CN112766545A

CN112766545A - Delivery method and computer-readable storage medium

Info

Publication number: CN112766545A
Application number: CN202110004904.1A
Authority: CN
Inventors: 夏舸; 邓有志
Original assignee: Uditech Co Ltd
Current assignee: Uditech Co Ltd
Priority date: 2021-01-04
Filing date: 2021-01-04
Publication date: 2021-05-07

Abstract

The application is applicable to the technical field of computers, and provides a delivery method and a computer-readable storage medium, which comprise the following steps: acquiring a target map of a goods receiving place, wherein the target map comprises information of markers which are arranged by a goods receiver and used for distinguishing different areas, and the target map is matched with the sensor type of the first electronic equipment; planning a delivery path according to the information of the marker of the target map; and moving according to the delivery path until the goods are delivered to the destination position of the receiving place. The embodiment of the application can safely and efficiently deliver the goods to the destination position of the goods receiver.

Description

Delivery method and computer-readable storage medium

Technical Field

The present application relates to the field of computer technologies, and in particular, to a delivery method and a computer-readable storage medium.

Background

At present, with the development of unmanned logistics technology, more and more unmanned transportation equipment (such as freight robots) can replace manpower to transfer goods. These unmanned transport devices are generally devices belonging to a delivery party, which are required to deliver goods to a delivery site of a receiving party according to the requirements of the receiving party. However, since the number of the receiving parties is large, the equipment belonging to the delivery party often cannot know the environmental conditions of the receiving places of the receiving parties, so that certain difficulty exists in the delivery process of the unmanned transportation equipment, and the delivery efficiency is low.

Disclosure of Invention

In view of the above, embodiments of the present application provide a delivery method and a computer-readable storage medium to solve the problem in the prior art of how to deliver a good to a destination location safely and efficiently at a receiving location of a receiver.

A first aspect of an embodiment of the present application provides a first delivery method, including:

acquiring a target map of a goods receiving place, wherein the target map comprises information of markers which are arranged by a goods receiver and used for distinguishing different areas, and the target map is matched with the sensor type of the first electronic equipment;

planning a delivery path according to the information of the marker of the target map;

and moving according to the delivery path until the goods are delivered to the destination position of the receiving place.

Optionally, the obtaining a target map of a ship-to site includes:

when the goods arrive at a goods receiving place, sending identification information to second electronic equipment, wherein the second electronic equipment is the electronic equipment corresponding to the goods receiving party;

and acquiring the target map returned by the second electronic equipment according to the identification information.

Optionally, the sending the identification information to the second electronic device when arriving at the receiving location includes:

when the goods arrive at a goods receiving place, scanning the two-dimensional code arranged at the goods receiving place, and establishing connection with the second electronic equipment;

and sending the identification information to the second electronic equipment.

Optionally, the moving according to the delivery path includes:

determining a motion parameter according to the delivery path and the identified information of the marker;

and moving according to the motion parameters.

Optionally, the moving according to the motion parameter includes:

sending the motion parameters to a second electronic device; the second electronic equipment is the electronic equipment corresponding to the goods receiver;

and if an allowable instruction returned by the second electronic equipment is acquired, moving according to the motion parameters.

Optionally, after the sending the motion parameter to the second electronic device, the method further includes:

and if a modification instruction returned by the second electronic equipment is acquired, modifying the motion parameter according to the modification instruction, and returning to execute the step of sending the motion parameter to the second electronic equipment and subsequent steps.

A second aspect of an embodiment of the present application provides a second method of delivering goods, including:

generating a target map of a goods receiving place, wherein the target map comprises information of markers which are arranged by a goods receiver and used for distinguishing different areas;

according to the sensor type of a first electronic device, sending the target map matched with the sensor type to the first electronic device; the first electronic equipment is electronic equipment corresponding to a delivery party.

Optionally, after the sending, according to the sensor type of the first electronic device, the target map matching the sensor type to the first electronic device, the method further includes:

acquiring a motion parameter sent by the first electronic equipment;

acquiring motion parameters of other moving objects moving at the receiving place;

if the first electronic equipment is judged not to collide with the other moving objects according to the motion parameters sent by the first electronic equipment and the motion parameters of the other moving objects, a permission instruction is sent to the first electronic equipment; otherwise, sending a modification instruction to the first electronic equipment.

Optionally, after the sending the permission instruction to the first electronic device, the method further includes:

acquiring image information of the first electronic equipment;

determining a moving track of the first electronic equipment according to the image information of the first electronic equipment;

and if the first electronic equipment is judged to collide with the other moving objects according to the moving track of the first electronic equipment and the motion parameters of the other moving objects, sending a modification instruction to the first electronic equipment.

A third aspect of an embodiment of the present application provides a first delivery apparatus, including:

the target map acquisition unit is used for acquiring a target map of a goods receiving place, the target map comprises information of markers which are arranged by a goods receiver and used for distinguishing different areas, and the target map is matched with the sensor type of the first electronic equipment;

the delivery path planning unit is used for planning a delivery path according to the information of the marker of the target map;

and the moving unit is used for moving according to the delivery path until the goods are delivered to the destination position of the receiving place.

A fourth aspect of an embodiment of the present application provides a second delivery apparatus, including:

the system comprises a target map generating unit, a receiving unit and a processing unit, wherein the target map generating unit is used for generating a target map of a receiving place, and the target map comprises information of markers which are arranged by a receiving party and used for distinguishing different areas;

the target map sending unit is used for sending the target map matched with the sensor type to the first electronic equipment according to the sensor type of the first electronic equipment; the first electronic equipment is electronic equipment corresponding to a delivery party.

A fifth aspect of embodiments of the present application provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, which when executed by the processor, causes the electronic device to implement the steps of the delivery method as described.

A sixth aspect of embodiments of the present application provides a computer-readable storage medium storing a computer program which, when executed by a processor, causes an electronic device to implement the steps of the delivery method as described.

A seventh aspect of embodiments of the present application provides a computer program product, which, when run on an electronic device, causes the electronic device to execute the delivery method of any one of the first aspect or the second aspect.

Compared with the prior art, the embodiment of the application has the advantages that: in the embodiment of the application, the first electronic device can obtain the target map of the receiving place, the target map comprises the information of the markers which are arranged by the receiving party and used for distinguishing different areas, and the target map is matched with the sensor type of the first electronic device, so that the first electronic device can accurately obtain the area division condition of the receiving place according to the information of the markers on the target map and plan the delivery path, the accuracy of the delivery path planning can be improved, the subsequent movement according to the delivery path is the movement following the area division condition of the receiving place, and the goods can be safely and efficiently delivered to the target position of the receiving place.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present application, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

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

FIG. 2 is a schematic flow chart illustrating a first delivery method provided by an embodiment of the present application;

FIG. 3 is a schematic flow chart of a second delivery method provided by an embodiment of the present application;

FIG. 4 is a schematic view of a first delivery device provided by an embodiment of the present application;

FIG. 5 is a schematic view of a second delivery device provided by an embodiment of the present application;

fig. 6 is a schematic diagram of an electronic device provided in an embodiment of the present application.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

In order to explain the technical solution described in the present application, the following description will be given by way of specific examples.

It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

At present, more and more unmanned transportation equipment (such as a freight robot) can replace manpower to transfer goods. These unmanned transport devices are generally devices belonging to a delivery party, which are required to deliver goods to a delivery site of a receiving party according to the requirements of the receiving party. However, the delivery side equipment often cannot know the environment of the delivery site of each delivery side, so that certain difficulties exist in the delivery process of the unmanned transportation equipment. Particularly, when the consignee is a manufacturing enterprise with strict site management on the consignee site, the unmanned transport equipment often cannot execute the delivery process according to the site use specification of the manufacturing enterprise, so that some potential safety hazards and obstacles are caused to the unmanned transport equipment and the consignee. Therefore, when the existing unmanned transportation equipment is used for conveying goods at the receiving place of the receiver, certain potential safety hazards exist, and the goods conveying efficiency is low. In order to solve the technical problem, embodiments of the present application provide a delivery method and a computer-readable storage medium, in which a first electronic device is used as an unmanned transportation device of a delivery party, since the first electronic device can acquire the target map of the delivery location, and the delivery location includes the identifier for distinguishing different areas set by the delivery party, the object map including information of the identifier, and the object map matching a sensor type of the first electronic device, so that the first electronic equipment can accurately obtain the area division condition of the receiving place according to the information of the marker on the target map, carry out delivery path planning, therefore, the accuracy of the delivery path planning can be improved, the subsequent movement according to the delivery path is the movement according to the area division condition of the delivery site, and the goods can be safely and efficiently delivered to the target position of the delivery site.

Fig. 1 exemplarily shows an application scenario diagram of a delivery method according to an embodiment of the present application, and includes a first electronic device 11, a receiving location 12, and a second electronic device 13. The first electronic device 11 is specifically an unmanned transportation device for transporting goods by a delivery party, and includes but is not limited to a freight robot, an unmanned vehicle, and the like. The ship-to location 12 may be a location, such as a warehouse, where the ship-to party stores the goods. The second electronic device 13 is an electronic device of the consignee, including but not limited to a server, a computer, etc., and is specifically configured to store a target map of the consignee location and send the target map.

Specifically, the consignee in the embodiment of the present application is the first party, and the deliverer is the second party, and the consignee can instruct the consignee to deliver the specified goods to the consignee's delivery location 12 by placing order information. The delivery party dispatches the first electronic device 11 to transport the item according to the order information, and delivers the item to a destination location in a receiving location 12 of the receiving party.

The consignee in the embodiment of the application can be a manufacturing enterprise, and most of regular or large-scale manufacturing enterprises can be on duty with quality systems such as ISO systems, and the quality systems can provide requirements for use specifications of a field, so that the manufacturing enterprise can be provided with a plurality of regular and strict various identifications on the field, and the difficulty of environment recognition of first electronic equipment (such as a robot) can be reduced by utilizing the identifications, and the difficulty of path planning can be reduced. Meanwhile, the receiving site 12 of the manufacturing industry is relatively frequently used for entering and exiting the goods (materials), so the manufacturing industry generally has strict management specifications for the receiving site 12. Specifically, in the embodiment of the present application, for the purpose of strict regulation of field usage of the receiving location 12, the manufacturing enterprise plans different areas at the receiving location 12 by using the markers; and the target map of the receiving place includes the information of the markers, so that the first electronic device 11 can plan the delivery path according to the information of the markers of the target map by acquiring the target map of the receiving place 12 from the second electronic device 13 of the receiving party, and move according to the delivery path to finally deliver the goods to the destination position of the receiving place. Thus, the first electronic device 11 can safely and efficiently deliver the goods to the destination location of the receiving site in compliance with strict site use regulations of the receiving party (i.e., manufacturing enterprises).

The first embodiment is as follows:

fig. 2 is a schematic flow chart of a first delivery method provided in an embodiment of the present application, where an execution subject of the delivery method is the first electronic device, and the delivery method shown in fig. 2 is detailed as follows:

in S201, a target map of a receiving location is obtained, where the target map includes information of identifiers set by a receiver for distinguishing different areas, and the target map matches with a sensor type of the first electronic device.

In the embodiment of the present application, the receiving place is a place where the receiver stores the goods, such as a warehouse. The delivery location includes a marker, such as a mark line, a sticker, a laser reflector, or an object having a specific shape, which is provided by the delivery party to distinguish different areas. In one embodiment, the areas differentiated by the identifier may include a passable area and a non-passable area. Further, the passable area includes a passage area, and the unviable area includes a goods parking area, and the like, wherein the goods parking area can be further specifically subdivided into various parking areas corresponding to different kinds of goods. In yet another embodiment, the identifier is further configured to identify a designated direction of travel in the ship-to site to indicate that the mobile object entering the ship-to site is moving in an orderly manner strictly in accordance with the designated direction of travel.

In the embodiment of the present application, the target map of the receiving location includes, in addition to the size and the geographical position information of the general map, the information of the marker for distinguishing different areas in the receiving location, which is set by the receiving party at the receiving location. In some embodiments, the receiving location may specifically include multiple floors, for example, a base floor and a storage floor, where the base floor is an entrance floor of the receiving location, and a first electronic device entering the receiving location needs to perform related transaction (such as detection, storage location allocation, and the like) processing in the base floor before reaching the storage floor through the elevator to send the goods to the storage location (i.e., destination location) in the storage floor for storage. Correspondingly, the target map may include a digital map corresponding to the base floor and a digital map of the storage floor, where the two digital maps each include information of the identifier of the respective floor.

Specifically, the target map may be stored in an electronic device of the consignee, that is, a second electronic device, and the first electronic device acquires the target map of the consignee location from the second electronic device by establishing a communication connection with the second electronic device.

Specifically, the target map matches a sensor type of the first electronic device.

In the embodiment of the application, the target map is specifically a digital map matched with the sensor type of the first electronic device. Specifically, the identifiers set by the consignee at the consignee location include various identifiers matched with various sensor types, and correspondingly, the second electronic device specifically stores a plurality of digital maps, each digital map including information of one identifier. Exemplary sensor types may include laser radar, camera, ultrasonic sensor, etc., and accordingly, the markers set at the ship-to site to distinguish between different areas may be: a laser reflector recognizable by a laser radar, a sticker, picture or fixture recognizable by a camera, a specially shaped object recognizable by an ultrasonic sensor (e.g., an object having a specific convex or concave surface); correspondingly, the digital map stored by the second electronic device may include: the map includes a first digital map containing information on a laser reflector, a second digital map containing information on a sticker, a picture, or a fixed facility, and a third digital map containing information on a physical object. The first electronic device obtains a target map from the second electronic device, specifically, the second electronic device selects a digital map matched with a sensor type from a plurality of different digital maps according to the sensor type of the first electronic device. In one embodiment, the first electronic device may send its own sensor type information to the second electronic device after arriving at the ship-to site, so that the second electronic device can return a target map matching the sensor type according to the sensor type information. In another embodiment, after the first electronic device arrives at the receiving place, the detection device arranged at the receiving place can automatically detect the sensor type of the first electronic device and send the information of the sensor type to the second electronic device. And then, the second electronic equipment returns a corresponding target map to the first electronic equipment according to the information of the sensor type, so that the first electronic equipment can acquire the target map matched with the sensor type of the first electronic equipment. As mentioned above, the manufacturing enterprise sets various marks according to the quality system, and as the quality system is updated by itself, the quality requirements related to the factory using the robot will appear later. Meanwhile, in reality, marks such as laser reflectors, stickers, drawings or fixed facilities can play a role of mutual substitution even if the performance is imperfect: for example, when the reflective performance of the sticker is excellent, the sticker can replace a laser reflector; when the appearance of the laser reflecting plate is consistent with that of the sticker, the sticker or the image can be replaced. The reason why the information of the digital map is matched with the type of the sensor of the first electronic equipment is that excessive information of the first party is not required to be provided, the leakage of commercial secrets is prevented, and after all, the information of the consumption, the source and the like of the raw materials of the first party can be used as data for evaluating the operation condition of the first party; furthermore, if the first party thinks that the first electronic equipment can accomplish the shipment by virtue of the single sensor, can force to require that the first electronic equipment must only rely on the single sensor to accomplish the shipment, for example, require that the first electronic equipment can not open the camera, only rely on lidar to navigate, at this moment, secret degree is higher.

The first electronic equipment needs to perform self positioning and delivery path planning by combining the sensor of the first electronic equipment according to the target map, so that the accuracy of the subsequent positioning and delivery path planning can be improved by acquiring the target map matched with the type of the sensor of the first electronic equipment, and the delivery accuracy is improved.

Optionally, the step S201 includes:

In the embodiment of the application, when the first electronic device arrives at the receiving place, for example, at the door of the warehouse of the receiving party, the identification information is sent to the electronic device of the receiving party, that is, the second electronic device. The identification information may include an identification code of the first electronic device and/or order information stored in the first electronic device and issued by the consignee.

The second electronic device receiving the identification information compares the identification information with information stored in the second electronic device (which may include order information issued by the second electronic device and/or an identification code of a delivery party stored in advance), so as to verify the identification information. When the identification information passes verification, namely the identification information is consistent with information stored in the second electronic equipment, the second electronic equipment sends a target map of a receiving place stored in the second electronic equipment to the first electronic equipment, and the first electronic equipment receives the target map, so that the first electronic equipment acquires the target map. Furthermore, the identification information includes the identification code and the order information, and also includes the sensor type information, so that the first electronic device completes the sending of the sensor type information when sending the identification information to the second electronic device; and then, when the second electronic equipment verifies that the first electronic equipment is legal according to the identification code and the order information, acquiring a digital map matched with the sensor type as a target map according to the information of the sensor type, and returning the target map to the first electronic equipment, so that the first electronic equipment acquires the target map matched with the sensor type of the first electronic equipment. Or, the identification information does not include the information of the sensor type, and after the first electronic device receives the indication information that the verification returned by the second electronic device passes, the first electronic device sends the information of the sensor type of the first electronic device to the second electronic device, so as to obtain the target map which is returned by the second electronic device and is matched with the sensor type.

In the embodiment of the application, the first electronic device specifically needs to send the identification information to the second electronic device for verification, and then can acquire the target map returned by the second electronic device according to the identification information, so that the security of acquiring the target map can be improved, and the security of delivering goods is improved.

and sending the identification information to the second electronic equipment.

In the embodiment of the application, the receiving place is provided with the two-dimensional code, for example, the two-dimensional code is posted on a wall or an entrance of the receiving place or displayed through an electronic screen, and the two-dimensional code is specifically a link entrance for establishing connection with the second electronic device of the receiving party. When the first electronic equipment arrives at the goods receiving place, the two-dimension code is scanned so as to establish communication connection with the second electronic equipment, namely, data contact with the goods receiving party is established.

After the connection with the second electronic device is established, the first electronic device sends the identification information of the first electronic device to the second electronic device, so that the consignee can verify the first electronic device.

In the embodiment of the application, because the first electronic equipment is the equipment of the delivery side, the second electronic equipment is the equipment of the receiving side, and the two are not in communication connection usually, the two-dimension code is arranged at the receiving place, so that the first electronic equipment can establish communication connection with the second electronic equipment of the receiving side accurately through the two-dimension code, and subsequent data transmission is facilitated.

In S202, a delivery route is planned based on the information of the marker of the target map.

In the embodiment of the application, after the first electronic device acquires the target map, the first electronic device determines the environment area division condition of the receiving place according to the information of the marker included in the target map, and plans the delivery path according to the environment area division condition. Specifically, after acquiring the target map, the first electronic device identifies the marker of the receiving place through a sensor of the first electronic device, and determines the current position of the first electronic device in the receiving place by combining the information of the marker contained in the target map; and then, taking the position of the self as a starting point and the target position as an end point, and planning a path to obtain a delivery path. Wherein the destination position is a position for storing the current goods. In an embodiment, the order information issued by the consignee to the consignee includes information of the destination location, and the first electronic device may determine the destination location according to the order information. In another embodiment, after the first electronic device arrives at the receiving place, the second electronic device determines an idle area as the destination position according to the storage status of each area of the current receiving place, and sends the information of the destination position to the first electronic device.

In the embodiment of the application, the delivery path planned according to the information of the identifier is a path following the area rule divided by the receiver. Specifically, the area divided by the marker includes a passable area and a non-passable area, and the planned delivery route is a route avoiding the non-passable area, and specifically may be: and taking the current position of the first electronic equipment as a starting point, taking the target position as an end point, and avoiding the path of the impassable area. In particular, the passable area may comprise a passage area of the receiving location and the impassable area may comprise a goods parking area. Further, the target map also identifies information such as the type, size, parking time and the like of goods stored in the goods parking area. Specifically, when the type of the goods stored in the goods parking area is a common article, the planned delivery path may be kept at a short distance (referred to as a first preset distance) from the goods parking area as long as the planned delivery path does not fall into the goods parking area; when the goods are fragile goods, dangerous goods, confidential goods and other goods which are not allowed to be randomly accessed, the planned delivery path needs to keep a larger distance, called a second preset distance, from the goods parking area, and the second preset distance is larger than the first preset distance. Specifically, when the size of the goods stored in the goods parking area is small, the planned delivery path and the goods parking area can keep a short distance, which is called a third preset distance; when the size of the goods stored in the goods parking area is large (for example, larger than the preset volume threshold), considering that the size of the goods is too large, the environmental perception of the first electronic device around the goods parking area may be affected, that is, a visual blind area or an induction blind area is caused, and a potential collision risk exists, therefore, a great distance, called a fourth preset distance, needs to be kept between the planned delivery path and the goods parking area, and the fourth preset distance is larger than the third preset distance. Specifically, when the path planning is performed, the state of the cargo parking area when the first electronic device passes through the cargo parking area can be predicted by considering the cargo parking time of the cargo parking area; when the first electronic equipment passes through the goods parking area, if the goods parking area is in an empty state in which the goods are moved away, the distance between the goods delivery path and the goods parking area is judged to be a fifth preset distance; if the goods are still in the parking state, judging that the distance between the delivery path and the goods parking area is a sixth preset distance; if the goods are in a moving-away state, judging that the distance of the delivery path to the goods parking area is a seventh preset distance; the fifth preset distance < the sixth preset distance < the seventh preset distance, that is, when the first electronic device is predicted to approach the goods parking area, the goods are moved away, the planned delivery path can be closer to the goods parking area, and when the first electronic device is predicted to approach the goods parking area, the goods are in a moving away state, more space needs to be reserved for workers to move away the goods, and at the moment, the planned delivery path needs to keep a larger distance from the goods parking area.

In one embodiment, the receiving location specifically includes the above-mentioned base floor and storage floor, and the target map includes a map of the base floor and a map of the storage floor. Correspondingly, the delivery route consists of a first sub-route and a second sub-route, wherein the first sub-route is a shortest route which is planned by the first electronic equipment according to the information of the marker contained in the digital map corresponding to the base floor, takes the current position of the first electronic equipment as a starting point, takes the position of the goods elevator of the base floor as an end point and avoids the impassable area of the base floor; the second sub-path is a shortest path which is planned by the first electronic device according to the map of the storage floor, takes the goods elevator position of the storage floor as a starting point, takes the target position of the storage floor as an end point, and avoids the impassable area of the storage floor.

In S203, the cargo is moved according to the delivery path until the cargo is delivered to the destination position of the receiving place.

After the delivery path is planned according to the information of the marker included in the target map, the first electronic equipment can safely and efficiently move according to the delivery path and the regional use rule of the receiving party until the target position of the receiving place is reached, and the goods are placed at the target position, so that the delivery of the goods is completed. In one embodiment, the first electronic device moves according to the delivery path, strictly avoiding the impassable area divided by the receiver; in the process of moving according to the delivery route, if a person or other moving objects suddenly appear, the first electronic device can enter the impassable area (such as an empty goods storage area or a goods storage area with a certain free space) within the preset time according to the preset time which is preset by a receiving party and can be out of range for a short time so as to avoid the current person or other moving objects, and therefore the flexibility and the safety of the delivery process are improved.

In one embodiment, the delivery path specifically includes the first sub-path and the second sub-path, and the first electronic device first moves from the current position to the elevator position of the base floor according to the first sub-path and takes the elevator. When the first electronic device is located inside the goods elevator, the floor position of the goods elevator in the operation process can be determined through a floor indicating lamp inside the goods elevator or a mode of receiving a prompt signal output by the goods elevator. When the first electronic equipment determines that the goods elevator reaches the floor position of the storage floor, the first electronic equipment leaves the goods elevator and moves from the goods elevator position of the storage floor to the target position according to the second sub-path, so that the goods are delivered to the target position of the goods receiving place.

Optionally, the moving according to the delivery path includes:

a1: determining a motion parameter according to the delivery path and the identified information of the marker;

a2: and moving according to the motion parameters.

In a1, the first electronic device identifies, by using the delivery route planned in the previous step as a guidance route, the identifier around the first electronic device through its own sensor, locates its own position according to the information of the identified identifier and the information of the identifier in the target map, and determines the current motion parameter according to its own position and the delivery route. Specifically, the motion parameters include a motion speed and a motion direction.

At a2, after the motion parameter is determined, the first electronic device moves according to the motion parameter, and then advances to the destination position along the delivery path. Specifically, the first electronic device returns to execute step a1 every preset time period, so that the position of the first electronic device can be accurately located continuously according to the information of the identified marker and the delivery path, the actual moving route of the first electronic device can be corrected timely, the motion parameters can be adjusted, and the first electronic device can continue to accurately move according to the delivery path.

In the embodiment of the application, in the delivery process, the current position of the first electronic device is continuously located by specifically identifying the information of the marker, and the motion parameter is determined by combining the delivery path, so that the first electronic device can accurately move according to the delivery path, and the delivery accuracy is ensured.

Optionally, the moving according to the motion parameter includes:

In the embodiment of the application, the first electronic device needs to be permitted by the receiver every time the first electronic device moves at the receiving place, so that the first electronic device can be further ensured to strictly follow the regional use management specification of the receiver. Specifically, after determining the motion parameter each time, the first electronic device needs to send the motion parameter to the electronic device of the consignee, that is, the second electronic device, so that the second electronic device verifies the current motion parameter.

When the first electronic device acquires the permission instruction returned by the second electronic device, it indicates that the current motion parameter passes the verification of the second electronic device, and at this time, the first electronic device can move according to the motion parameter.

In the embodiment of the application, the first electronic device sends the motion parameter to the second electronic device after determining the motion parameter, and after the permission instruction returned by the second electronic device is obtained, the first electronic device moves according to the motion parameter, so that the first electronic device can be guaranteed to move strictly according to the constraint of a receiver, and the safety and the efficiency of the delivery process of the first electronic device are further improved.

In the embodiment of the application, when the first electronic device acquires the modification instruction returned by the second electronic device, it is indicated that the current motion parameter does not pass the verification of the second electronic device, and the current first electronic device may have a risk of collision with other moving objects, at this time, the first electronic device modifies the motion parameter of itself according to the modification instruction, and retransmits the modified motion parameter to the second electronic device for verification. Further, the modification instruction may include any one or more of the position of the other moving object, the motion parameter, and/or the measured position of the possible collision, so that the first electronic device can accurately determine the motion parameter again to avoid the other moving object.

In the embodiment of the application, when the first electronic device obtains the modification instruction returned by the second electronic device, the motion parameters can be modified in time according to the modification instruction, so that the safety and the accuracy of the movement of the first electronic device at the goods receiving place can be ensured, and the goods can be delivered safely and efficiently.

In the embodiment of the application, the first electronic device can obtain the target map of the delivery location, the delivery location comprises the markers which are arranged by the delivery party and used for distinguishing different areas, the target map comprises the information of the markers, and the target map is matched with the sensor type of the first electronic device, so that the first electronic device can accurately obtain the area division condition of the delivery location according to the information of the markers on the target map and plan the delivery path, the accuracy of the delivery path planning can be improved, the subsequent movement according to the delivery path is the movement following the area division condition of the delivery location, and the goods can be delivered to the target position of the delivery location safely and efficiently.

Example two:

fig. 3 is a schematic flow chart of a second delivery method provided in an embodiment of the present application, where an execution subject of the delivery method is the second electronic device, and the delivery method shown in fig. 3 is detailed as follows:

in S301, a target map of a delivery location is generated, the target map including information of markers for distinguishing different areas set by a delivery party.

In the embodiment of the application, the second electronic device is an electronic device of a consignee, such as a server, a computer, etc. of the consignee. As described in relation to the previous embodiment, the ship-to site includes identifiers for distinguishing between different areas provided by the ship-to. Specifically, the receiving place may be provided with one or more cameras, configured to acquire image information of the receiving place after the identifier is set, and send the image information to the second electronic device. The second electronic equipment generates a target map according to the image information returned by the camera, wherein the target map can represent the size and the geographic information of the goods receiving place and contains information of the identifiers which can be used by the goods receiver to set different areas of the goods receiving place. And after generating the target map of the delivery place, the second electronic equipment stores the target map into a local or third-party storage unit. Specifically, the receiving place is provided with various different types of markers, and correspondingly, the generated target map comprises different digital maps, and each digital map respectively contains information of one type of marker. For example, the target map includes: the map includes a first digital map containing information on a laser reflector, a second digital map containing information on a sticker, a picture, or a fixed facility, and a third digital map containing information on a physical object.

In S302, according to a sensor type of a first electronic device, sending the target map matched with the sensor type to the first electronic device; the first electronic equipment is electronic equipment corresponding to a delivery party.

When the second electronic equipment detects that the electronic equipment of the goods delivery side, namely the first electronic equipment, arrives at the goods receiving place, a target map matched with the sensor type is obtained from a storage unit of a local or third party according to the sensor type of the first electronic equipment, and the target map is sent to the first electronic equipment. Specifically, the second electronic device first acquires information of the sensor type of the first electronic device, and acquires a digital map corresponding to the sensor type from each digital map as a current target map according to the information of the sensor type, and transmits the digital map. For example, if the sensor type of the first electronic device is lidar, the correspondingly transmitted target map is the first digital map; if the sensor type of the first electronic equipment is a camera, the correspondingly sent target map is the second digital map; if the sensor type of the first electronic device is an ultrasonic sensor, the correspondingly transmitted target map is the third digital map.

In one embodiment, before sending the target map, the second electronic device receives the identification information sent by the first electronic device and verifies the identification information. When the identification information is verified, for example, the identification information matches identification information stored in advance by the second electronic device, the second electronic device sends a target map to the first electronic device. Furthermore, a two-dimensional code may be set at an entrance of the receiving location, and before receiving the identification information sent by the first electronic device, a link request sent by the first electronic device scanning the two-dimensional code is received, and connection is established with the first electronic device.

Optionally, after the step S302, the method further includes:

b1: acquiring a motion parameter sent by first electronic equipment; the first electronic equipment is electronic equipment corresponding to a delivery party;

b2: acquiring motion parameters of other moving objects moving at the receiving place;

b3: if the first electronic equipment is judged not to collide with the other moving objects according to the motion parameters sent by the first electronic equipment and the motion parameters of the other moving objects, a permission instruction is sent to the first electronic equipment; otherwise, sending a modification instruction to the first electronic equipment.

In the embodiment of the application, the second electronic device can acquire the motion parameters of various moving objects entering the delivery site, so that the movement of each moving object in each area of the delivery site is regulated.

In step B1, the second electronic device receives the motion parameter sent by the first electronic device, where the first electronic device is an electronic device corresponding to the delivery party, and the motion parameter is determined by the delivery route and the location information of the first electronic device after the first electronic device plans the delivery route line. Specifically, the motion parameters include a motion speed and a motion direction.

In step B2, the second electronic device acquires the motion parameters of the other moving objects than the first electronic device in the receiving place. In one embodiment, the other mobile object may be another mobile electronic device located at the receiving location, for example, a robot of the receiving party or a third party, and since the other mobile electronic device also has a function of establishing a communication connection with the second electronic device, the motion parameters of the other mobile electronic device may be obtained by receiving the motion parameters sent by the other mobile electronic device in a wired or wireless manner. In another embodiment, the other mobile object may also be a person, an animal or another mobile object that cannot establish a communication connection with the second electronic device, and the second electronic device may determine the motion parameters of the other mobile object by receiving information collected by a camera, an infrared sensor, a pressure sensor, and the like, which are disposed at the delivery location.

In step B3, after acquiring the motion parameters of the first electronic device and the motion parameters of the other mobile objects, the second electronic device performs measurement and calculation based on the two motion parameters. And if the measurement result shows that the first electronic equipment does not have the risk of collision with other moving objects, sending a permission instruction to the first electronic equipment so that the first electronic equipment can move according to the determined motion parameters. And if the measurement result shows that the first electronic equipment has the risk of collision with other moving objects, sending a modification instruction to the first electronic equipment so that the first electronic equipment can adjust the current motion parameters. The modification instruction may include any one or more of the position of the other moving object, the motion parameter, and/or the measured position of the possible collision, so that the first electronic device can accurately determine the motion parameter again to avoid the other moving object.

In the embodiment of the application, the second electronic device can acquire the motion parameters of the first electronic device and other moving objects, measure and calculate according to the two parameters, estimate whether the first electronic device collides with other moving objects, and send out corresponding permission instructions or modification instructions, so that the safety and the accuracy of the movement of the first electronic device at the receiving place can be ensured, and the goods can be delivered safely and efficiently.

c1: acquiring image information of the first electronic equipment;

c2: determining a moving track of the first electronic equipment according to the image information of the first electronic equipment;

c3: and if the first electronic equipment is judged to collide with the other moving objects according to the moving track of the first electronic equipment and the motion parameters of the other moving objects, sending a modification instruction to the first electronic equipment.

In step C1, after the permission instruction is sent to the first electronic device, the monitoring device of the consignee continuously monitors the image information of the first electronic device, and the second electronic device obtains the image information of the first electronic device from the monitoring device. Further, in this embodiment of the application, the second electronic device may output the image information to a designated display for display, so that a manager of the consignee can monitor the motion condition of the first electronic device in real time.

In step C2, the second electronic device determines an actual movement trajectory of the first electronic device according to the acquired image information of the first electronic device.

In step C3, the second electronic device estimates, according to the actual movement trajectory of the first electronic device, whether there is an encounter point in the movement trajectories between the first electronic device and other moving objects in combination with the acquired motion parameters of other moving objects. If the first electronic device and the other moving object are in collision, judging that the first electronic device and the other moving object are in collision, and sending a modification instruction to the first electronic device so that the first electronic device can readjust the motion parameters of the first electronic device. In particular, the modification instruction may include position information of the meeting point, so that the first electronic device determines a shift direction and a shift rate that can deviate from the meeting point as new motion parameters, thereby avoiding the other moving object during the moving process.

In the embodiment of the present application, it is further considered that, when the first electronic device moves according to the permission instruction, the first electronic device may not necessarily move exactly according to the permitted motion parameter due to a motion error of the first electronic device. Therefore, after the permission instruction is sent to the first electronic device, the image information of the first electronic device is further acquired, the actual moving track of the first electronic device is determined, and whether the first electronic device collides with other moving objects or not is continuously measured and calculated by combining the motion parameters of other moving objects; when the test will collide, the modification instruction can be sent to the first electronic equipment in time, so that the first electronic equipment can modify the motion parameters of the first electronic equipment in time, the safety and the accuracy of the movement of the first electronic equipment at the goods receiving place can be guaranteed, and the goods can be delivered safely and efficiently.

In the embodiment of the application, the second electronic device can generate a target map, the target map comprises information of the markers which are arranged by the receiver and used for distinguishing different areas, and the target map matched with the sensor type is accurately sent to the first electronic device according to the sensor type of the first electronic device of the sender, so that the first electronic device can accurately obtain the area division condition of the receiving place according to the information of the markers on the target map and plan the delivery path, the accuracy of the delivery path planning can be improved, the subsequent movement according to the delivery path is the movement following the area division condition of the receiving place, and the goods can be safely and efficiently delivered to the target position of the receiving place. In addition, the second electronic device can also judge whether the first electronic device collides with other moving objects or not by acquiring the motion parameters and the image information of the first electronic device, and send corresponding permission instructions or modification instructions to the first electronic device, so that the movement of the first electronic device in the delivery process can be further restrained, and the safety and the accuracy of the movement of the first electronic device at the delivery site are ensured. In addition, when the receiving side is a manufacturing enterprise, due to the fact that materials and products of the manufacturing enterprise are frequently entered and exited, the monitoring probes are arranged in a very conventional mode, the arrangement positions of the probes are rarely changed, the size of the place monitored by the current camera can be accurately measured, and the position of the corresponding mark can be accurately set. Therefore, according to the image acquired by the camera and the existing site size information and identification position information, the generation of a digital map and a target map can be realized, and even the calculation of the motion trail of the object in the monitoring video can be completed, so that the motion of each object at the receiving place of the manufacturing enterprise is effectively restrained.

It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

Example three:

fig. 4 is a schematic structural diagram of a first delivery device according to an embodiment of the present disclosure, which is applied to a first electronic device of a delivery party, and may be a cargo robot, an unmanned vehicle, or the like. For convenience of explanation, only the portions related to the embodiments of the present application are shown:

this delivery device includes: a target map acquisition unit 41, a delivery path planning unit 42, and a moving unit 43. Wherein:

and the target map acquiring unit 41 is used for acquiring a target map of a delivery place, wherein the target map comprises information of markers which are arranged by a delivery party and used for distinguishing different areas, and the target map is matched with the sensor type of the first electronic equipment.

And a delivery path planning unit 42 for planning a delivery path according to the information of the marker of the target map.

And a moving unit 43 for moving according to the delivery path until the goods are delivered to the destination position of the receiving place.

Optionally, the target map obtaining unit 41 includes an identification information sending module and a target map obtaining module:

the identification information sending module is used for sending identification information to second electronic equipment when a goods receiving place is reached, and the second electronic equipment is corresponding to the goods receiving party;

and the target map acquisition module is used for acquiring the target map returned by the second electronic equipment according to the identification information.

Optionally, the identification information sending module is configured to scan a two-dimensional code arranged at a receiving place when the receiving place is reached, and establish connection with the second electronic device; and sending the identification information to the second electronic equipment.

Optionally, the mobile unit 43 includes a motion parameter determining module and a moving module:

the motion parameter determining module is used for determining motion parameters according to the delivery path and the identified information of the identifier;

and the moving module is used for moving according to the motion parameters.

Optionally, the moving module specifically includes a motion parameter sending module and a permission instruction obtaining module:

the motion parameter sending module is used for sending the motion parameters to second electronic equipment; the second electronic equipment is the electronic equipment corresponding to the goods receiver;

and the permission instruction acquisition module is used for moving according to the motion parameters if a permission instruction returned by the second electronic equipment is acquired.

Optionally, the mobile module further includes:

and the modification instruction acquisition module is used for modifying the motion parameter according to the modification instruction if the modification instruction returned by the second electronic equipment is acquired, and returning to execute the step of sending the motion parameter to the second electronic equipment and the subsequent steps.

Fig. 5 is a schematic structural diagram of a second delivery device according to an embodiment of the present disclosure, where the delivery device is applied to a second electronic device of a consignee, and the second electronic device may be a server, a computer, or the like. For convenience of explanation, only the portions related to the embodiments of the present application are shown:

this delivery device includes: a target map generating unit 51 and a target map transmitting unit 52. Wherein:

a target map generating unit 51 for generating a target map of a delivery location, the target map including information of markers for distinguishing different areas set by a delivery destination;

the target map sending unit 52 is configured to send, according to a sensor type of a first electronic device, the target map matching the sensor type to the first electronic device; the first electronic equipment is electronic equipment corresponding to a delivery party.

Optionally, the delivery device further comprises:

the first motion parameter acquisition unit is used for acquiring the motion parameters sent by the first electronic equipment;

a second motion parameter acquisition unit for acquiring motion parameters of other moving objects moving at the delivery site;

an instruction transmitting unit, configured to transmit a permission instruction to the first electronic device if it is determined that the first electronic device does not collide with the other moving object based on the motion parameter transmitted by the first electronic device and the motion parameters of the other moving object; otherwise, sending a modification instruction to the first electronic equipment.

Optionally, the instruction sending unit is further configured to obtain image information of the first electronic device; determining a moving track of the first electronic equipment according to the image information of the first electronic equipment; and if the first electronic equipment is judged to collide with the other moving objects according to the moving track of the first electronic equipment and the motion parameters of the other moving objects, sending a modification instruction to the first electronic equipment.

It should be noted that, for the information interaction, execution process, and other contents between the above-mentioned devices/units, the specific functions and technical effects thereof are based on the same concept as those of the embodiment of the method of the present application, and specific reference may be made to the part of the embodiment of the method, which is not described herein again.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

Example four:

fig. 6 is a schematic diagram of an electronic device according to an embodiment of the present application. As shown in fig. 6, the electronic apparatus 6 of this embodiment includes: a processor 60, a memory 61 and a computer program 62, such as a delivery program, stored in said memory 61 and operable on said processor 60. The processor 60 executes the computer program 62 to implement the steps in each delivery method embodiment described above, such as steps S201 to S203 shown in fig. 2, or such as steps S301 to S302 shown in fig. 3. Alternatively, the processor 60, when executing the computer program 62, implements the functions of the modules/units in the above-mentioned device embodiments, such as the functions of the units 41 to 43 shown in fig. 4, or such as the functions of the units 51 to 52 shown in fig. 5.

Illustratively, the computer program 62 may be partitioned into one or more modules/units that are stored in the memory 61 and executed by the processor 60 to accomplish the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 62 in the electronic device 6. For example, the computer program 62 may be divided into a target map acquisition unit, a delivery route planning unit, and a mobile unit, each unit having the following specific functions:

the target map acquisition unit is used for acquiring a target map of a goods receiving place, the target map comprises information of markers which are arranged by a goods receiver and used for distinguishing different areas, and the target map is matched with the sensor type of the first electronic equipment.

And the delivery path planning unit is used for planning a delivery path according to the information of the marker of the target map.

Alternatively, the computer program 62 may be divided into an object map generation unit and an object map transmission unit, and each unit specifically functions as follows:

The electronic device 6 may be a desktop computer, a notebook, a palm computer, a cloud server, or other computing devices. The electronic device may include, but is not limited to, a processor 60, a memory 61. Those skilled in the art will appreciate that fig. 6 is merely an example of an electronic device 6, and does not constitute a limitation of the electronic device 6, and may include more or fewer components than shown, or some components in combination, or different components, e.g., the electronic device may also include input-output devices, network access devices, buses, etc.

The Processor 60 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 61 may be an internal storage unit of the electronic device 6, such as a hard disk or a memory of the electronic device 6. The memory 61 may also be an external storage device of the electronic device 6, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the electronic device 6. Further, the memory 61 may also include both an internal storage unit and an external storage device of the electronic device 6. The memory 61 is used for storing the computer program and other programs and data required by the electronic device. The memory 61 may also be used to temporarily store data that has been output or is to be output.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus/electronic device and method may be implemented in other ways. For example, the above-described apparatus/electronic device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method of the embodiments described above can be realized by a computer program, which can be stored in a computer-readable storage medium and can realize the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.

The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.

Claims

1. A delivery method applied to a first electronic device, comprising:

2. The method of delivering goods as claimed in claim 1, wherein said obtaining a target map of a ship-to site comprises:

3. The delivery method of claim 2, wherein said sending identification information to the second electronic device upon arrival at the ship-to location comprises:

and sending the identification information to the second electronic equipment.

4. The delivery method of any of claims 1 to 3, wherein said moving according to the delivery path comprises:

and moving according to the motion parameters.

5. The method of delivering goods as claimed in claim 4, wherein said moving in accordance with said motion parameters comprises:

6. The method of shipping of claim 5, wherein after said sending said motion parameters to a second electronic device, further comprising:

7. A delivery method applied to a second electronic device, comprising:

8. The delivery method of claim 7, wherein after said sending the target map matching the sensor type to the first electronic device according to the sensor type of the first electronic device, further comprising:

acquiring a motion parameter sent by the first electronic equipment;

9. The delivery method of claim 8, wherein after said sending a permission instruction to said first electronic device, further comprising:

acquiring image information of the first electronic equipment;

10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, causes an electronic device to carry out the steps of the method according to any one of claims 1 to 9.