CN112598346A

CN112598346A - Distribution system, distribution method, and device control method

Info

Publication number: CN112598346A
Application number: CN202011469374.XA
Authority: CN
Inventors: 范晓锋
Original assignee: Rajax Network Technology Co Ltd
Current assignee: Rajax Network Technology Co Ltd
Priority date: 2020-12-14
Filing date: 2020-12-14
Publication date: 2021-04-02

Abstract

The application discloses delivery system includes: the first mobile equipment obtains an extraction instruction for extracting the object to be delivered from an extraction position; moving from the first separation position to the extraction position according to the extraction instruction to extract at least one loading device loaded with the objects to be delivered; the first separation position is a position which is within the same geographical range as the extraction position and is separated from a first mobile device and a second mobile device provided with the first mobile device; the first mobile equipment is installed on the second mobile equipment; the second mobile device sends one or more extraction instructions to a plurality of first mobile devices installed on the second mobile device, wherein the one or more extraction instructions comprise extraction positions corresponding to different first mobile devices; detaching from the first mobile device at the first detached location; the loading device is extracted by the first mobile equipment at the extraction position and is arranged on the first mobile equipment. By adopting the system, an efficient distribution scheme is provided.

Description

Distribution system, distribution method, and device control method

Technical Field

The application relates to the technical field of data processing, in particular to a distribution system. The application also relates to a distribution method, a distribution device and distribution equipment. The application also relates to a device control method, a device and equipment.

Background

At present, instant delivery is a common delivery scenario. The immediate delivery is a logistics delivery performed at a certain frequency (e.g., a high frequency) within a certain time (e.g., a short time) or within a certain area (e.g., a small geographical area). Take-out is one of the business scenarios for instant distribution.

In the existing instant delivery scenario, the delivery efficiency of a single deliverer is a bottleneck of delivery. For example, in the take-out industry, there is an objective upper limit to the number of waybills that can be delivered simultaneously per rider per unit time; there is also an objective upper limit on the daily delivery of an order for each rider. Existing means to increase the immediate delivery throughput in an area include: firstly, the distribution efficiency of a single rider is improved; secondly, increase the number of riders. However, both of these approaches present a raising bottleneck and also linearly raise the distribution cost.

Therefore, it is very important to provide an efficient delivery method.

Disclosure of Invention

The distribution system, the distribution method and the equipment control method provided by the embodiment of the application provide a high-efficiency distribution scheme, and solve the problem that the current distribution efficiency is bottleneck.

An embodiment of the present application provides a distribution system, including: the device comprises a first mobile device, a second mobile device and a loading device; the first mobile equipment is used for obtaining an extraction instruction for extracting the object to be delivered from an extraction position; moving the first separation position to an extraction position according to the extraction instruction to extract at least one loading device loaded with the objects to be delivered; the first separation position is a position which is within the same geographical range as the extraction position and is separated from a second mobile device provided with the first mobile device; the first mobile device is installed on the second mobile device; the second mobile device is used for sending one or more extraction instructions to a plurality of first mobile devices installed on the second mobile device, and the one or more extraction instructions comprise extraction positions corresponding to different first mobile devices; detaching from the first mobile device at the first detached location; the loading device is a device loaded with an object to be delivered, and is extracted by the first mobile equipment at the extraction position and is arranged on the first mobile equipment.

Optionally, the first mobile device is a self-mobile device; the second mobile device is a remote conveyance for conveying the first mobile device.

Optionally, the first mobile device is further configured to: moving from the extraction position to a first recovery position after extracting the at least one loading device carrying the objects to be delivered; installing on the second mobile device after the first recovery location is recovered by the second mobile device; the first recovery location and the extraction location are within the same geographic range; the second mobile device is further configured to: retrieving and installing the first mobile device at the first retrieval location.

Optionally, the first mobile device is further configured to: obtaining a distribution instruction of an object to be distributed, and moving the loading device which is arranged on the first mobile equipment and is loaded with the object to be distributed to a distribution position from a second separation position; the second separation position is a position which is within the same geographical range as the distribution position and is separated from a second mobile device provided with the first mobile device; the second mobile device is further configured to issue one or more delivery instructions to a plurality of first mobile devices installed on the second mobile device, where the one or more delivery instructions include delivery locations corresponding to different first mobile devices; detaching from the first mobile device at the second detached location; the loading device is separated by the first moving device at the distribution position.

Optionally, the first mobile device is further configured to: moving from the delivery position to a second retrieval position after the loading device is detached from the delivery position; the mobile device is installed on the second mobile device after being recovered by the second mobile device at the second recovery position; the second recovery location and the delivery location are within the same geographic range; the second mobile device is further configured to: and recovering and installing the first mobile equipment at the second recovery position.

Optionally, the first mobile device is further configured to: and moving to a distribution position corresponding to different loading devices, recovering the loading device which is positioned at the distribution position and unloaded with the objects to be distributed, and arranging the loading device on the first moving equipment.

Optionally, the first mobile apparatus is further configured to perform the following processing after the loading device is extracted or delivered: querying information of a second mobile device that can recycle the first mobile device, moving from the pickup location or the delivery location to a location where the second mobile device recycles the first mobile device to be recycled by the second mobile device; or, according to a recovery instruction to move to a recovery position, moving from the extraction position or the delivery position to the recovery position; the recycling location is a location where a second mobile device, which can recycle the first mobile device, recycles the first mobile device; the second mobile device is used for sending one or more recovery instructions to the plurality of first mobile devices, and the one or more recovery instructions comprise recovery positions corresponding to different first mobile devices.

Optionally, the first mobile device is configured to: inquiring information of second mobile equipment capable of transporting the first mobile equipment to the distribution position according to the distribution position contained in the order information corresponding to the object to be distributed; moving from the pickup location to a location where the second mobile device retrieves the first mobile device to be retrieved by the second mobile device.

Optionally, the second mobile device is further configured to: obtaining a query request sent by a first mobile device in the same geographic range and querying a second mobile device which can recycle the first mobile device; if it is determined that the first mobile device can be reclaimed, sending a reclamation instruction to the first mobile device, the reclamation instruction including a location at which the second mobile device reclaims the first mobile device.

Optionally, the first mobile device is further configured to: receiving a location change message of an original second mobile device separated from the first mobile device at the first separation location; the location change message is used to notify the first mobile device that the original second mobile device has left the first detached location.

Optionally, the first mobile device is further configured to: and if the time length required for returning to the first separation position is determined to be longer than the preset time length required for extracting the object, sending an object extraction overtime message to the original second mobile equipment separated from the first mobile equipment at the first separation position, and inquiring information of second mobile equipment capable of recovering the first mobile equipment.

The embodiment of the present application further provides a delivery method, which is applied to a first mobile device that delivers an object to be delivered, and the method includes: obtaining a movement instruction to move from the detached position to the second position; the separation location is within the same geographic range as the second location; separating the mobile device from a second mobile device provided with the first mobile device at the separation position according to the moving instruction, and moving the mobile device to the second position; disengaging at least one loading device in the second position; the at least one loading device is disposed at the first mobile apparatus for loading an object to be delivered.

Optionally, the moving instruction is an extracting instruction for extracting an object to be delivered; the second position is an extraction position of the object to be configured; the moving to the second position after separating from the second mobile device installed with the first mobile device at the separation position according to the moving instruction comprises: moving from the detached location to the pickup location after detaching from the second mobile device in accordance with the pickup instruction; said disengaging at least one loading device in said second position comprising: detaching at least one loading device at the extraction location; the method further comprises the following steps: after the loading device loads the object to be delivered, the loading device loaded with the object to be delivered is extracted and is arranged on the first mobile equipment.

Optionally, the method further includes: moving from the extraction position to a retrieval position after extracting at least one loading device carrying objects to be delivered; the mobile equipment is installed on the second mobile equipment after being recovered by the second mobile equipment at the recovery position; the recovery location and the extraction location are within the same geographic range.

Optionally, the moving instruction is a delivery instruction for delivering an object to be delivered, and the second position is a delivery position of the object to be delivered; the moving to the second position after separating from the second mobile device installed with the first mobile device at the separation position according to the moving instruction comprises: moving from the detached location to the delivery location after detaching from the second mobile device according to the delivery instruction; said disengaging at least one loading device in said second position comprising: separating at least one loading device at the dispensing position; the loading device is loaded with an object to be delivered; the method further comprises the following steps: dispensing the at least one loading device after detaching the at least one loading device.

Optionally, the method further includes: moving from the delivery position to a retrieval position after detaching the loading device from the delivery position; the mobile equipment is installed on the second mobile equipment after being recovered by the second mobile equipment at the recovery position; the recovery location is within the same geographic range as the delivery location.

Optionally, the method further includes: moving to a distribution position corresponding to different loading devices, recovering the loading device which is positioned at the distribution position and unloaded with the objects to be distributed, and arranging the loading device on the first mobile equipment; after the recovered at least one loading device is disposed, moving to the recovery position.

Optionally, the method further includes: extracting or delivering the loading device, and then performing a process of inquiring information of a second mobile device which can recover the first mobile device, and moving the second mobile device from the extraction position or the delivery position to a position where the first mobile device is recovered by the second mobile device to be recovered by the second mobile device; or, according to a recovery instruction to move to a recovery position, moving from the extraction position or the delivery position to the recovery position; the recycling location is a location where a second mobile device, which is capable of recycling the first mobile device, recycles the first mobile device.

An embodiment of the present application further provides an apparatus control method applied to a second mobile apparatus, where the second mobile apparatus is provided with a plurality of first mobile apparatuses, and the first mobile apparatuses are used to deliver an object to be delivered, and the method includes: detaching at least one first mobile device of the plurality of first mobile devices at a detached location; issuing one or more movement instructions to the first mobile device; the movement instructions are for controlling the first mobile device to move from the detached position to a second position; the separation location is within the same geographic range as the second location.

Optionally, the moving instruction is an extraction instruction for extracting the distribution object at an extraction position; the extraction position is a position for extracting the loading device loaded with the object to be delivered; the loading device is recycled by the first mobile equipment after loading the object to be delivered and is arranged on the first mobile equipment; the second position is the extraction position.

Optionally, the moving instruction is a delivery instruction for delivering the object to be delivered at a delivery position; the distribution position is a position where the first mobile equipment separates a loading device carrying the object to be distributed; the second position is the dispensing position.

An embodiment of the present application further provides a delivery apparatus, including: an instruction unit for obtaining a movement instruction to move from the separated position to the second position; the separation location is within the same geographic range as the second location; a moving unit configured to move to the second position after separating from a second mobile device, to which the first mobile device is mounted, at the separation position according to the movement instruction; a separating unit for separating at least one loading device at the second position; the at least one loading device is disposed at the first mobile apparatus for loading an object to be delivered.

An embodiment of the present application further provides an apparatus control device, including: a detaching unit for detaching at least one of the plurality of first mobile devices at a detaching location; an instruction unit configured to issue one or more movement instructions to the first mobile device; the movement instructions are for controlling the first mobile device to move from the detached position to a second position; the separation location is within the same geographic range as the second location.

An embodiment of the present application further provides an electronic device, including: a memory, and a processor; the memory is used for storing a computer program, and the computer program is executed by the processor to execute the method provided by the embodiment of the application.

The embodiment of the present application further provides a storage device, in which a computer program is stored, and the computer program is executed by the processor to perform the method provided in the embodiment of the present application.

Compared with the prior art, the method has the following advantages:

the delivery system provided by the embodiment of the application comprises: the first mobile equipment obtains an extraction instruction for extracting the object to be delivered from an extraction position; moving the first separation position to an extraction position according to the extraction instruction to extract at least one loading device loaded with the objects to be delivered; the first separation position is a position which is within the same geographical range as the extraction position and is separated from a second mobile device provided with the first mobile device; the first mobile device is installed on the second mobile device; the method comprises the steps that a second mobile device sends one or more extracting instructions to a plurality of first mobile devices installed on the second mobile device, wherein the one or more extracting instructions comprise extracting positions corresponding to different first mobile devices; detaching from the first mobile device at the first detached location; and the loading device is a device loaded with the object to be delivered, is extracted by the first mobile equipment at the extraction position and is arranged on the first mobile equipment. The second mobile device for transporting the first mobile device does not need to reach each extraction location in series, but the second mobile device moves from the separation location to the extraction location to extract one or more loading means loaded with objects to be delivered. Thus, the extraction efficiency of the delivery objects is improved.

According to the distribution method, the distribution device and the distribution equipment, the moving instruction for moving from the separation position to the second position is obtained; the separation location is within the same geographic range as the second location; separating the mobile device from a second mobile device provided with the first mobile device at the separation position according to the moving instruction, and moving the mobile device to the second position; disengaging at least one loading device in the second position; the at least one loading device is disposed at the first mobile apparatus for loading an object to be delivered. The first mobile device is separated from the second mobile device at the separation position and moves to a second position in the same geographic range. The second mobile device is not required to serially recover and extract or recover each first mobile device, so that the extraction efficiency and the distribution efficiency can be improved.

According to the device control method, the device control apparatus and the device provided by the embodiment of the application, at least one first mobile device in the plurality of first mobile devices is separated at a separation position; issuing one or more movement instructions to the first mobile device; the movement instructions are for controlling the first mobile device to move from the detached position to a second position; the separation location is within the same geographic range as the second location. The second moving device issues an extraction instruction or a delivery instruction to the plurality of first moving devices transported by the second moving device, and the second moving device does not need to reach each extraction position or delivery position in series, but the plurality of first moving devices move from the separated position to the extraction position or delivery position to extract or deliver the loading device loaded with the object to be delivered. Thus, the extraction efficiency of the delivery objects is improved.

Drawings

Fig. 1 is a schematic view of a scenario provided in an embodiment of the present application;

FIG. 1A is a schematic view of a dispensing system according to a first embodiment of the present application;

fig. 2 is a flow chart of a distribution method according to a second embodiment of the present application;

fig. 2A is a process flow diagram of a method for extracting an object to be delivered according to a second embodiment of the present application;

fig. 3 is a process flow diagram of a device control method according to a second embodiment of the present application;

fig. 4 is a process flow diagram of a device control method according to a second embodiment of the present application;

fig. 5 is a process flow diagram of a device control method according to a second embodiment of the present application;

FIG. 6 is a process flow diagram of a plant recovery method according to a second embodiment of the present application;

fig. 7 is a process flow diagram of a device control method according to a second embodiment of the present application;

fig. 8 is a process flow diagram of a device control method according to a second embodiment of the present application;

FIG. 9 is a schematic view of a dispensing device according to a third embodiment of the present application;

fig. 9A is a schematic view of an extracting apparatus for an object to be dispensed according to a third embodiment of the present application;

FIG. 10 is a schematic diagram of an apparatus control device according to a third embodiment of the present application;

fig. 11 is a schematic diagram of an apparatus control device according to a third embodiment of the present application;

FIG. 12 is a schematic view of a recycling unit of an apparatus according to a third embodiment of the present application;

fig. 13 is a schematic diagram of an apparatus control device according to a third embodiment of the present application;

fig. 14 is a schematic diagram of an apparatus control device according to a third embodiment of the present application;

fig. 15 is a process flow chart of an apparatus control method according to a fourth embodiment of the present application;

fig. 16 is a schematic diagram of an apparatus control device according to a fifth embodiment of the present application;

fig. 17 is a schematic diagram of an electronic device provided herein.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of implementation in many different ways than those herein set forth and of similar import by those skilled in the art without departing from the spirit of this application and is therefore not limited to the specific implementations disclosed below.

The embodiment of the application provides a distribution system. The embodiment of the application also provides a distribution method, a distribution device, electronic equipment and storage equipment. The embodiment of the application also provides a device control method and device, the electronic device and the storage device. Details are described in the following examples one by one.

For ease of understanding, the application scenario provided in the embodiments of the present application is first given. The instant distribution scenario is generally a logistics distribution that is completed more frequently in a shorter time and a smaller area. Take-out is one of the business scenarios for instant distribution. End dispatches are another example of instant dispatches. The end delivery can be logistics delivered to the consumer, and is generally taken from a receiving and dispatching site to the express object to be delivered to the consumer; or sent from the consumer to the transceiving site. There is an objective bottleneck to the delivery efficiency of a single delivery resource (i.e., the rider). Taking the take-out industry as an example, the transportation means mainly used by riders is a two-wheel motorcycle (generally electric), the number of waybills which can be simultaneously delivered by each rider in unit time has an objective upper limit, generally, the waybills per hour do not exceed X single, the waybills per day delivered by each rider also has an objective upper limit, and generally, the waybills per day do not exceed Y single. In order to improve the instant delivery throughput capacity in one area, improving the delivery efficiency of a single rider or increasing the number of riders not only linearly increases the delivery cost, but also has a bottleneck.

The instant delivery scenario provided by the embodiment of the application includes a parent carrier on which the carrier is mounted. The child transport means is a self-moving device that can be separated from the parent transport means and can be automatically driven. The self-moving equipment is not limited to unmanned aerial vehicles, robots, unmanned vehicles and the like, and also comprises other equipment with self-moving capability and instant end distribution capability. The parent transport vehicle is a transport device that may carry one or more self-moving devices that may be separate from the transport device and that may act independently. The transportation equipment is a vehicle and is not limited to the form of the existing vehicle. For example, including but not limited to two or three wheeled vehicles, automobiles or similar rail vehicles towed by locomotives, marine vessels, and tractor-trailers that travel on appropriate roads. The form or position structure of the self-moving device carried by the transportation device is not limited. For example, if the parent conveyance may be a conventional motorcycle for immediate distribution; the child transport means can be mounted on one side or both sides of the parent transport means; in the structure of any side mounting, the sub-transportation tools can be single or multiple superimposed (can be up and down, or left and right, or front and back superimposed). The sub-transportation means to be carried may be an unmanned vehicle or an unmanned aerial vehicle. The sub-carriers may be remotely controlled by a human pilot in short range, or by their full automation of flight, or remotely controlled by other personnel (e.g. the operator of the distribution centre), or allow switching among several modes.

Referring to fig. 1, the drawings include: a transport device 101, a self-moving device 102, an extraction location 103 of the object to be delivered. The transport apparatus 101 carries a plurality of self-moving apparatuses 102. Any number of loading units 102-1 may be carried from mobile device 102. The loading device 102-1 may load objects to be delivered. After the transportation equipment carried by the self-moving equipment reaches the target area where the position 103 where the object to be delivered belongs, the self-moving equipment is separated from the transportation equipment, moves to the extraction position of the object to be delivered, and extracts the loading device loaded with the object to be delivered. The transport equipment may be controlled by the unmanned system to reach the target area, or the backbone transport may be completed by a human driver to reach the target area. And moving the self-moving equipment to the extraction position after separating from the transportation equipment to extract the loading device loaded with the objects to be delivered, and finishing the tail end extraction of the tail end transportation. Therefore, the extraction efficiency of the objects to be distributed of the instant distribution scene is improved. When the trunk road transportation is completed by a human driver, compared with a full-machine mode, the complexity of self-moving equipment is reduced, the energy consumption is saved, the scheme is more feasible, and the method can be popularized at the current stage. Similarly, for the delivery to be delivered, the transportation device carrying the self-moving device reaches the target area to which the delivery position of the object to be delivered belongs, and the device carrying the object to be delivered and/or the loading device extracting the unloaded object to be delivered are unloaded from the self-moving device to each delivery position. The self-moving apparatus is separated from the transportation apparatus, moved to a delivery location of the object to be delivered (e.g., a delivery location of the order, or a delivery address negotiated with a delivery person), and the delivery and recovery of the empty loading device are completed. After the loading device loaded with the objects to be delivered is extracted (or recovered) from the mobile device or the loading device after the objects to be delivered are unloaded, the position where the transportation device capable of recovering the mobile device is located is returned, the transportation device recovers the objects, and the transportation device performs the next stage of transportation. The transportation equipment loaded from the mobile equipment is used for the instant distribution scene, so the distribution efficiency is improved.

First embodiment a delivery system according to a first embodiment of the present application is described below with reference to fig. 1A. The delivery system shown in FIG. 1A, comprising: a first mobile apparatus 101a, a second mobile apparatus 102a, and a loading device 103 a; wherein the content of the first and second substances,

the first mobile device 101a is configured to obtain an extraction instruction for extracting an object to be delivered from an extraction position; moving the first separation position to an extraction position according to the extraction instruction to extract at least one loading device loaded with the objects to be delivered; the first separation position is a position which is within the same geographical range as the extraction position and is separated from a second mobile device provided with the first mobile device; the first mobile device is installed on the second mobile device;

the second mobile device 102a is configured to issue one or more fetch instructions to a plurality of first mobile devices installed on the second mobile device, where the one or more fetch instructions include fetch locations corresponding to different first mobile devices; detaching from the first mobile device at the first detached location;

the loading device 103a is a device loaded with an object to be delivered, and is extracted by the first moving apparatus at the extraction position and is disposed on the first moving apparatus.

Preferably, the first mobile device is a self-mobile device; the second mobile device is a remote conveyance for conveying the first mobile device. For example, the first mobile device is a food delivery robot and the loading means is a means for holding dishes that is mountable to the robot. When getting meal, the second mobile device transports the food delivery robot to the region of getting the meal (draw the position) place, and the food delivery robot carries out the end and gets meal, specifically does: and separating the first separation position from the second mobile equipment, moving the first separation position to a meal taking point according to the order to extract a loading device loaded with the object to be delivered corresponding to the order, and then moving the first separation position to the second mobile equipment of the recovery meal delivery robot for delivering the meal for recovery. Specifically, the first mobile device is further configured to: moving from the extraction position to a first recovery position after extracting the at least one loading device carrying the objects to be delivered; installing on the second mobile device after the first recovery location is recovered by the second mobile device; the first recovery location and the extraction location are within the same geographic range; correspondingly, the second mobile device is further configured to: retrieving and installing the first mobile device at the first retrieval location.

In this embodiment, the system is used in an end delivery scenario, and the first mobile device is further configured to: obtaining a distribution instruction of an object to be distributed, and moving the loading device which is arranged on the first mobile equipment and is loaded with the object to be distributed to a distribution position from a second separation position; the second separation position is a position which is within the same geographical range as the distribution position and is separated from a second mobile device provided with the first mobile device; correspondingly, the second mobile device is further configured to issue one or more delivery instructions to the plurality of first mobile devices installed on the second mobile device, where the one or more delivery instructions include delivery locations corresponding to different first mobile devices; detaching from the first mobile device at the second detached location; the loading device is separated by the first moving device at the distribution position. Further, the first mobile device performs recycling after completing the end delivery, and specifically, the first mobile device is further configured to: moving from the delivery position to a second retrieval position after the loading device is detached from the delivery position; the mobile device is installed on the second mobile device after being recovered by the second mobile device at the second recovery position; the second recovery location and the delivery location are within the same geographic range; the second mobile device is further configured to: and recovering and installing the first mobile equipment at the second recovery position. Wherein the first mobile device is further configured to: and moving to a distribution position corresponding to different loading devices, recovering the loading device which is positioned at the distribution position and unloaded with the objects to be distributed, and arranging the loading device on the first moving equipment. For example, the meal delivery robot returns to the second collection location for collection after completion of the meal delivery, and the second collection location is in the same cell, the same building, or the same CDB area as the delivery address of the end delivery.

In this embodiment, the first mobile device is recycled to the second mobile device, and the first mobile device can be recycled according to the received recycling instruction, or the second mobile device information of the first mobile device that can be recycled can be actively queried. Specifically, the first mobile apparatus is further configured to, after retrieving or delivering the loading device, perform the following processing:

querying information of a second mobile device that can recycle the first mobile device, moving from the pickup location or the delivery location to a location where the second mobile device recycles the first mobile device to be recycled by the second mobile device; alternatively, the first and second electrodes may be,

moving from the pick-up position or the delivery position to a recovery position according to a recovery instruction to move to the recovery position; the recycling location is a location where a second mobile device, which can recycle the first mobile device, recycles the first mobile device;

the second mobile device is used for sending one or more recovery instructions to the plurality of first mobile devices, and the one or more recovery instructions comprise recovery positions corresponding to different first mobile devices.

In this embodiment, the second mobile device capable of recycling the first mobile device may be determined according to the delivery location of the order. Specifically, the first mobile device is configured to: inquiring information of second mobile equipment capable of transporting the first mobile equipment to the distribution position according to the distribution position contained in the order information corresponding to the object to be distributed; moving from the pickup location to a location where the second mobile device retrieves the first mobile device to be retrieved by the second mobile device. Correspondingly, the second mobile device is further configured to: obtaining a query request sent by a first mobile device in the same geographic range and querying a second mobile device which can recycle the first mobile device; if it is determined that the first mobile device can be reclaimed, sending a reclamation instruction to the first mobile device, the reclamation instruction including a location at which the second mobile device reclaims the first mobile device.

In this embodiment, the second mobile device may be moved to another location after being separated from the first mobile device. Thus, the first mobile device is further configured to: receiving a location change message of an original second mobile device separated from the first mobile device at the first separation location; the location change message is used to notify the first mobile device that the original second mobile device has left the first detached location.

In this embodiment, the first mobile device may extract a plurality of loading devices, and the extraction time length of each loading device may be different, or there may be a case where the actual extraction time length exceeds the expected extraction time length. For example, when the system is used in a meal delivery scenario, the meal preparation time for the store to provide the meal is different, and thus the line phase over which the meal is extracted may be stored. In order to solve the recycling problem after the loading device is extracted by the first mobile device when the extraction object is overtime, the first mobile device is further configured to: and if the time length required for returning to the first separation position is determined to be longer than the preset time length required for extracting the object, sending an object extraction overtime message to the original second mobile equipment separated from the first mobile equipment at the first separation position, and inquiring information of second mobile equipment capable of recovering the first mobile equipment.

The system provided in the present embodiment has been explained so far. Moving the system from the first separation position to the extraction position according to the extraction instruction to extract at least one loading device loaded with the objects to be delivered; the first separation position is a position which is within the same geographical range as the extraction position and is separated from a second mobile device provided with the first mobile device; the first mobile device is installed on the second mobile device; the method comprises the steps that a second mobile device sends one or more extracting instructions to a plurality of first mobile devices installed on the second mobile device, wherein the one or more extracting instructions comprise extracting positions corresponding to different first mobile devices; detaching from the first mobile device at the first detached location; and the loading device is a device loaded with the object to be delivered, is extracted by the first mobile equipment at the extraction position and is arranged on the first mobile equipment. The second mobile device for transporting the first mobile device does not need to reach each extraction location in series, but the second mobile device moves from the separation location to the extraction location to extract one or more loading means loaded with objects to be delivered. Thus, the extraction efficiency of the delivery objects is improved.

Based on the above application environment and embodiments, a second embodiment of the present application provides a distribution method. Referring to fig. 2, the distribution method shown in fig. 2 is applied to a first mobile device for distributing an object to be distributed, and includes: step S201 to step S202.

Step S201, obtaining a moving instruction for moving from a separation position to a second position; the separation location is within the same geographic range as the second location;

step S202, according to the moving instruction, separating the mobile device from a second mobile device provided with the first mobile device at the separation position, and moving the mobile device to the second position;

step S203, separating at least one loading device at the second position; the at least one loading device is disposed at the first mobile apparatus for loading an object to be delivered.

The method can be applied to an end extraction scene for extracting a loading device for loading an object to be delivered, and can also be applied to an end delivery scene for delivering the loading device for loading the object to be delivered. The term "end picking" means that the second mobile device transports the first mobile device to an area where one or more loading devices are to be picked, separates from the first mobile device, and moves by itself to a picking position where the loading devices are picked, and releases the empty loading devices and/or retrieves the loading devices that have been loaded with the objects to be delivered. Each first mobile device can carry any number of loading devices; each second mobile device may carry any number of first mobile devices. Generally, the second mobile device executes the movement action of the main road, the first mobile device executes the movement action within a certain area range, and the first mobile device performs the end extraction within the area range. Similarly, the end delivery means that the second moving device transports the first moving device to an area where one or more loading devices are required to be delivered, separates from the first moving device, and is automatically moved by the first moving device to a delivery position where the loading devices are delivered, and recovers empty loading devices from which the objects to be delivered have been unloaded and/or releases loading devices from which the objects to be delivered have been loaded. Each first mobile device can carry any number of loading devices; each second mobile device may carry any number of first mobile devices. Generally, the second mobile device executes the movement action of the main road, the first mobile device executes the movement action within a certain area range, and the first mobile device carries out the end distribution within the area range.

In the terminal extraction scene, the moving instruction is an extraction instruction for extracting an object to be delivered; the second position is an extraction position of the object to be configured; the moving to the second position after separating from the second mobile device installed with the first mobile device at the separation position according to the moving instruction comprises: moving from the detached location to the pickup location after detaching from the second mobile device in accordance with the pickup instruction; said disengaging at least one loading device in said second position comprising: detaching at least one loading device at the extraction location; the method further comprises the following steps: after the loading device loads the object to be delivered, the loading device loaded with the object to be delivered is extracted and is arranged on the first mobile equipment. Further, after at least one loading device on which the objects to be delivered are loaded is extracted, moving from the extraction position to a recovery position; the mobile equipment is installed on the second mobile equipment after being recovered by the second mobile equipment at the recovery position; the recovery location and the extraction location are within the same geographic range.

In an end delivery scenario, the moving instruction is a delivery instruction for delivering an object to be delivered, the second location is a delivery location for the object to be delivered, and the moving instruction separates from a second mobile device, on which the first mobile device is installed, at the separation location and moves to the second location, including: moving from the detached location to the delivery location after detaching from the second mobile device according to the delivery instruction; said disengaging at least one loading device in said second position comprising: separating at least one loading device at the dispensing position; the loading device is loaded with an object to be delivered; the method further comprises the following steps: dispensing the at least one loading device after detaching the at least one loading device. Further, after the loading device is separated at the delivery position, the loading device is moved from the delivery position to a recovery position; the mobile equipment is installed on the second mobile equipment after being recovered by the second mobile equipment at the recovery position; the recovery location is within the same geographic range as the delivery location. In this embodiment, the method further includes: moving to a distribution position corresponding to different loading devices, recovering the loading device which is positioned at the distribution position and unloaded with the objects to be distributed, and arranging the loading device on the first mobile equipment; after the recovered at least one loading device is disposed, moving to the recovery position.

In this embodiment, the following processing is executed after the loading device is extracted or delivered: querying information of a second mobile device that can recycle the first mobile device, moving from the pickup location or the delivery location to a location where the second mobile device recycles the first mobile device to be recycled by the second mobile device; or, according to a recovery instruction to move to a recovery position, moving from the extraction position or the delivery position to the recovery position; the recycling location is a location where a second mobile device, which is capable of recycling the first mobile device, recycles the first mobile device.

The distribution method provided by the embodiment obtains the moving instruction for moving from the separation position to the second position; the separation location is within the same geographic range as the second location; separating the mobile device from a second mobile device provided with the first mobile device at the separation position according to the moving instruction, and moving the mobile device to the second position; disengaging at least one loading device in the second position; the at least one loading device is disposed at the first mobile apparatus for loading an object to be delivered. The first mobile device is separated from the second mobile device at the separation position and moves to a second position in the same geographic range. The second mobile device is not required to serially recover and extract or recover each first mobile device, so that the extraction efficiency and the distribution efficiency can be improved.

Based on the above, the second embodiment further provides a method for extracting an object to be delivered. The extraction method of the object to be delivered shown in fig. 2A is applied to a self-moving device for extracting the object to be delivered from an extraction position, and includes: step S201a to step S202 a.

In step S201a, an extraction instruction to extract the object to be delivered from the extraction position is obtained.

The extraction location may be a location at which the object to be delivered is retrieved from a mobile device. For example, the address can be a meal-fetching address or a pickup address of a express object. In practical application, the object to be delivered may be handed over to the self-mobile device; or the mobile device automatically extracts the object to be delivered by driving the end executing mechanism according to the order information corresponding to the object to be delivered. The fetch instruction is to instruct the self-moving device to fetch an object to be delivered from a fetch location. The device for issuing the fetch instruction is not limited, and facilities that can control the mobile device may issue the fetch instruction. In practical implementation, the extraction instruction may be an instruction issued by a transportation device mounted on the mobile device, an instruction from a server controlling the mobile device, an instruction issued by a distributor through an electronic device used by the distributor, a voice instruction issued by the distributor, or an instruction issued by an input device of the mobile device. For example, when one self-moving device cannot extract the object to be delivered (for example, a failure occurs or the object to be delivered exceeds the bearing range and needs to be sorted), other self-moving devices which are located in the same address range as the self-moving device and can extract the object to be delivered may be searched, and an extraction instruction is sent.

Step S202a, according to the extraction instruction, moving the object to be delivered from a separation position to an extraction position, where the separation position is a position where the self-moving device is separated from a transportation device used for transporting the self-moving device, and the separation position and the extraction position are within the same geographic range.

The same geographical range may be a range of the same geographical grid of the geographical grids divided by the service area and/or the distance between the locations satisfying a preset distance threshold. For example, the separation location and the extraction location are both in a central business area, and may be considered to be in the same geographic area. The separated position and the extracted position can be regarded as the same geographical range in a certain community or a certain residential community. The separation location is at the entrance or parking lot of a building and the extraction location is within the building and may be considered to be the same geographical area. In practical application, after the transportation device reaches the separation position, the self-moving device is separated from the transportation device and moves to an extraction position in the same geographical range as the separation position according to the extraction instruction, and the object to be delivered is obtained at the extraction position. The transport device can transport a plurality of self-moving devices. The transport device may release one or more self-moving devices at a separate location. When the plurality of self-moving devices are released, the plurality of self-moving devices can respectively move to the extraction addresses corresponding to the extraction instructions according to the respective received extraction instructions to extract respective objects to be distributed, so that the extraction processes of the plurality of objects to be distributed are parallel (or equivalent to parallel) processing processes. In the existing extraction process, when one rider takes a plurality of objects to be distributed with different extraction addresses, serial extraction is needed. For example, the rider receives n take orders from different take-out stores located in a central business area, and the meal taking addresses are all located in one central business area but are located in different buildings; the rider can only take the meal for each shipping order in sequence, and after the meal is taken, the rider takes the meal for ordering the next order, so that the meal taking efficiency is low. By using the transportation equipment for transporting the self-mobile equipment, after the transportation equipment is controlled by the rider to complete the driving of a trunk road in a city to a central business entrance area or a parking area, the n self-mobile equipment are separated from the transportation equipment and move to an extraction address to take a meal according to respective received extraction instructions, and each self-mobile equipment can bear dishes of a takeout order, so that the parallel meal taking is realized. For another example, the rider receives n orders at the same time, and the merchants are in a shopping mall but belong to n areas at a certain distance. In the existing scheme, the rider must go to n merchants sequentially to fetch meals. If the transportation equipment with n or more self-moving equipment is used, the rider can control the transportation equipment to finish the driving of a trunk road in a city to reach the shopping mall, then the n self-moving equipment are separated from the transportation equipment and move to an extraction address to take meals according to respective received extraction instructions, and each self-moving equipment can bear dishes of a takeout order, so that the parallel meals taking is realized. Of course, the self-moving device may be an unmanned aerial vehicle, and the unmanned aerial vehicle flies to the respective target restaurants to take meals according to the extraction instruction. When the trunk road transportation is controlled by a human driver (rider), compared with a full-machine mode, the complexity of the self-moving equipment is reduced, the energy consumption is saved, the scheme is more feasible, and the method can be popularized at the current stage.

In this embodiment, the self-moving device obtains a navigation path from the separation position to the extraction position, and moves from the separation position to the extraction position according to the navigation path. The manner in which the navigation path is obtained from the mobile device is not limited. The navigation path can be issued by the transport equipment loaded from the mobile equipment, can be provided by a server controlling the mobile equipment, can be specified by electronic equipment used by a distributor, and can also be determined by voice issued by the distributor or determined by an input device of the mobile equipment by the distributor. The navigation path may of course be generated by the self-moving device, or the navigation path may be from another self-moving device different from the self-moving device, for example, when one self-moving device cannot extract the object to be delivered (for example, when a failure occurs or the object to be delivered exceeds the carrying range and needs to be sorted), another self-moving device which is located in the same address range as the self-moving device and can extract the object to be delivered may be searched, and the navigation path may be provided. In one embodiment, the extraction instruction includes a navigation path between the departure location to the extraction location; moving from a separating position to an extracting position to extract the object to be delivered according to the extracting instruction, wherein the extracting instruction comprises the following steps: and analyzing the navigation path from the extraction instruction, and moving from the separation position to the extraction position according to the navigation path to extract the object to be delivered. In this embodiment, the method further includes: collecting environmental information of a route during driving along the navigation path; and acquiring the navigation path again according to the environment information. For example, the self-moving device detects environmental information in the travel path through the camera system, performs image recognition on an image obtained by the environmental information, and determines whether to adjust the navigation path. For another example, the obstacle information in the traveling path is detected by the sensing device from the mobile device, and the path-finding direction is determined.

In this embodiment, the self-moving device extracts the object to be configured after moving to the extraction position according to the extraction instruction. Specifically, the extraction instruction includes order information corresponding to the object to be delivered; the self-moving equipment performs the following processing: taking the equipment identifier of the self-moving equipment and the order information as authentication information for extracting the object to be delivered, and authenticating the equipment providing the object to be delivered by using the authentication information; and obtaining the object to be delivered after the authentication is passed. In actual implementation, the authentication and the handover method of the object to be delivered are not limited. For example, the self-moving device may provide the device identifier and the order information to a provider providing the object to be delivered by voice, and the provider confirms the device identifier and the order information and then hands over the object to be delivered to the self-moving device. As another example, the self-moving device may send the device identifier and the order information to an electronic device used by a provider that provides the object to be delivered, and after the electronic device passes authentication according to the device identifier and the order information, instruct a facility that holds the object to be delivered to hand over the object to be delivered to the self-moving device, or instruct the facility that holds the object to be delivered to open a warehouse door and notify the self-moving device, and transfer the object to be delivered to the warehouse of the self-moving device by an end execution mechanism of the self-moving device. Thus, the extraction of the object to be delivered is completed from the mobile device. The end effector of the self-moving device may be a robotic arm.

In this embodiment, when the pick-up location is located at a high level of the building, the self-moving apparatus can be moved to the pick-up location by riding an elevator. Specifically, the extraction instruction includes information of a floor where the extraction position is located; the method further comprises the following steps: obtaining the floor information from the extracted instruction; controlling an elevator installation for reaching the extraction location in dependence on the floor information. Wherein the controlling of the elevator installation for reaching the extraction location in dependence of the floor information comprises: controlling the elevator equipment to move to the floor indicated by the floor information through an end executing mechanism arranged on the self-moving equipment; or sending a call instruction for controlling an elevator car to reach the floor of the self-moving device to a control device of the elevator device, and sending an operation instruction for reaching the floor of the extraction address to the control device of the elevator device to reach the extraction address after the elevator car reaches the floor of the self-moving device. Of course, if the self-moving device is a flying device, the self-moving device can fly to the extracting position according to the extracting instruction.

In this embodiment, the object to be delivered is extracted from the mobile device or needs to be recovered by the transportation device after the object to be delivered is delivered to the destination address. The self-moving device can go to the recycling location according to the recycling instruction, including but not limited to: returning the mobile equipment to an original separation position, wherein the original separation position is the recovery position; querying, from a mobile device, a transportation device that can reclaim the mobile device; is directed from the mobile device to the designated recovery location to be recovered. Specifically, after the object to be delivered is extracted from the mobile device, the following processing is performed: returning from the extraction location to the separation location for retrieval by the transport apparatus; or inquiring information of a target transportation device capable of recovering the self-moving device, and moving to the position of the target transportation device for recovering the self-moving device from the extraction position so as to be recovered by the target transportation device; or, according to a recovery instruction to move to a recovery position, moving from the extraction position to the recovery position; the recycling location is a location at which the self-moving device can be recycled by a target transportation device of the self-moving device. Wherein the querying of information of a target transportation device that can recycle the self-moving device, the moving from the extraction location to the location where the target transportation device recycles the self-moving device to be recycled by the target transportation device, comprises: and inquiring information of target transportation equipment capable of transporting the self-moving equipment to the distribution position according to the distribution position contained in the order information corresponding to the object to be distributed, and moving the self-moving equipment to the target transportation equipment from the extraction position to recover the position of the self-moving equipment so as to be recovered by the target transportation equipment. In one embodiment, the self-moving device released by the transport device is notified after the original transport device position of the self-moving device is changed by being separated from the separation position, and the self-moving device executes the following processing: receiving a location change message of the original transportation equipment separated from the self-moving equipment at the separation address; the location change message is used for informing the self-moving equipment that the original transportation equipment leaves the separation address. In one embodiment, if the self-moving device determines that the time length required for returning to the separation address is longer than the preset time length required for extracting the object, the self-moving device sends an object extraction timeout message to the original transportation device separated from the self-moving device at the separation address, and inquires information of a target transportation device capable of recovering the self-moving device. In one embodiment, when a plurality of transportation devices capable of recycling the self-moving device are obtained from the self-moving device, the target transportation device capable of recycling the self-moving device can be determined according to a preset strategy. The preset policy may be to determine the target transportation device according to characteristics of the object to be delivered, may be to determine the target transportation device according to at least one of information of a predetermined load or a predetermined transportation route or an estimated departure time or an estimated arrival time of the transportation device capable of recovering the self-moving device, or may be a combination of the foregoing. Specifically, the method further comprises: determining the characteristics of the object to be delivered extracted from the mobile equipment, and obtaining target transportation equipment which is matched with the characteristics and can recycle the mobile equipment; moving from the extraction location to a location where the target transportation device retrieves the self-moving device to be retrieved by the target transportation device. In this embodiment, the method further includes: sending a request message for recovering the target self-mobile device to a plurality of candidate transportation devices; if a response message returned by one candidate transportation device for the request message is received, determining the candidate transportation device as the target transportation device; and if response messages returned by at least two candidate transport devices for the request message are received, selecting one candidate transport device from the at least two candidate transport devices as the target transport device. Wherein the request message includes a target delivery location to which the self-mobile device needs to deliver the object to be delivered.

According to the method provided by the embodiment, the transportation equipment does not need to serially reach each extraction position where the object to be delivered needs to be extracted, the transportation equipment is carried by the transportation equipment and separated from the mobile equipment and moves to the respective extraction positions, and the respective objects to be delivered are extracted in parallel or equivalently in parallel, so that the extraction efficiency of the objects to be delivered immediately is improved. Similarly, the transportation device does not need to serially reach each distribution position (or distribution position) where the objects to be distributed need to be distributed, the self-moving device carried by the transportation device is separated and moved to the respective distribution positions, and the objects to be distributed are parallelly or equivalently distributed to the distribution positions, so that the distribution efficiency of the objects to be distributed immediately is improved. For example, rider a takes n take orders from different take-out stores located in a central business area, and the food taking addresses are all located in one central business area, but are located in different buildings. By using the transportation equipment carrying n or more self-moving equipment, after the transportation equipment is controlled by the rider to drive a trunk road in a city to a central business entrance area or a parking area, the n self-moving equipment are separated from the transportation equipment and move to an extraction address to take meals according to respective received extraction instructions, and each self-moving equipment can bear dishes of a takeout order, so that parallel meals taking is realized. If the meal is delayed by the merchant B, other self-mobile devices return to the transportation device corresponding to the rider after the regular meal is taken from the merchant who takes the meal on time, and the self-mobile device C which takes the meal from the merchant B does not return to the original separation position on time. The rider can choose to start to deliver the meal with the self-moving equipment which has returned, and the self-moving equipment C can load the transportation equipment corresponding to the rider to deliver the meal after the rider returns to the area again after the previous meal delivery is completed; alternatively, the next rider passing through the area may be handed over to the meal. The composite structure of the transportation equipment capable of carrying a plurality of self-moving equipment can enable a rider to obtain maximum information and make an overall relatively appropriate decision.

The method provided by the embodiment can also be combined with a high-precision delivery scheduling algorithm to form a new delivery mode. The transportation equipment transported from the mobile equipment completes the action of the main roads in the city; independently completing the actions of fetching or delivering the meal from the mobile equipment; the transportation equipment continues to execute other tasks on the main road without waiting for the return from the mobile equipment released; the transportation equipment can also receive self-moving equipment released by other transportation equipment, so that the self-moving equipment is recycled. For example, rider a completes an action on the main road in the city, to the downstairs of target user x; a is released from mobile device a1 to complete the meal delivery for x; a does not wait for the return of A1, and continues to distribute on the main road with other self-moving equipment carried on A; a, completing the action on the main road in the city to reach the outside of the building of a target commercial tenant y; a discharging daughter A2 completes meal fetching aiming at y; a retrieves self-moving equipment B3 with rider B staying outside the y's building, A carrying C3 and other self-moving equipment to continue the main road distribution; when the rider C passes downstairs of x and A1 finishes delivering food to x, C recovers A1 and continues to go to the main road for delivery; when the rider D passes through the outside of the y building and A2 finishes taking meals from y, D recovers A2 and continues to distribute on the main road; the process similar to the above can be repeated to form a new dispensing pattern.

It should be noted that the methods provided in this embodiment and other embodiments of the present application are not limited to the instant delivery scenario, and are also applicable to other delivery scenarios. Features given in this and other embodiments of the present application may be combined with each other without conflict, and steps S201 and S202 or similar terms do not limit the steps to be performed sequentially.

The extraction method of the objects to be distributed extracts the extraction instructions of the objects to be distributed from the extraction positions by obtaining the extraction instructions; and moving to an extraction position from a separation position according to the extraction instruction, wherein the separation position is a position where the self-moving equipment is separated from transportation equipment used for transporting the self-moving equipment, and the separation position and the extraction position are in the same geographical range. The transport device for transporting the self-moving device does not need to reach each extraction location in series, but rather extracts the object to be dispensed from the movement of the mobile device from a separate location to an extraction location within the same geographical range. Thus, the extraction efficiency of the delivery objects is improved.

On the basis of the above, the second embodiment also provides an apparatus control method applied to a transportation apparatus that transports a self-moving apparatus, which is an apparatus for extracting an object to be delivered from an extraction position. Referring to fig. 3, the apparatus control method shown in fig. 3 includes: step S301 to step S302.

Step S301, sending an extraction instruction for extracting the objects to be delivered to a plurality of self-moving devices transported by the transportation device, wherein the extraction instruction comprises extraction positions for extracting the objects to be delivered, and the extraction positions corresponding to different self-moving devices are different.

The transport device carries one or more self-moving devices. The self-moving apparatus may be separated from the transportation apparatus and may travel independently. The self-moving equipment is not limited to unmanned aerial vehicles, robots, unmanned vehicles and the like, and also comprises other equipment with self-moving capability and instant end distribution capability. The transportation equipment is a vehicle and is not limited to the form of the existing vehicle. For example, including but not limited to two or three wheeled vehicles, automobiles or similar rail vehicles towed by locomotives, marine vessels, and tractor-trailers that travel on appropriate roads. The form or position structure of the self-moving device carried by the transportation device is not limited. For example, if the parent conveyance may be a conventional motorcycle for immediate distribution; the child transport means can be mounted on one side or both sides of the parent transport means; in the structure of any side mounting, the sub-transportation tools can be single or multiple superimposed (can be up and down, or left and right, or front and back superimposed). The sub-transportation means to be carried may be an unmanned vehicle or an unmanned aerial vehicle. The sub-carriers may be remotely controlled by a human pilot in short range, or by their full automation of flight, or remotely controlled by other personnel (e.g. the operator of the distribution centre), or allow switching among several modes.

The extraction location may be a location at which the object to be delivered is retrieved from a mobile device. For example, the address can be a meal-fetching address or a pickup address of a express object. The fetch instruction is to instruct the self-moving device to fetch an object to be delivered from a fetch location. Generally, the corresponding extraction positions of different self-mobile devices are different. In practical applications, the extracting locations corresponding to different self-moving devices may also be the same, for example, when the food taking addresses of the objects to be delivered of different orders are the same and the food delivery addresses are different, if the objects to be delivered are taken by different self-moving devices for different orders, the extracting locations corresponding to different self-moving devices in the scene are the same. As another example, even if the fetch address is the same and the delivery address is different, different orders may be delivered by two self-mobile devices (e.g., an order may contain more objects than the predetermined load of the self-mobile devices), and the fetch locations corresponding to different self-mobile devices in the scene are the same. In this embodiment, the transportation device issues an extraction instruction to extract the object to be delivered to the plurality of self-moving devices transported by the transportation device. Further, the transportation device further performs the following operations: obtaining a navigation path from the mobile device to the extraction location from the separation location; and sending the navigation path to the self-moving equipment.

Step S302, the mobile device is separated from the separation position, where the separation position is an initial position of the mobile device moving to the extraction position, and the separation position and the extraction position are within the same geographic range.

In this embodiment, after the transportation device reaches the separation position, the transportation device is separated from the self-moving device, one or more self-moving devices are released, the self-moving device takes the separation position as an initial position, and the self-moving device moves to respective corresponding extraction positions according to respective received extraction instructions, so that the extraction process of a plurality of objects to be delivered can be a parallel (or parallel equivalent) processing process, a plurality of objects to be delivered do not need to be extracted in series, and the object extraction efficiency can be improved. The same geographical range may be a range of the same geographical grid of the geographical grids divided by the service area and/or the distance between the locations satisfying a preset distance threshold. Similarly, the transportation device does not need to serially reach each delivery position (such as a delivery address) where the objects to be delivered need to be delivered, the transportation device is mounted on the self-moving device and separated from the transportation device and moves to the respective delivery positions, and the respective objects to be delivered are delivered to the delivery positions in parallel or equivalently, so that the delivery efficiency of the objects to be delivered immediately is improved.

In this embodiment, the object to be delivered is extracted from the mobile device or needs to be recovered by the transportation device after the object to be delivered is delivered to the destination address. The transportation device specifically performs the following operations: obtaining a query request sent by the self-moving device in the same geographic range, wherein the query request can recycle a target transportation device of the self-moving device; if the self-moving device is determined to be recoverable, sending a recovery instruction to the self-moving device, wherein the recovery instruction comprises the position of the target transportation device for recovering the self-moving device. For example, the transport device determines whether the self-moving device can be reclaimed according to the current load, and if so, sends a reclamation instruction to the self-moving device. And if the preset running track of the transport equipment from the current position to the destination address is matched with the distribution position of the self-moving equipment (such as on-road), sending a recycling instruction to the self-moving equipment. As another example, if the predetermined operation track of the transportation device from the current position to the destination address matches the delivery position of the self-moving device, and the current load of the transportation device allows the self-moving device to be transported, a recycling instruction is sent to the self-moving device.

In this embodiment, after releasing one or more self-moving devices, the transportation device further sends instructions to the released self-moving devices and the target transportation device for recovering the released self-moving devices, respectively, so as to recover the self-moving devices. The method specifically comprises the following steps: sending a first recovery instruction to a target transportation device to recover the target self-moving device at a recovery position, wherein the target self-moving device is the self-moving device transported to the separation position by the transportation device; and sending a second recycling instruction to the target self-moving device, wherein the second recycling instruction is recycled by the target transportation device at the recycling position. Further, still include: obtaining information of a first estimated extraction time of the target self-mobile device for extracting the objects to be distributed, and obtaining information of a second estimated extraction time of other self-mobile devices for extracting the objects to be distributed, wherein the other self-mobile devices are self-mobile devices which are transported to the separation position by the transporting device simultaneously with the target device; sending the second reclaim instruction to the target self-mobile device if the first expected fetch time is later than all of the second expected fetch times.

In this embodiment, the method further includes: sending a request message for recovering the target self-mobile device to a plurality of candidate transportation devices; if a response message returned by one candidate transportation device for the request message is received, determining the candidate transportation device as the target transportation device; and if response messages returned by at least two candidate transport devices for the request message are received, selecting one candidate transport device from the at least two candidate transport devices as the target transport device. Wherein the request message includes a target delivery location to which the self-mobile device needs to deliver the object to be delivered.

In this embodiment, after the original transport device location change of the self-moving device is separated at the separation location, a location change message is sent to the plurality of self-moving devices released by the transport device; the location change message is used for informing the self-moving equipment that the original transportation equipment leaves the separation address.

The equipment control method comprises the steps of sending an extraction instruction for extracting an object to be delivered to a plurality of self-moving equipment transported by the transportation equipment, wherein the extraction instruction comprises an extraction position for extracting the object to be delivered, and the extraction positions corresponding to different self-moving equipment are different; and separating the mobile device from the separation position, wherein the separation position is an initial position of the mobile device moving to the extraction position, and the separation position and the extraction position are in the same geographic range. The transportation equipment sends extraction instructions to the plurality of self-moving equipment transported by the transportation equipment, the transportation equipment does not need to reach each extraction position in series, but the plurality of self-moving equipment move from the separation position to the extraction position, and the objects to be delivered are extracted in parallel. Thus, the extraction efficiency of the delivery objects is improved.

Based on the above, the second embodiment further provides a second device control method, and the method is applied to the server. The device control method shown in fig. 4 includes: step S401 to step S402.

Step S401, obtaining information that a plurality of transport devices transporting the mobile devices arrive at separate positions; the separation position is a position where the self-moving apparatus is separated from the transportation apparatus.

The server side can control the self-moving equipment and/or the transportation equipment for transporting the self-moving equipment. For example, the server performs information interaction with the self-moving device through a wireless network or a mobile communication network. For another example, the server can perform information interaction with the electronic equipment used by the rider for controlling the transportation equipment to achieve the purpose of controlling the transportation equipment; or the control system of the transportation equipment is subjected to information interaction to control the transportation equipment. In practical applications, the manner of obtaining the information that the transportation device reaches the separation position by the server is not limited, and the arrival at the separation position may be determined according to the position information of the electronic device used by the person controlling the transportation device (if the electronic device authorizes the opening of the position information to the server), or may be determined according to the information that the electronic device detects that the distribution person actively inputs, by reporting the preparation distribution state to the server. Of course, when the self-moving device is separated from the transportation device, the transportation device or the self-moving device reports the change of the distribution state to the server, and the information of reaching the separation position can be determined according to the change of the distribution state.

Step S402, sending an extraction instruction for extracting the objects to be distributed to the plurality of self-moving devices, wherein the extraction instruction comprises an extraction position for extracting the objects to be distributed; the extraction location is within the same geographic range as the separation location.

In this embodiment, after the transportation device reaches the separation position, the transportation device is separated from the self-moving device, and one or more self-moving devices are released. And the server side respectively sends an extraction instruction to the plurality of self-mobile devices. The self-moving equipment takes the separation position as an initial position and respectively moves to the corresponding extraction positions according to the received extraction instructions, so that the extraction process of a plurality of objects to be distributed is a parallel (or equivalent to parallel) processing process, the plurality of objects to be distributed do not need to be extracted in series, and the object extraction efficiency can be improved. The same geographical range may be a range of the same geographical grid of the geographical grids divided by the service area and/or the distance between the locations satisfying a preset distance threshold. Similarly, the transportation device does not need to serially reach each delivery position (such as a delivery address) where the objects to be delivered need to be delivered, the transportation device is mounted on the self-moving device and separated from the transportation device and moves to the respective delivery positions, and the respective objects to be delivered are delivered to the delivery positions in parallel or equivalently, so that the delivery efficiency of the objects to be delivered immediately is improved. Further, the server side also performs the following processing: determining a navigation path for the self-moving device from the detached location to the extracted location; and sending the navigation path to the self-moving equipment.

In this embodiment, the object to be delivered is extracted from the mobile device or needs to be recovered by the transportation device after the object to be delivered is delivered to the destination address. The recovery can be controlled by the server. One embodiment includes: obtaining information of the mobile equipment in the same geographic range; determining the distribution position of each object to be distributed of the mobile equipment; allocating self-moving equipment with the same distribution positions or the distance between the distribution positions within a preset range to target transportation equipment for transportation; and sending the information of the target transportation equipment to the self-moving equipment which is allocated to the transportation of the target transportation equipment. One embodiment includes the following processes: obtaining a query request sent by the self-moving device in the same geographic range, wherein the query request can recycle a target transportation device of the self-moving device; determining a target transportation device capable of recycling the self-moving device, and sending a recycling instruction to the self-moving device, wherein the recycling instruction comprises a position of the target transportation device for recycling the self-moving device. For example, it is determined whether the self-moving device can be reclaimed according to the current load of the transportation device, and if so, the transportation device is determined as the target transportation device. For another example, if it is determined that the predetermined trajectory of the transportation device from the current position to the destination address matches (e.g., follows the route) the delivery position of the self-moving device, the transportation device is determined as the target transportation device. For another example, if it is determined that the predetermined trajectory of the transportation device from the current location to the destination address matches the delivery location of the self-moving device and the current load of the transportation device allows the self-moving device to be transported, the transportation device is determined as the target transportation device.

In this embodiment, after the original transportation device of the self-moving device is separated at the separation position, the server is notified, and the server sends a position change message to a plurality of self-moving devices released by the original transportation device; the location change message is used for informing the self-moving equipment that the original transportation equipment leaves the separation address.

The equipment control method comprises the steps that information that a plurality of pieces of transportation equipment for transporting the self-moving equipment reach separated positions is obtained through a server; sending an extraction instruction for extracting the objects to be distributed to the plurality of self-moving devices, wherein the extraction instruction comprises an extraction position for extracting the objects to be distributed; the extraction location is within the same geographic range as the separation location. The transport device does not need to reach each extraction location in series, but a plurality of self-moving devices are moved from a separate location to an extraction location, extracting the objects to be delivered in parallel. Thus, the extraction efficiency of the delivery objects is improved.

On the basis of the above, the second embodiment also provides a third device control method applied to a transportation device that transports a self-moving device that is a device for delivering an object at a delivery position. Referring to fig. 5, the apparatus control method shown in fig. 5 includes: step S501 to step S502.

Step S501, sending a delivery instruction of a delivery object to a plurality of self-moving devices transported by the transportation device, where the delivery instruction includes a delivery location of the object, and the delivery locations corresponding to different self-moving devices are different.

The delivery location may be a location to which the object to be delivered is delivered from a mobile device. For example, it may be a delivery address or a delivery address of an express object. In practical application, the self-moving equipment can transfer the object to be delivered to the self-moving equipment by driving a tail end execution mechanism (such as a manipulator) according to order information of the object to be delivered; or receiving an instruction for extracting the object to be delivered from the mobile device, opening a warehouse door bearing the object to be delivered, and preparing to recover the object to be delivered after the object to be delivered is moved out of the mobile device. The device that issues the delivery instruction is not limited, and is preferably applied to a transportation device that is transported from a mobile device. Indeed, the distribution instructions may be issued by facilities that may control the self-moving devices. For example, the delivery instruction may be an instruction from a server controlling the mobile device, an instruction issued by a deliverer through an electronic device used by the mobile device, a voice instruction issued by the deliverer, or an instruction issued by an input device of the mobile device.

Step S502, separating from the self-moving device at a separation position, where the separation position is an initial position of moving from the self-moving device to a distribution position, and the separation position and the distribution position are within the same geographical range.

The same geographical range may be a range of the same geographical grid of the geographical grids divided by the service area and/or the distance between the locations satisfying a preset distance threshold. For example, a separation location and a delivery location are both in a central business area and may be considered to be within the same geographic area. Both the separated location and the distribution location can be regarded as the same geographical range in a certain community or a certain residential community. The separation location is at the entrance or parking lot of a building and the distribution locations are within the building and may be considered to be the same geographical area. In practical application, after the transportation device reaches the separation position, the self-moving device is separated from the transportation device and moves to a distribution position within the same geographical range as the separation position according to the distribution instruction, and the object to be distributed is handed over to a receiving facility at the distribution position. The transport device can transport a plurality of self-moving devices. The transport device may release one or more self-moving devices at a separate location. When the plurality of self-moving devices are released, the plurality of self-moving devices can respectively move to the distribution positions corresponding to the distribution instructions according to the distribution instructions received by the self-moving devices respectively and send the distribution instructions to the objects to be distributed, so that the distribution process of the plurality of objects to be distributed is a parallel (or equivalent to parallel) processing process, serial distribution is not needed, and the distribution efficiency is improved. For example, the rider has taken n delivery orders from different take-out stores located in a central business area, with the delivery addresses all in one central business area but located in different buildings; the rider can only deliver the meal for each delivery note in sequence, and then deliver the meal for ordering the next delivery note after delivery, so that the meal delivery efficiency is low. By using the transportation equipment for transporting the plurality of self-moving equipment, after the transportation equipment is controlled by the rider to complete the driving of a trunk road in a city to a central business entrance area or a parking area, the n self-moving equipment are separated from the transportation equipment and move to a delivery position according to respective received delivery instructions, and each self-moving equipment can bear dishes of a take-out order, so that the parallel delivery of meals is realized. Of course, the self-moving device may be an unmanned aerial vehicle, and the unmanned aerial vehicle flies to the respective delivery positions to deliver the meals according to the extraction instructions.

In this embodiment, the self-moving device obtains a navigation path from the separation location to the delivery location, and moves from the separation location to the delivery location according to the navigation path. The manner in which the navigation path is obtained from the mobile device is not limited. In one embodiment, the delivery instructions include a navigation path between the departure location to the delivery location; and analyzing the navigation path from the delivery instruction by the mobile equipment, and moving from the separation position to the delivery position according to the navigation path to deliver the object to be delivered. In this embodiment, the method further includes: collecting environmental information of a route during driving along the navigation path; and re-determining the navigation path according to the environment information. The delivery instructions include delivery time requirement information for delivering the objects to the delivery locations.

In this embodiment, the self-moving device moves to the delivery position according to the delivery instruction and then delivers the object to be delivered. The method specifically comprises the following steps: and sending the identification information and/or the characteristic information of the self-moving equipment to user equipment used by a user of a receiving object, or sending the identification information and/or the characteristic information of the self-moving equipment to a server communicated with the user equipment. So that the user can determine or identify the corresponding self-moving device. In one embodiment, the method further comprises: providing, to a user device used by a user receiving an object, interface data for the user device to control delivery of the object from the mobile device. That is, the self-moving device may be controlled by the user, for example, to send a specific location of delivery (e.g., a specific location within a building doorway or cell) to the self-moving device. The interface data may be a link by which the user may determine an interface for controlling the self-moving device. Further, still include: and after the trigger message that the self-mobile equipment finishes the distribution is obtained, setting the state of the interface data to be a failure state. Namely, after the delivery of the object to be delivered is completed, the control authority of the user on the mobile device is cancelled. The delivery device may actually be notified by any of the self-moving device, the server, and the user device that the delivery has been completed. The self-moving equipment after the distribution is completed needs to be recovered. The method specifically comprises the following steps: obtaining a query request sent by the self-moving device in the same geographic range, wherein the query request can recycle a target transportation device of the self-moving device; if the self-moving device is determined to be recoverable, sending a recovery instruction to the self-moving device, wherein the recovery instruction comprises the position of the target transportation device for recovering the self-moving device. The recovery processing is described in the above embodiments, and is not described herein again.

The equipment control method comprises the steps of sending a distribution instruction of a distribution object to a plurality of self-moving equipment transported by the transportation equipment, wherein the distribution instruction comprises a distribution position of the object, and the distribution positions corresponding to different self-moving equipment are different; and separating the mobile equipment from the separation position, wherein the separation position is a starting position of the mobile equipment moving to a distribution position, and the separation position and the distribution position are in the same geographical range. The transport device need not arrive at each delivery location in series, but rather a plurality of self-moving devices are moved from separate locations to the delivery locations, delivered in parallel. Thus, the extraction efficiency of the delivery objects is improved.

Based on the above, the second embodiment also provides a device recovery method, which is applied to a self-moving device that extracts objects to be delivered from an extraction location or delivers objects at a delivery location. Referring to fig. 6, the apparatus recycling method shown in fig. 6 includes: step S601 to step S602.

Step S601, obtaining a recycling instruction moving to a recycling location, where the recycling location is a location where the self-moving device extracts an object to be delivered from an extraction location or a transportation device used for transporting the self-moving device recycles the self-moving device after delivering the object at the delivery location, and the extraction location or the delivery location and the recycling location are located in the same geographical range.

In this embodiment, the original transportation device that released the self-moving device may recover the self-moving device; other transportation devices different from the original transportation device can also recycle the self-moving device. I.e. release from the mobile device and recovery from the mobile device may be performed by different transportation devices. The method specifically comprises the following steps: moving to the pick-up location or the delivery location after being separated from a first transporting device transporting the self-moving device; extracting the object to be delivered from the extraction position or sending out a query request for querying a target transportation device capable of recovering the self-moving device after the object to be delivered is delivered to the delivery position; and acquiring a recycling instruction sent by a second transportation device capable of recycling the self-moving device in the same geographic range, and taking the second transportation device as the target transportation device. Further, the recycling instruction includes the first target device information for recycling the self-moving device; the method further comprises the following steps: and after the mobile terminal moves to the recovery position, positioning first target transportation equipment for recovering the mobile equipment according to the first target equipment information, and carrying the first target transportation equipment. If the first target transportation equipment is judged to be full, sending a carrying request to second target transportation equipment located at the recovery position; and obtaining the carrying response of the second target transportation equipment, and carrying the second target transportation equipment.

Step S602, according to the recovery instruction, moves from the extraction position or the delivery position to the recovery position.

The embodiment specifically includes: moving from the pick-up location or the delivery location to the retrieval location for retrieval by the target transport device; or, inquiring information of a target transportation device which can recycle the self-moving device, and moving from the extraction position or the delivery position to the recycling position to be recycled by the target transportation device; alternatively, the delivery position is moved from the extraction position or the delivery position to the recovery position in accordance with a recovery instruction to move to the recovery position. Wherein the querying of information that a target transportation device of the self-moving device can be reclaimed, moving from the pickup location or the delivery location to the reclaiming location to be reclaimed by the target transportation device, comprises: and inquiring information of target transportation equipment capable of transporting the self-moving equipment to the distribution position according to the distribution position contained in the order information corresponding to the object to be distributed, and moving the self-moving equipment to the target transportation equipment from the extraction position to recover the position of the self-moving equipment so as to be recovered by the target transportation equipment.

The equipment recovery method comprises the steps that a recovery instruction which is moved to a recovery position is obtained, the recovery position is the position where self-moving equipment extracts an object to be delivered from an extraction position or transportation equipment which is used for transporting the self-moving equipment recovers the self-moving equipment after the object is delivered from the delivery position, and the extraction position or the delivery position and the recovery position are located in the same geographical range; and moving from the extracting position or the distribution position to the recovery position according to the recovery instruction. The transportation device does not need to serially recycle each self-moving device, but a plurality of self-moving devices move to the recycling position according to the recycling command, so that the distribution efficiency can be improved.

Based on the above, the second embodiment also provides a fourth device control method applied to a transportation device transported from a mobile device, which is a device for extracting an object to be delivered from an extraction location or delivering an object at a delivery location. Referring to fig. 7, the apparatus control method shown in fig. 7 includes: step S701 to step S702.

Step S701, sending a control instruction to a plurality of self-moving devices transported by the transportation device to move to a recovery position, where the recovery position is a position where the self-moving device extracts an object to be delivered from an extraction position or delivers the object at the delivery position, and the transportation device recovers the self-moving device, where the extraction positions corresponding to different self-moving devices are different or the delivery positions are different, and the extraction position or the delivery position and the third position are located in the same geographical range.

The embodiment further comprises the following steps: obtaining a query request sent by the self-moving device in the same geographic range, wherein the query request can recycle a target transportation device of the self-moving device; if the self-moving device is determined to be recoverable, sending the control instruction to the self-moving device, wherein the control instruction comprises a recovery position of the target transportation device for recovering the self-moving device.

Step S702, retrieving the plurality of self-moving devices at the retrieval location.

In this embodiment, the method specifically includes: receiving a carrying request sent by the mobile equipment which moves to the recovery position according to the control instruction through a near field communication device; and loading the self-moving equipment according to the loading request.

The equipment control method comprises the steps that control instructions for moving to a recovery position are sent to a plurality of self-moving equipment transported by the transportation equipment, the recovery position is a position where the self-moving equipment extracts an object to be delivered from an extraction position or delivers the object at the delivery position and is used for the transportation equipment to recover the self-moving equipment, the extraction positions or the delivery positions corresponding to different self-moving equipment are different, and the extraction position or the delivery position and the third position are located in the same geographical range; and recovering the plurality of self-moving devices at the recovery position. The transportation device does not need to serially recycle each self-moving device, but a plurality of self-moving devices move to the recycling position according to the recycling command, so that the distribution efficiency can be improved.

Based on the above, the second embodiment further provides a fifth device control method, and the method is applied to the server. The apparatus control method shown in fig. 8 includes: step S801 to step S802.

Step S801 is to send a first recovery instruction to a self-moving device, where the self-moving device is a device for extracting an object to be delivered from an extraction position or delivering the object at a delivery position, and the recovery position is a position where the self-moving device extracts the object to be delivered from the extraction position or delivers the object at the delivery position and then the transportation device recovers the self-moving device, and the extraction position or the delivery position and the recovery position are located in the same geographical range.

In this embodiment, the method specifically includes: obtaining information of a first estimated extraction time of the target self-mobile device for extracting the objects to be distributed, and obtaining information of a second estimated extraction time of other self-mobile devices for extracting the objects to be distributed, wherein the other self-mobile devices are self-mobile devices which are transported to the separation position by the transporting device simultaneously with the target device; sending the third reclaim instruction to the target self-mobile device if the first expected fetch time is later than all of the second expected fetch times. For example, if a situation that meal taking is delayed may occur in the self-moving device corresponding to an order with a slow meal taking speed, the delayed self-moving device is recycled according to the third recycling instruction, and it is not necessary for other self-moving devices that have completed meal taking to wait for the return of the delayed self-moving device, that is, the self-moving devices released by the same transportation device may be recycled by different transportation devices.

Step S802, a second recovery instruction for recovering the self-moving device at the recovery position is sent to the transportation device transported from the self-moving device.

In this embodiment, the method further includes: acquiring information which is sent by mobile equipment and received the first recovery instruction and reaches the recovery position; and sending the second recycling instruction to a designated transportation device which designates to transport the self-moving device. Further, the issuing of the second recycling instruction to a designated transportation device that designates transportation of the self-moving device includes: determining the estimated time of the mobile device receiving the first recovery instruction to move to the recovery location; and if the estimated time is within a preset time range, sending the second recovery instruction to the specified transportation equipment according to the estimated time. Further still include: determining a departure time for the designated transport device from the recovery location; and if the estimated time does not match the leaving time, re-appointing the transportation equipment for transporting the self-moving equipment, and sending a fourth recovery instruction for recovering the self-moving equipment at the recovery position to the newly appointed transportation equipment.

The equipment control method comprises the steps of sending a first recovery instruction to a self-moving equipment to move to a recovery position, wherein the self-moving equipment is used for extracting objects to be delivered from an extraction position or delivering the objects at the delivery position, the recovery position is used for the self-moving equipment to recover the self-moving equipment after the self-moving equipment extracts the objects to be delivered from the extraction position or delivers the objects at the delivery position, and the extraction position or the delivery position and the recovery position are located in the same geographical range; and sending a second recovery instruction for recovering the self-moving device at the recovery position to the transportation device transported from the self-moving device. The transportation equipment does not need to serially recover each self-moving equipment, and the self-moving equipment and the transportation equipment move to a recovery position to be recovered according to the received recovery instruction, so that the distribution efficiency is improved.

A third embodiment corresponds to the second embodiment, and the third embodiment provides a dispensing device. As shown in fig. 9, the dispensing device includes:

an instruction unit 901 for obtaining a movement instruction to move from the separated position to the second position; the separation location is within the same geographic range as the second location;

a moving unit 902, configured to separate, according to the moving instruction, from a second mobile device in which the first mobile device is installed at the separated position, and move to the second position;

a detaching unit 903 for detaching at least one loading device at the second position; the at least one loading device is disposed at the first mobile apparatus for loading an object to be delivered.

Optionally, the moving instruction is an extracting instruction for extracting an object to be delivered; the second position is an extraction position of the object to be configured; the mobile unit 902 is specifically configured to: moving from the detached location to the pickup location after detaching from the second mobile device in accordance with the pickup instruction; the separation unit 903 is specifically configured to: detaching at least one loading device at the extraction location; the apparatus further comprises an extraction unit for: after the loading device loads the object to be delivered, the loading device loaded with the object to be delivered is extracted and is arranged on the first mobile equipment.

Optionally, the apparatus further comprises a recycling unit, and the recycling unit is configured to: moving from the extraction position to a retrieval position after extracting at least one loading device carrying objects to be delivered; the mobile equipment is installed on the second mobile equipment after being recovered by the second mobile equipment at the recovery position; the recovery location and the extraction location are within the same geographic range.

Optionally, the moving instruction is a delivery instruction for delivering an object to be delivered, and the second position is a delivery position of the object to be delivered; the mobile unit is specifically configured to: moving from the detached location to the delivery location after detaching from the second mobile device according to the delivery instruction; the separation unit is specifically configured to: separating at least one loading device at the dispensing position; the loading device is loaded with an object to be delivered; the apparatus further comprises a delivery unit for: dispensing the at least one loading device after detaching the at least one loading device.

Optionally, the recovery device is specifically configured to: moving from the delivery position to a retrieval position after detaching the loading device from the delivery position; the mobile equipment is installed on the second mobile equipment after being recovered by the second mobile equipment at the recovery position; the recovery location is within the same geographic range as the delivery location.

Optionally, the recovery device is specifically configured to: moving to a distribution position corresponding to different loading devices, recovering the loading device which is positioned at the distribution position and unloaded with the objects to be distributed, and arranging the loading device on the first mobile equipment; after the recovered at least one loading device is disposed, moving to the recovery position.

Optionally, the recovery device is specifically configured to perform the following processing after the loading device is extracted or distributed: querying information of a second mobile device that can recycle the first mobile device, moving from the pickup location or the delivery location to a location where the second mobile device recycles the first mobile device to be recycled by the second mobile device; or, according to a recovery instruction to move to a recovery position, moving from the extraction position or the delivery position to the recovery position; the recycling location is a location where a second mobile device, which is capable of recycling the first mobile device, recycles the first mobile device.

Based on the above, the third embodiment further provides an apparatus for extracting an object to be delivered, where the apparatus corresponds to the method for extracting the object to be delivered. As shown in fig. 9A, the device to be dispensed includes: an instruction obtaining unit 901a for obtaining an extraction instruction to extract an object to be delivered from an extraction position; an extracting unit 902a, configured to, according to the extracting instruction, move from a separation position to an extracting position to extract the object to be delivered, where the separation position is a position where the self-moving device is separated from a transportation device used for transporting the self-moving device, and the separation position and the extracting position are within the same geographic range.

Optionally, the extraction instruction comprises a navigation path from the separation location to the extraction location; the extracting unit 902a is specifically configured to: and analyzing the navigation path from the extraction instruction, and moving from the separation position to the extraction position according to the navigation path to extract the object to be delivered.

Optionally, the extracting unit 902a is further specifically configured to: collecting environmental information of a route during driving along the navigation path; and acquiring the navigation path again according to the environment information.

Optionally, the extraction instruction includes information of a floor where the extraction position is located; the extracting unit 902a is specifically configured to: obtaining the floor information from the extracted instruction; controlling an elevator installation for reaching the extraction location in dependence on the floor information.

Optionally, the extracting unit 902a is specifically configured to: controlling the elevator equipment to move to the floor indicated by the floor information through an end executing mechanism arranged on the self-moving equipment; or sending a call instruction for controlling an elevator car to reach the floor of the self-moving device to a control device of the elevator device, and sending an operation instruction for reaching the floor of the extraction address to the control device of the elevator device to reach the extraction address after the elevator car reaches the floor of the self-moving device.

Optionally, the extraction instruction includes order information corresponding to the object to be delivered; the extracting unit 902a is further configured to: taking the equipment identifier of the self-moving equipment and the order information as authentication information for extracting the object to be delivered, and authenticating the equipment providing the object to be delivered by using the authentication information; and obtaining the object to be delivered after the authentication is passed.

Optionally, after the extracting unit 902a extracts the object to be delivered from the mobile device, the following processing is performed: returning from the extraction location to the separation location for retrieval by the transport apparatus; or inquiring information of a target transportation device capable of recovering the self-moving device, and moving to the position of the target transportation device for recovering the self-moving device from the extraction position so as to be recovered by the target transportation device; or, according to a recovery instruction to move to a recovery position, moving from the extraction position to the recovery position; the recycling location is a location at which the self-moving device can be recycled by a target transportation device of the self-moving device.

Optionally, the extracting unit 902a is specifically configured to: and inquiring information of target transportation equipment capable of transporting the self-moving equipment to the distribution position according to the distribution position contained in the order information corresponding to the object to be distributed, and moving the self-moving equipment to the target transportation equipment from the extraction position to recover the position of the self-moving equipment so as to be recovered by the target transportation equipment.

Optionally, the apparatus further includes a message receiving unit, where the message receiving unit is configured to: receiving a location change message of the original transportation equipment separated from the self-moving equipment at the separation address; the location change message is used for informing the self-moving equipment that the original transportation equipment leaves the separation address.

Optionally, the apparatus further comprises a recycling unit, and the recycling unit is configured to: and if the time length required for returning to the separation address is determined to be longer than the preset time length required for extracting the object, sending an object extraction overtime message to the original transportation equipment separated from the self-moving equipment at the separation address, and inquiring information of target transportation equipment capable of recovering the self-moving equipment.

Optionally, the recovery unit is specifically configured to: determining the characteristics of the object to be delivered extracted from the mobile equipment, and obtaining target transportation equipment which is matched with the characteristics and can recycle the mobile equipment; moving from the extraction location to a location where the target transportation device retrieves the self-moving device to be retrieved by the target transportation device.

Optionally, the recovery unit is specifically configured to: sending a request message for recovering the target self-mobile device to a plurality of candidate transportation devices; if a response message returned by one candidate transportation device for the request message is received, determining the candidate transportation device as the target transportation device; and if response messages returned by at least two candidate transport devices for the request message are received, selecting one candidate transport device from the at least two candidate transport devices as the target transport device.

Optionally, the request message includes a target delivery location to which the self-moving device needs to deliver the object to be delivered.

Based on the above, a third embodiment further provides a device control apparatus corresponding to the device control method of the second embodiment. The appliance control device shown in fig. 10 includes:

an instruction issuing unit 1001 configured to issue an extraction instruction for extracting an object to be delivered to a plurality of self-moving devices transported by the transportation device, where the extraction instruction includes an extraction position for extracting the object to be delivered, and extraction positions corresponding to different self-moving devices are different;

a separating unit 1002, configured to separate from the self-moving device at a separation position, where the separation position is an initial position of moving from the self-moving device to an extraction position, and the separation position and the extraction position are within the same geographic range.

Optionally, the instruction issue unit 1001 is further configured to: obtaining a navigation path from the mobile device to the extraction location from the separation location; and sending the navigation path to the self-moving equipment.

Optionally, the apparatus further comprises a recycling unit, and the recycling unit is configured to: obtaining a query request sent by the self-moving device in the same geographic range, wherein the query request can recycle a target transportation device of the self-moving device; if the self-moving device is determined to be recoverable, sending a recovery instruction to the self-moving device, wherein the recovery instruction comprises the position of the target transportation device for recovering the self-moving device.

Optionally, the recovery unit is specifically configured to: sending a first recovery instruction to a target transportation device to recover the target self-moving device at a recovery position, wherein the target self-moving device is the self-moving device transported to the separation position by the transportation device; and sending a second recycling instruction to the target self-moving device, wherein the second recycling instruction is recycled by the target transportation device at the recycling position.

Optionally, the recovery unit is specifically configured to: obtaining information of a first estimated extraction time of the target self-mobile device for extracting the objects to be distributed, and obtaining information of a second estimated extraction time of other self-mobile devices for extracting the objects to be distributed, wherein the other self-mobile devices are self-mobile devices which are transported to the separation position by the transporting device simultaneously with the target device; sending the second reclaim instruction to the target self-mobile device if the first expected fetch time is later than all of the second expected fetch times.

Based on the above, the third embodiment further provides a device control apparatus corresponding to the second device control method in the second embodiment. The appliance control device shown in fig. 11 includes:

an information obtaining unit 1101 for obtaining information of arrival at a separate location of a transporting apparatus that transports a plurality of self-moving apparatuses; the separation position is a position where the self-moving device is separated from the transportation device;

an instruction issuing unit 1102, configured to issue, to the plurality of self-moving devices, an extraction instruction for extracting an object to be delivered, where the extraction instruction includes an extraction position where the object to be delivered is extracted; the extraction location is within the same geographic range as the separation location.

Optionally, the apparatus further includes a target transportation device determining unit, where the target transportation device determining unit is configured to: obtaining information of the mobile equipment in the same geographic range; determining the distribution position of each object to be distributed of the mobile equipment; allocating self-moving equipment with the same distribution positions or the distance between the distribution positions within a preset range to target transportation equipment for transportation; and sending the information of the target transportation equipment to the self-moving equipment which is allocated to the transportation of the target transportation equipment.

Based on the above, the third embodiment further provides a device control apparatus corresponding to the third device control method in the second embodiment, and the schematic diagram thereof is similar to fig. 10. The device control apparatus provided in this embodiment includes:

the system comprises an instruction sending unit, a storage unit and a control unit, wherein the instruction sending unit is used for sending distribution instructions of distribution objects to a plurality of self-moving devices transported by the transportation device, the distribution instructions comprise distribution positions of the objects, and the distribution positions corresponding to different self-moving devices are different;

the separation unit is used for separating the mobile equipment from the separation position, the separation position is a starting position moving from the mobile equipment to the distribution position, and the separation position and the distribution position are in the same geographical range.

Optionally, the delivery instruction includes delivery time requirement information for delivering the object to the delivery location.

Optionally, the apparatus further includes a delivery unit, and the delivery unit is configured to: and sending the identification information and/or the characteristic information of the self-moving equipment to user equipment used by a user of a receiving object, or sending the identification information and/or the characteristic information of the self-moving equipment to a server communicated with the user equipment.

Optionally, the delivery unit is further configured to: providing, to a user device used by a user receiving an object, interface data for the user device to control delivery of the object from the mobile device.

Optionally, the delivery unit is further configured to: and after the trigger message that the self-mobile equipment finishes the distribution is obtained, setting the state of the interface data to be a failure state.

Based on the above, the third embodiment further provides a device recycling apparatus corresponding to the device recycling method of the second embodiment. The facility recycling apparatus shown in fig. 12 includes:

an instruction obtaining unit 1201, configured to obtain a recovery instruction that moves to a recovery location, where the recovery location is a location where the self-moving device extracts an object to be delivered from an extraction location or a transportation device that transports the self-moving device recovers the self-moving device after delivering the object at the delivery location, and the extraction location or the delivery location and the recovery location are located in the same geographic range;

a recovery unit 1202 configured to move from the extraction position or the delivery position to the recovery position according to the recovery instruction.

Optionally, the recovery unit 1202 is specifically configured to: moving to the pick-up location or the delivery location after being separated from a first transporting device transporting the self-moving device; extracting the object to be delivered from the extraction position or sending out a query request for querying a target transportation device capable of recovering the self-moving device after the object to be delivered is delivered to the delivery position; and acquiring a recycling instruction sent by a second transportation device capable of recycling the self-moving device in the same geographic range, and taking the second transportation device as the target transportation device.

Optionally, the recovery unit 1202 is specifically configured to: moving from the pick-up location or the delivery location to the retrieval location for retrieval by the target transport device; or, inquiring information of a target transportation device which can recycle the self-moving device, and moving from the extraction position or the delivery position to the recycling position to be recycled by the target transportation device; alternatively, the delivery position is moved from the extraction position or the delivery position to the recovery position in accordance with a recovery instruction to move to the recovery position.

Optionally, the recovery unit 1202 is specifically configured to: and inquiring information of target transportation equipment capable of transporting the self-moving equipment to the distribution position according to the distribution position contained in the order information corresponding to the object to be distributed, and moving the self-moving equipment to the target transportation equipment from the extraction position to recover the position of the self-moving equipment so as to be recovered by the target transportation equipment.

Optionally, the recovery unit 1202 is specifically configured to: sending a request message for recovering the target self-mobile device to a plurality of candidate transportation devices; if a response message returned by one candidate transportation device for the request message is received, determining the candidate transportation device as the target transportation device; and if response messages returned by at least two candidate transport devices for the request message are received, selecting one candidate transport device from the at least two candidate transport devices as the target transport device.

Based on the above, the third embodiment further provides a device control apparatus corresponding to the fourth device control method in the second embodiment. The device is described below with reference to fig. 13. The device control apparatus shown in fig. 13 includes:

an instruction issuing unit 1301, configured to issue a control instruction for moving to a recovery position to a plurality of self-moving devices transported by the transportation device, where the recovery position is a position where the self-moving devices extract an object to be delivered from an extraction position or deliver the object at the delivery position, and the transportation device recovers the self-moving devices, where the extraction positions or the delivery positions corresponding to different self-moving devices are different, and the extraction position or the delivery position and the third position are located in the same geographical range;

a recycling unit 1302, configured to recycle the plurality of self-moving devices in the recycling location.

Optionally, the recovery unit 1302 is specifically configured to: obtaining a query request sent by the self-moving device in the same geographic range, wherein the query request can recycle a target transportation device of the self-moving device; if the self-moving device is determined to be recoverable, sending the control instruction to the self-moving device, wherein the control instruction comprises a recovery position of the target transportation device for recovering the self-moving device.

Optionally, the recovery unit 1302 is specifically configured to: receiving a carrying request sent by the mobile equipment which moves to the recovery position according to the control instruction through a near field communication device; and loading the self-moving equipment according to the loading request.

Based on the above, the third embodiment further provides a device control apparatus corresponding to the fifth device control method in the second embodiment. The appliance control device shown in fig. 14 includes:

a first instruction issuing unit 1401 configured to issue a first recovery instruction to move to a recovery location to a self-moving device, where the self-moving device is a device for extracting an object to be delivered from an extraction location or delivering the object at a delivery location, and the recovery location is a location where the self-moving device extracts the object to be delivered from the extraction location or delivers the object at the delivery location and then the transportation device recovers the self-moving device, and the extraction location or the delivery location and the recovery location are located in the same geographical range;

a second instruction issuing unit 1402 configured to issue a second recycle instruction to the transporting apparatus transported from the mobile apparatus to recycle the mobile apparatus at the recycle location.

Optionally, the first instruction issue unit 1401 is specifically configured to: obtaining information of a first estimated extraction time of the target self-mobile device for extracting the objects to be distributed, and obtaining information of a second estimated extraction time of other self-mobile devices for extracting the objects to be distributed, wherein the other self-mobile devices are self-mobile devices which are transported to the separation position by the transporting device simultaneously with the target device; sending the third reclaim instruction to the target self-mobile device if the first expected fetch time is later than all of the second expected fetch times.

Optionally, the second instruction issuing unit 1402 is specifically configured to: sending a request message for recovering the target self-mobile device to a plurality of candidate transportation devices; if a response message returned by one candidate transportation device for the request message is received, determining the candidate transportation device as the target transportation device; and if response messages returned by at least two candidate transport devices for the request message are received, selecting one candidate transport device from the at least two candidate transport devices as the target transport device.

The fourth embodiment is based on the above application environments and embodiments, and provides a device control method. The following description is made with reference to fig. 15. The device control method shown in fig. 15 is applied to a second mobile device, where a plurality of first mobile devices are installed on the second mobile device, and the first mobile devices are used to deliver objects to be delivered, and the method includes: steps S1501 to S1502.

A step S1501 of detaching at least one first mobile device among the plurality of first mobile devices at a detached location;

step S1502, sending one or more movement instructions to the first mobile device; the movement instructions are for controlling the first mobile device to move from the detached position to a second position; the separation location is within the same geographic range as the second location.

The method can be applied to an end extraction scene for extracting a loading device for loading an object to be delivered, and can also be applied to an end delivery scene for delivering the loading device for loading the object to be delivered.

In an end extraction scene, the movement instruction is an extraction instruction for extracting a distribution object at an extraction position; the extraction position is a position for extracting the loading device loaded with the object to be delivered; the loading device is recycled by the first mobile equipment after loading the object to be delivered and is arranged on the first mobile equipment; the second position is the extraction position.

In an end delivery scene, the moving instruction is a delivery instruction for delivering an object to be delivered at a delivery position; the distribution position is a position where the first mobile equipment separates a loading device carrying the object to be distributed; the second position is the dispensing position.

Up to this point, the method provided by the present embodiment is explained, which separates at least one first mobile device of the plurality of first mobile devices at a separation location; issuing one or more movement instructions to the first mobile device; the movement instructions are for controlling the first mobile device to move from the detached position to a second position; the separation location is within the same geographic range as the second location. The second moving device issues an extraction instruction or a delivery instruction to the plurality of first moving devices transported by the second moving device, and the second moving device does not need to reach each extraction position or delivery position in series, but the plurality of first moving devices move from the separated position to the extraction position or delivery position to extract or deliver the loading device loaded with the object to be delivered. Thus, the extraction efficiency of the delivery objects is improved.

A fifth embodiment corresponds to the fourth embodiment, and provides an apparatus control device. The device is described below with reference to fig. 16. The device control apparatus shown in fig. 16 includes:

a separating unit 1601 for separating at least one of the plurality of first mobile devices at a separation location;

an instruction unit 1602, configured to issue one or more movement instructions to the first mobile device; the movement instructions are for controlling the first mobile device to move from the detached position to a second position; the separation location is within the same geographic range as the second location.

Based on the above embodiments, a sixth embodiment of the present application provides an electronic device. Fig. 17 is a schematic diagram of the electronic device, which includes: a memory 1701, and a processor 1702; the memory is used for storing a computer program, and the computer program is executed by the processor to execute the method provided by the embodiment of the application.

Based on the foregoing embodiments, a seventh embodiment of the present application provides a storage device, and please refer to the corresponding description of the foregoing embodiments for related parts. The schematic of the storage device is similar to fig. 17. The storage device stores a computer program, and the computer program is executed by the processor to execute the method provided by the embodiment of the application.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.

1. Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include non-transitory computer readable media (transient media), such as modulated data signals and carrier waves.

2. As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

Although the present application has been described with reference to the preferred embodiments, it is not intended to limit the present application, and those skilled in the art can make variations and modifications without departing from the spirit and scope of the present application, therefore, the scope of the present application should be determined by the claims that follow.

Claims

1. A dispensing system, comprising: the device comprises a first mobile device, a second mobile device and a loading device; wherein the content of the first and second substances,

the first mobile equipment is used for obtaining an extraction instruction for extracting the object to be delivered from an extraction position; moving the first separation position to an extraction position according to the extraction instruction to extract at least one loading device loaded with the objects to be delivered; the first separation position is a position which is within the same geographical range as the extraction position and is separated from a second mobile device provided with the first mobile device; the first mobile device is installed on the second mobile device;

the second mobile device is used for sending one or more extraction instructions to a plurality of first mobile devices installed on the second mobile device, and the one or more extraction instructions comprise extraction positions corresponding to different first mobile devices; detaching from the first mobile device at the first detached location;

the loading device is a device loaded with an object to be delivered, and is extracted by the first mobile equipment at the extraction position and is arranged on the first mobile equipment.

2. The system of claim 1, wherein the first mobile device is a self-moving device; the second mobile device is a remote conveyance for conveying the first mobile device.

3. The system of claim 1, wherein the first mobile device is further configured to: moving from the extraction position to a first recovery position after extracting the at least one loading device carrying the objects to be delivered; installing on the second mobile device after the first recovery location is recovered by the second mobile device; the first recovery location and the extraction location are within the same geographic range;

the second mobile device is further configured to: retrieving and installing the first mobile device at the first retrieval location.

4. The system of claim 1, wherein the first mobile device is further configured to: obtaining a distribution instruction of an object to be distributed, and moving the loading device which is arranged on the first mobile equipment and is loaded with the object to be distributed to a distribution position from a second separation position; the second separation position is a position which is within the same geographical range as the distribution position and is separated from a second mobile device provided with the first mobile device;

the second mobile device is further configured to issue one or more delivery instructions to a plurality of first mobile devices installed on the second mobile device, where the one or more delivery instructions include delivery locations corresponding to different first mobile devices; detaching from the first mobile device at the second detached location;

the loading device is separated by the first moving device at the distribution position.

5. The system of claim 4, wherein the first mobile device is further configured to: moving from the delivery position to a second retrieval position after the loading device is detached from the delivery position; the mobile device is installed on the second mobile device after being recovered by the second mobile device at the second recovery position; the second recovery location and the delivery location are within the same geographic range;

the second mobile device is further configured to: and recovering and installing the first mobile equipment at the second recovery position.

6. The system of claim 4, wherein the first mobile device is further configured to: and moving to a distribution position corresponding to different loading devices, recovering the loading device which is positioned at the distribution position and unloaded with the objects to be distributed, and arranging the loading device on the first moving equipment.

7. System according to claim 1 or 4, characterized in that said first movement means are also adapted to perform the following processes after the extraction or distribution of said loading means:

8. The system of claim 7, wherein the first mobile device is configured to:

inquiring information of second mobile equipment capable of transporting the first mobile equipment to the distribution position according to the distribution position contained in the order information corresponding to the object to be distributed; moving from the pickup location to a location where the second mobile device retrieves the first mobile device to be retrieved by the second mobile device.

9. A delivery method applied to a first mobile device that delivers an object to be delivered, the method comprising:

obtaining a movement instruction to move from the detached position to the second position; the separation location is within the same geographic range as the second location;

separating the mobile device from a second mobile device provided with the first mobile device at the separation position according to the moving instruction, and moving the mobile device to the second position;

disengaging at least one loading device in the second position; the at least one loading device is disposed at the first mobile apparatus for loading an object to be delivered.

10. A device control method applied to a second mobile device having a plurality of first mobile devices installed therein, the first mobile devices being used to deliver an object to be delivered, the method comprising:

detaching at least one first mobile device of the plurality of first mobile devices at a detached location;

issuing one or more movement instructions to the first mobile device; the movement instructions are for controlling the first mobile device to move from the detached position to a second position; the separation location is within the same geographic range as the second location.