments, the driving wheel component comprises a left driving wheel, a right driving wheel and an omnidirectional wheel, and the left driving wheel and the right driving wheel are respectively arranged on two opposite sides of the shell. The left and right drive wheels are configured to be at least partially extendable and retractable into the bottom of the housing. The omni-directional wheel is arranged at the position, close to the front, of the bottom of the shell and is a movable caster wheel which can rotate 360 degrees horizontally, so that the robot can flexibly steer. The left driving wheel, the right driving wheel and the omnidirectional wheel are arranged to form a triangle, so that the walking stability of the robot is improved. Of course, in some embodiments, the driving wheel component may also adopt other structures, for example, the omni wheel may be omitted, and only the left driving wheel and the right driving wheel may be left to drive the robot to normally walk.

In some embodiments, the robot is further configured with a storage component that is mounted within the receiving slot to accomplish a delivery task or the like.

The controller is respectively and electrically connected with the left driving wheel, the right driving wheel, the omnidirectional wheel and the laser radar. The controller is used as a control core of the robot and is used for controlling the robot to walk, retreat and some business logic processing.

In some embodiments, the controller may be a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), a single chip, ar (aconris cmachine) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination of these components. Also, the controller may be any conventional processor, controller, microcontroller, or state machine. A controller may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP, and/or any other such configuration.

In some embodiments, during the movement of the robot, the controller employs SLAM (simultaneous localization and mapping) technology to construct a map and a position according to the environmental data, so as to move to a target location to complete a delivery task, a cleaning task, and the like. The controller instructs the robot to completely traverse an environmental space through a full coverage path planning algorithm based on the established map and the position of the robot. For example, during the robot traversal, the sensor unit acquires an image of a traversal region, wherein the image of the traversal region may be an image of the entire traversal region or an image of a local traversal region in the entire traversal region. The controller generates a map from the image of the traversal area, the map having indicated an area that the robot needs to traverse and coordinate locations at which obstacles located in the traversal area are located. After each location or area traversed by the robot, the robot marks that the location or area has been traversed based on the map. In addition, as the obstacle is marked in a coordinate mode in the map, when the robot passes, the distance between the robot and the obstacle can be judged according to the coordinate point corresponding to the current position and the coordinate point related to the obstacle, and therefore the robot can pass around the obstacle. Similarly, after the position or the area is traversed and marked, when the next position of the robot moves to the position or the area, the robot makes a strategy of turning around or stopping traversing based on the map and the mark of the position or the area.

It will be appreciated that the controller may also identify traversed locations or areas, or identify obstacles, in a variety of ways to develop a control strategy that meets product needs.

Referring to fig. 1, a schematic flow chart of a local delivery method for a robot according to embodiment 1 of the present invention is provided, as shown in fig. 1, the method includes the following steps:

step 1, acquiring basic information of at least one waybill. The waybill is a record form of a robot delivery task, and basic information of the waybill comprises a task ID, a task state, a task point location and a task creation time. One point location contains basic information of a position, such as coordinates of the point location, a floor to which the point location belongs, and the like, and according to the type and execution flow of a delivery task executed by the robot, the task point location further comprises a target pick-up point location, a target delivery point location, a target return point location, a standby point location, and the like. The task state is the state description of the whole life cycle of the robot delivering the goods, and the state of one delivery task comprises created, put, taken, to be delivered, in delivery, arrived, signed in, detained, returned and the like, and is switched continuously according to the delivery stage of the robot.

In the step, the waybill input form comprises robot local input, small program input, station container input and large screen input, and if the robot local input is carried out, the created waybill directly enters a local waybill pool of the robot; and if the small program input, the site container input or the large screen input is carried out, the created waybill is directly created to the cloud end or is synchronized to the cloud end, and then the robot pulls the waybill to a local waybill pool from the cloud end. Taking local entry of the robot as an example, the robot is first required to wait for entry of a delivery task by a customer at a standby point, namely, order taking and order recording. Specifically, the user creates a delivery task and generates a corresponding manifest by selecting a target point of delivery and selecting an available bin to place items for delivery at the robot UI interface. Or the user selects a target goods taking point position, a target goods delivery point position and a target return point position on the UI interface of the robot, so that a delivery task comprising goods taking, delivery and return processes is created, and a corresponding freight note is generated. The whole process is called a recording list, and for example, a 3-floor delivery task can be recorded through a robot UI operation interface. At this time, the user may choose not to start delivery immediately, but to record several orders within a preset timeout duration, for example, may record three delivery tasks at different points of the 6 th building, and then wait for the order pressing timeout and then automatically start delivery, so as to deliver as many delivery tasks as possible within a certain time range, and improve the delivery efficiency, this process is called as order pressing.

And then, executing a step 2, judging whether a preset starting condition is met according to basic information of all the waybills in the waybill pool of the robot, if so, executing a step 3, otherwise, waiting for inputting a new waybill until the preset starting condition is met.

In a preferred embodiment, the preset starting condition includes any one or more of the following conditions:

condition 1: the robot is full. The full bin is used to describe that all available bins of the robot have been recorded and put. In a preferred embodiment, the positions of the robot are composed of an upper box and a lower box, and the upper box and the lower box can be provided with or without partition plates, so that the robot can have 4 positions, 3 positions, 2 positions and the like. In the full bin situation, the robot will immediately start delivery.

Condition 2: the robot is not full, but an immediate departure instruction input by the user is acquired, and then the robot also immediately departs for delivery.

Condition 3: the robot is not full, but the current time is longer than the preset timeout time from the earliest task creation time of all the waybills, namely, the robot enters a waybills pressing timeout state and immediately starts to deliver.

Condition 4: the robot is not full of the bin, but the number of floors distributed at the task point position is greater than or equal to the preset number. For example, the robot has 4 bins, and there are 3 waybills in the waybill pool, and the floors where the target delivery point locations of the 3 waybills are 22F, 15F and 8F, respectively, that is, the 3 waybills are distributed on 3 different target floors, and at this time, the preset number is 3, so that the robot can start delivery immediately even though the bin is not full, if the above condition 4 is satisfied.

And 3, judging whether at least one target waybill with the residual delivery time length smaller than a first preset threshold exists in all the waybill, if so, sequentially delivering the target waybill according to the principle that the residual delivery time length is shorter and the target waybill is delivered earlier, and returning to continue to execute the step 3 after the delivery is finished. Generally, once the delivery task is started, there is always a constraint on delivery timeliness, for example, a takeaway delivery belongs to an instant delivery, and a recipient client must have a meal within an expected time to consider the delivery to be effective, so that the takeaway delivery timeliness is an appointment for the time of arrival at the last door. And the remaining delivery duration of the waybill is defined as the difference of the expected delivery time point to the current time. If the waybill does not have the expected delivery time point, the expected delivery time point is defined as the task creation time plus a fixed time T0, and the T0 is the time limit of the delivery.

In a preferred embodiment, the first preset threshold may be set to 2-5min, that is, when the remaining delivery time is less than 2-5min, the waybill is considered to be about to time out, priority delivery is performed on the waybill which is about to time out or has already timed out, and the more the timeout time is, the shorter the remaining delivery time is, the earlier the delivery is.

If all the waybills in the waybill pool do not have the problem of overtime or being about to overtime, executing the step 4: according to the execution flow of the freight note, dividing each freight note into at least one scheduling task, obtaining the current scheduling task of each freight note, and obtaining a preferential delivery point position from all the current scheduling tasks according to the principle that the closer the floor is, the earlier the delivery is, and the smaller the moving distance is, the earlier the delivery is when the floor is the same. Specifically, the method comprises the following steps:

s401, according to the execution flow of the waybill, splitting each waybill into at least one scheduling task, wherein the scheduling tasks are inseparable and continuous, and each scheduling task has a pair of initial point positions and target point positions. The initial point location of the first scheduling task is the current position of the robot, the target point location of the last scheduling task is a target delivery point location, a target return point location or a standby point location, and meanwhile, the target point location of the previous scheduling task is the initial point location of the next scheduling task. For example, the execution flow of a waybill includes picking, delivering and returning, the scheduling tasks include picking, delivering and returning tasks, and the point location change is used to describe the scheduling tasks, the point location change corresponding to the picking task is from the current position of the robot to the target picking point location, the point location change corresponding to the delivering task is from the target picking point location to the target delivering point location, and the point location change corresponding to the returning task is from the target delivering point location to the target returning point location. Thus, one waybill is composed of a plurality of scheduling tasks, and different waybills can have scheduling tasks (such as a plurality of waybills at one point location) with the same initial point location and target point location or scheduling tasks with the same floor where the initial point location is located and the target point location is located, so that the moving path of the robot is planned according to the dimensionality of the scheduling tasks, each flow of the waybill is completed, and finally all the waybills are completed.

S402, acquiring the current scheduling task of each waybill and the target point corresponding to the current scheduling task, and merging and de-duplicating the same target point to form a candidate point list. The current scheduling task refers to a scheduling task to be executed by the waybill, such as a pickup waybill, and if the goods are already picked, the current scheduling task is a delivery task, and if the goods are not picked, the current scheduling task is a pickup task.

And S403, calculating the relative floor of each target point location in the candidate point location list, wherein the relative floor is the difference value between the floor where the target point location is located and the floor where the robot is currently located.

And when the current scheduling task of one priority delivery point is completed, returning to the step 3 to obtain the target freight note to be overtime or the next priority delivery point until all freight notes are delivered.

TABLE 1 scheduling task maintenance Table

24F (remaining delivery time 1min)
	21F
5F
	5F

Table 1 is a scheduling task maintenance table of the robot in a preferred embodiment, as shown in table 1, there are four current scheduling tasks, which are respectively the first scheduling task with a target floor of 24F, the first scheduling task is a delivery task, the remaining delivery duration of the first scheduling task is 1min, and the target point position is a; the target floor is a second scheduling task of 21F, the second scheduling task is a goods taking task, and the target point position of the second scheduling task is B; the destination floors are a third dispatching task and a fourth dispatching task of 5F, the destination points of the third dispatching task and the fourth dispatching task are C and D respectively, the distance from C to the 5F elevator exit is 20 meters, and the distance from D to the 5F elevator exit is 10 meters. The robot stays at 10F at present, firstly, a first scheduling task which is about to overtime is completed, the current position of the robot is located at a point A of 24F after the completion, then the robot moves to 21F with the minimum relative floor (3 floors) to complete a second scheduling task, the current position of the robot is located at a point B of 21F after the completion, and finally the robot moves to an elevator exit of 5F to complete a fourth scheduling task with a relatively short distance and then a third scheduling task, so that the current delivery sequence of the robot is as follows: 24F to 21F to 5F.

According to the embodiment, the delivery sequence of the delivery waybills is arranged in real time according to the dimensionality of the scheduling task and the residual delivery duration, the floor distance and the flat-floor moving distance, a central controller such as a cloud server is not needed for scheduling, the delivery efficiency of the robot is improved, the robot is prevented from running back and forth among a plurality of task points, and therefore the intelligence and the flexibility of the robot are improved.

After the robot in the preferred embodiment starts, the state of the waybill corresponding to the heading priority delivery point needs to be switched to the delivery state, and the states of other waybills need to be switched to the to-be-delivered state. Meanwhile, when the prior delivery point location is the target delivery point location, acquiring the time length of the robot moving to the target delivery point location for signing in, if the time length of the robot moving to the target delivery point location is greater than a second preset threshold value, switching the state of the delivery note corresponding to the prior delivery point location into a retained state, and returning to the step 3 to acquire the next target delivery note or the next prior delivery point location until all the delivery notes are delivered completely or are in the retained state.

It should be noted that, in the foregoing embodiments, a certain order does not necessarily exist between the foregoing steps, and it can be understood by those skilled in the art from the description of the embodiments of the present invention that, in different embodiments, the foregoing steps may have different execution orders, that is, may be executed in parallel, may also be executed in an exchange manner, and the like.

As another aspect of the embodiment of the present invention, the embodiment of the present invention further provides a local delivery apparatus for a robot. The local delivery device of the robot may be a software module, where the software module includes a plurality of instructions, which are stored in a memory, and the processor may access the memory to call the instructions to perform, so as to complete the local delivery method of the robot as set forth in the foregoing embodiments.

In some embodiments, the local delivery device of the robot may also be built by hardware devices, for example, the local delivery device of the robot may be built by one or more than two chips, and each chip may work in coordination with each other to complete the local delivery method of the robot described in the above embodiments. For another example, the local delivery device of the robot may also be built from various types of logic devices, such as general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs), single-chip processors, arm (aconris cmachine) or other programmable logic devices, discrete gate or transistor logic, discrete hardware components, or any combination of these components.

Fig. 2 is a schematic structural diagram of a local delivery apparatus of a robot according to embodiment 2 of the present invention, the local delivery apparatus of the robot includes an acquiring module 100, a menu pressing module 200, a judging module 300, a sorting module 400 and a control module 500,

the obtaining module 100 is configured to obtain basic information of at least one waybill, where the basic information includes a task ID, a task state, a task point location, and a task creation time;

the waybill pressing module 200 is used for judging whether a preset starting condition is met according to basic information of all waybills in the robot waybill pool, if so, the judging module is driven, and if not, a new waybill is waited to be input until the preset starting condition is met;

the judging module 300 is configured to judge whether at least one target waybill with a remaining delivery duration smaller than a first preset threshold exists in all waybill, if yes, the control module 500 is driven to sequentially deliver the target waybill according to a principle that the remaining delivery duration is shorter and earlier, and if not, the sorting module is driven;

the sequencing module 400 is configured to split each waybill into at least one scheduling task according to an execution flow of the waybill, obtain a current scheduling task of each waybill, obtain a priority delivery point from all current scheduling tasks according to a principle that the closer the floors are, the earlier the waybill is delivered, and the smaller the moving distance is, the earlier the waybill is delivered when the floors are the same, and drive the control module 500 to control the robot to move to the priority delivery point to complete the corresponding current scheduling task, and then obtain a next target waybill or a next priority delivery point until all the waybill is delivered.

condition 1: the robot is full;

In a preferred embodiment, the sorting module 400 specifically includes a splitting unit 401, a list forming unit 402, a calculating unit 403 and a sorting unit 404,

the splitting unit 401 is configured to split each waybill into at least one scheduling task according to an execution flow of the waybill, where each scheduling task has a corresponding initial point location and a corresponding target point location;

the list forming unit 402 is configured to obtain a current scheduling task of each waybill and a target point corresponding to the current scheduling task, and merge and deduplicate the same target point to form a candidate point list;

the calculating unit 403 is configured to calculate a relative floor of each target point location in the candidate point location list, where the relative floor is a difference between a floor where the target point location is located and a floor where the robot is currently located;

the sorting unit 404 is configured to use a target point location with the smallest relative floor as a candidate point location, use the candidate point location as a preferential delivery point location when only one candidate point location exists, calculate a relative distance between a current point location of the robot and each candidate point location when a plurality of candidate point locations exist, and use the candidate point location with the smallest relative distance as the preferential delivery point location.

In a preferred embodiment, the local delivery device further includes a state switching module 600, where the state switching module 600 is configured to, when the preferred delivery point location is a target delivery point location, obtain a time length for the robot to wait for the robot to move to the target delivery point location, and if the time length for waiting for the robot to sign for is greater than a second preset threshold, switch a state of the waybill corresponding to the preferred delivery point location to a retained state.

The local delivery device of the robot may execute the local delivery method of the robot provided by the embodiment of the present invention, and has corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in the embodiment of the local delivery device of the robot, reference may be made to the local delivery method of the robot provided in the embodiment of the present invention.

Fig. 3 is a schematic circuit diagram of a controller according to an embodiment of the present invention. As shown in fig. 3, the controller 600 includes one or more processors 61 and a memory 62. In fig. 3, one processor 61 is taken as an example.

The processor 61 and the memory 62 may be connected by a bus or other means, such as the bus connection in fig. 3.

The memory 62, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to the local delivery method of the robot in embodiments of the present invention. The processor 61 executes various functional applications and data processing of the local delivery device of the robot by running the nonvolatile software program, instructions and modules stored in the memory 62, that is, the functions of the local delivery method of the robot and the various modules or units of the device embodiments provided by the above method embodiments are realized.

The memory 62 may include high speed random access memory and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 62 may optionally include memory located remotely from the processor 61, and these remote memories may be connected to the processor 61 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The program instructions/modules are stored in the memory 62 and, when executed by the one or more processors 61, perform the local delivery method of the robot in any of the method embodiments described above.

Embodiments of the present invention also provide a non-transitory computer storage medium storing computer-executable instructions, which are executed by one or more processors, such as one of the processors 61 in fig. 3, so that the one or more processors can execute the local delivery method of the robot in any of the above method embodiments.

Embodiments of the present invention also provide a computer program product, which includes a computer program stored on a non-volatile computer-readable storage medium, where the computer program includes program instructions, and when the program instructions are executed by an electronic device, the electronic device is caused to execute any one of the local delivery methods of the robot.

The above-described embodiments of the apparatus or device are merely illustrative, wherein the unit modules described as separate parts may or may not be physically separate, and the parts displayed as module units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network module units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a general hardware platform, and certainly can also be implemented by hardware. Based on such understanding, the above technical solutions substantially or contributing to the related art may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments or some parts of the embodiments.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method of local delivery of a robot, comprising the steps of:

2. The local delivery method of robots of claim 1, characterized in that said preset departure conditions include any one or more of:

condition 1: the robot is full;

3. The local delivery method of a robot according to claim 1 or 2, wherein the step of obtaining a preferred delivery point location comprises the following steps:

4. The local delivery method of a robot according to claim 3, wherein if the relative floor is 0, the relative distance is the Euler distance between the current point location and the alternative point location of the robot; and if the relative floor is not 0, the relative distance is the Euler distance between the exit point of the elevator predicted to be carried by the robot and the alternative point.

5. The local delivery method of the robot according to claim 4, wherein when the preferred delivery point is a target delivery point, a time length of the robot waiting to check in when the robot moves to the target delivery point is obtained, if the time length of the check in is greater than a second preset threshold, the state of the waybill corresponding to the preferred delivery point is changed to a retained state, and the step 3 is returned to obtain the next target waybill or the next preferred delivery point until all the waybills are delivered completely or are in the retained state.

6. A local delivery device of a robot is characterized by comprising an acquisition module, a list pressing module, a judgment module, a sequencing module and a control module,

7. The local delivery device of claim 6, wherein the preset departure condition comprises any one or more of:

condition 1: the robot is full;

8. The local delivery device of a robot according to claim 6 or 7, characterized in that the sorting module comprises in particular a splitting unit, a list forming unit, a calculating unit and a sorting unit,

9. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out a local delivery method for a robot according to any one of claims 1-5.

10. A robot, characterized in that it comprises a computer-readable storage medium according to claim 9 and a processor which, when executing a computer program on said computer-readable storage medium, carries out the steps of a local delivery method of a robot according to any one of claims 1-5.