CN113506024A

CN113506024A - Distribution method, distribution device, electronic equipment and storage medium

Info

Publication number: CN113506024A
Application number: CN202110849344.XA
Authority: CN
Inventors: 阳叶文; 王祥; 万永辉
Original assignee: Shanghai Keenlon Intelligent Technology Co Ltd
Current assignee: Shanghai Keenlon Intelligent Technology Co Ltd
Priority date: 2021-07-27
Filing date: 2021-07-27
Publication date: 2021-10-15

Abstract

The embodiment of the application discloses a distribution method, a distribution device, electronic equipment and a storage medium, wherein the method comprises the following steps: acquiring the cargo state information of a bearing goods shelf; confirming a target bearing goods shelf according to the goods state information of the bearing goods shelf; controlling the mobile robot to arrive according to the preset position information of the target bearing goods shelf; controlling the target goods between the mobile robot and the target bearing shelf to be transferred; through the technical scheme, the automatic delivery of the robot to the goods is realized, and the delivery efficiency is improved.

Description

Distribution method, distribution device, electronic equipment and storage medium

Technical Field

The embodiment of the application relates to the technical field of distribution, in particular to a distribution method, a distribution device, electronic equipment and a storage medium.

Background

With the continuous development of the robot technology, robots begin to play roles in human life and work, and for example, in scenes such as logistics transportation, medical transportation, and food transportation, distribution robots have gradually replaced human beings to independently perform designated works.

At present, when the delivery robot executes the delivery task, the goods are placed artificially, the delivery robot delivers the goods, the whole delivery process is not intelligent and automatic enough, and the delivery efficiency is low. For example, in a meal delivery scene, a worker needs to wait for the meal delivery robot to arrive at a meal outlet to place meal, so that the delivery efficiency is affected; for another example, when the meal delivery robot delivers meal, the meal delivery robot may fail to deliver meal, and at this time, the meal delivery robot may be occupied and unable to perform the delivery task normally, which also affects the delivery efficiency.

Therefore, there is a need for improvement in view of the problems in the prior art.

Disclosure of Invention

The application provides a distribution method, a distribution device, electronic equipment and a storage medium, so that automatic distribution of goods by a robot is realized, and distribution efficiency is improved.

In a first aspect, an embodiment of the present application provides a distribution method, including: acquiring the cargo state information of a bearing goods shelf; confirming a target bearing goods shelf according to the goods state information of the bearing goods shelf; controlling the mobile robot to arrive according to the preset position information of the target bearing goods shelf; and controlling the target goods between the mobile robot and the target bearing shelf to be transferred.

In a second aspect, an embodiment of the present application further provides a dispensing device, including: the goods state information acquisition module is used for acquiring the goods state information of the bearing goods shelf; the target bearing goods shelf confirming module is used for confirming the target bearing goods shelf according to the goods state information of the bearing goods shelf; the mobile robot control module is used for controlling the mobile robot to arrive according to the preset position information of the target bearing goods shelf; and the cargo transferring module is used for controlling the transfer of the target cargo between the mobile robot and the target bearing shelf.

In a third aspect, an embodiment of the present application further provides an electronic device, where the electronic device includes: one or more processors; a storage device, configured to store one or more programs, which when executed by the one or more processors, cause the one or more processors to implement any one of the distribution methods provided in the embodiments of the first aspect.

In a fourth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements any one of the distribution methods provided in the embodiments of the first aspect.

According to the embodiment of the application, the goods state information of the bearing goods shelf is obtained; confirming a target bearing goods shelf according to the goods state information of the bearing goods shelf; controlling the mobile robot to arrive according to the preset position information of the target bearing goods shelf; and controlling the target goods between the mobile robot and the target bearing shelf to be transferred. Through the technical scheme, the automatic delivery of the target goods by the mobile robot is realized, the whole delivery process is automatically completed without human participation, the intelligent and efficient delivery is realized, and the delivery efficiency is improved.

Drawings

Fig. 1 is a flowchart of a distribution method according to an embodiment of the present application;

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

fig. 3 is a flowchart of a distribution method according to a third embodiment of the present application;

fig. 4 is a schematic diagram of cargo distribution according to a third embodiment of the present application;

fig. 5 is a flowchart of a distribution method according to a fourth embodiment of the present application;

fig. 6 is a flowchart of a distribution method according to a fifth embodiment of the present application;

FIG. 7 is a schematic view of a dispensing device according to a sixth embodiment of the present disclosure;

fig. 8 is a schematic view of an electronic device according to a seventh embodiment of the present application.

Detailed Description

The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be further noted that, for the convenience of description, only some of the structures related to the present application are shown in the drawings, not all of the structures.

Example one

Fig. 1 is a flowchart of a distribution method according to an embodiment of the present application. The embodiment of the application is suitable for the condition that the robot automatically delivers goods. The method may be performed by a dispensing apparatus, which may be implemented in software and/or hardware. Referring to fig. 1, a distribution method provided in an embodiment of the present application includes:

and S110, acquiring the cargo state information of the bearing shelf.

The bearing shelf is used for placing goods, and for example, the bearing shelf can be used for placing dinner plates or food shelves in a restaurant scene. In this embodiment, a plurality of load bearing shelves can be placed in the operational environment of mobile robot as required.

The cargo state information of the load-bearing shelf refers to whether cargo exists in the load-bearing shelf, and more specifically, whether cargo exists in each position area of the load-bearing shelf can be determined, and if the load-bearing shelf has 3 position areas for placing the cargo, whether cargo exists in the position areas can be determined respectively.

Optionally, the acquiring the cargo state information of the carrying rack includes: and receiving the cargo state information sent by the cargo carrying frame when the cargo carrying frame carries the target cargo.

In this embodiment, the load-bearing shelf is an intelligent shelf loaded with a sensor; wherein the sensor may be a pressure sensor or a light sensitive sensor. Taking the pressure sensor as an example, when goods are placed on or taken away from the load-bearing shelf (for example, the goods are dinner plates or meal items), the position area of the load-bearing shelf where the goods are placed can sense the change of pressure, and then the state information of the goods on the load-bearing shelf can be determined.

For example, when the pressure sensed in the position area of the load bearing shelf where the goods are placed becomes higher, it can be determined that the load bearing shelf has the goods in the position area; when the pressure sensed in the location area of the load-bearing shelf where the load is placed becomes lower, it can be determined that the load-bearing shelf is not present with the load in the location area.

In some embodiments, the load-bearing shelves are provided with at least one cargo-placement area; different goods placing areas correspond to different dining table identifications; correspondingly, the acquiring of the cargo state information of the carrying shelf comprises: when any goods placement area of the bearing shelf bears target goods, sending a goods distribution request to the mobile robot; the goods distribution request comprises a goods placement area corresponding to the target goods.

And S120, confirming the target bearing shelf according to the goods state information of the bearing shelf.

The target load-bearing shelf may be a load-bearing shelf on which goods to be delivered are loaded, or the target load-bearing shelf may be a load-bearing shelf in which an empty position area exists and which is used for storing goods.

In this embodiment, different target load-bearing shelves can be determined according to different distribution scenes and the cargo state information of the load-bearing shelves; the distribution scene comprises a cargo sending scene and a cargo recovery scene.

For example, when the food delivery robot works, in a cargo delivery scene, the food delivery robot can move to a bearing shelf at a food outlet to automatically transfer food, and deliver the food to a dining table where guests are located, so as to realize cargo delivery; in the scene of goods recovery, when the food needs to be recovered or the food delivery robot fails to deliver, the food to be recovered also exists, and the food delivery robot can temporarily store the food to be recovered to the carrying goods shelf with the idle position area, so that goods recovery is realized.

Optionally, the determining a target load rack according to the cargo state information of the load rack includes: according to the cargo state information, the mobile robot triggers a corresponding cargo distribution mode; and confirming the target bearing shelf of the mobile robot according to the goods state information of all the bearing shelves received based on a preset rule.

The goods distribution mode comprises a food delivery mode and a food recovery mode. For example, when the mobile robot needs to temporarily store goods or execute a recovery task, the load-bearing shelf in the idle position area can be determined according to the query result of the goods state information, and accordingly, the mobile robot can trigger a food recovery mode; when the mobile robot executes the delivery task, the bearing goods shelf for delivering goods can be determined according to the query result of the goods state information, and accordingly, the mobile robot can trigger the food delivery mode.

In this embodiment, the preset rule may be based on a principle of proximity, and the target carrying shelf closer to the mobile robot is selected, for example, the target carrying shelf closer to the mobile robot is selected for temporarily storing the goods, or the mobile robot goes to the closer carrying shelf to deliver the goods. Optionally, the preset rule may also be that a target load-bearing shelf is selected according to a preset corresponding relationship between the mobile robot and the load-bearing shelf. It should be noted that the preset rule set forth above should not be construed as a limitation to the embodiments of the present application, and other preset rules may also be determined according to actual needs, all of which are within the protection scope of the present application.

Alternatively, in addition to the mobile robot triggering the goods delivery mode by itself, if the mobile robot delivers the goods for more than the preset delivery time, the mobile robot automatically triggers the food recovery mode by itself, and the goods delivery mode may also be triggered by a third party such as a worker or a carrying shelf. Specifically, a worker in a working scene of the mobile robot can send a cargo delivery mode including a food delivery mode and a food recovery mode through the terminal device; or, a food delivery mode can be generated by sensing the goods to be delivered through the bearing shelf, for example, the worker can place the prepared food on the shelf, and the sensor arranged on the shelf can sense the food needing to be delivered.

In some embodiments, the carrying racks may also be set as two different types of carrying racks to distinguish the carrying racks, and specifically, the carrying racks may be divided into a carrying rack for storing food items and a carrying rack for recycling food items.

And S130, controlling the mobile robot to arrive according to the preset position information of the target bearing shelf.

In this embodiment, after the target load-bearing shelf is determined, a driving navigation route may be planned by the robot or an external server according to preset position information of the target load-bearing shelf and position information of the mobile robot, and the mobile robot moves to a position of the target load-bearing shelf according to the planned driving navigation route.

Optionally, the controlling the mobile robot to arrive according to the preset position information of the target load bearing shelf includes: controlling the mobile robot to go to the target bearing shelf; determining the docking position of the mobile robot reaching the target bearing shelf according to the identification information of the target bearing shelf; in the docked position, the target good is transferred from the target load-bearing shelf.

The identification information is used to determine a detailed position area of the target shelf where the meal is to be served or the meal is to be collected, for example, the identification information may be the position area No. 1 or the position area No. 2 of the target shelf. In this embodiment, in order to ensure the accuracy of the docking, the docking position may be determined according to the identification information of the target load-bearing shelf, so that the mobile robot may successfully complete the automatic docking with the target load-bearing shelf.

And S140, controlling the target goods between the mobile robot and the target bearing shelf to be transferred.

The target goods can be food to be distributed or food to be recycled. In this embodiment, the transfer process of the target goods between the specific mobile robot and the target load-bearing shelf is also different according to the goods distribution mode of the mobile robot.

Specifically, the controlling the target goods between the mobile robot and the target bearing shelf to be transferred includes: when the mobile robot is in a food delivery mode, the mobile robot confirms the target bearing goods shelf according to the position information of the target goods in the goods state information, and when the mobile robot reaches the starting point of the target bearing goods shelf, a goods delivery instruction is sent to the target bearing goods shelf, so that the target bearing goods shelf responds to the goods delivery instruction and controls a self-conveying mechanism to convey the target goods to the mobile robot.

The goods delivery instruction is used for informing the bearing goods shelf to convey the target goods.

Optionally, at least two delivery bins may be provided in the mobile robot, and accordingly, during the meal of the mobile robot, a target delivery bin may be selected from the at least two delivery bins according to the cargo position information of the target cargo to store the target cargo.

Specifically, the controlling the target goods between the mobile robot and the target bearing shelf to be transferred includes: when the mobile robot is in a food recycling mode, the mobile robot confirms the target bearing goods shelf according to idle information in goods state information, and when the mobile robot reaches the starting point of the target bearing goods shelf, a food receiving instruction is sent to the target bearing goods shelf, so that the target bearing goods shelf responds to the food receiving instruction and controls a self-conveying mechanism to receive the target goods conveyed by the mobile robot.

The food receiving instruction is used for informing the bearing goods shelf to receive the target goods.

Alternatively, in the food recycling mode, determining a target placement area for temporarily storing the goods may include: sending an area occupation query request to a target bearing shelf according to a shelf occupation area corresponding to a target delivery bin for assembling target goods; receiving an area occupation state fed back by the target bearing shelf based on the area occupation query request; wherein the area occupation state is an occupation state or an idle state; and taking the shelf occupation area in the idle state in the target bearing shelf as a target placing area for placing the target goods.

Wherein, the idle state means that no goods are placed in the distribution bin; the occupied state refers to the distribution bin containing goods.

Optionally, corresponding sensors, such as a photosensitive sensor or a pressure sensor, are provided in the shelf occupation area corresponding to each delivery bin of the target load-bearing shelf, and are used for identifying the area occupation state of the shelf occupation area.

It can be understood that the target goods can be placed only when the area occupation state of the target bearing shelf is in the idle state, so that errors are avoided, and the target goods can be accurately stored.

Example two

Fig. 2 is a flowchart of a distribution method according to a second embodiment of the present application, and the present embodiment is an optimization of the foregoing scheme based on the foregoing embodiment. Referring to fig. 2, a distribution method provided in an embodiment of the present application includes:

s210, receiving a cargo distribution request.

The cargo delivery request may be to transport the cargo from the starting point to the end point, or to transport the cargo back to the starting point at the end point, that is, the cargo delivery request may include a cargo sending request and a cargo recovery request.

Specifically, the contents of the cargo delivery request include at least cargo information to be delivered, cargo position information, cargo delivery information, and the like. The cargo information may specifically include a cargo name, a cargo type, a cargo weight, and the like; the goods position information may specifically include position information of a shelf where the goods are located, specific information of the goods on the shelf, and the like, such as the number of layers of the goods on the shelf; the cargo delivery information may specifically include the time at which the cargo should be delivered at the latest, and destination information of the cargo delivery, and the like.

Specifically, the goods delivery request may be sent by a staff in the restaurant through a terminal device, for example, through a mobile phone application program, or may be generated by sensing of the goods by a load-bearing shelf, for example, the staff may place the prepared food on the shelf, and may sense the food to be delivered through a sensor provided on the shelf.

And S220, controlling the target robot to go to the starting place in the cargo distribution request according to the cargo distribution request, and loading the target cargo at the starting place.

The target robot is a mobile robot for executing the cargo delivery request task.

In this embodiment, according to the cargo delivery request, the target cargo to be delivered and the position information of the target cargo, such as which shelf the target cargo is located on, and the layer number of the shelf, may be determined.

Specifically, a target robot that delivers target goods may be determined according to a delivery relationship between preset goods and robots. For example, the delivery relationship may be a target robot for determining delivery according to the type of the target cargo, such as the robot No. 1 may deliver the cargo of type a exclusively, the robot No. 2 may deliver the cargo of type B exclusively, and so on; of course, the target cargo can be distributed by the target robot corresponding to the area where the target cargo is located according to the location information of the target cargo.

Specifically, in a restaurant delivery scene, a robot responsible for delivering the table number may deliver the food to be delivered according to the table number information corresponding to the food to be delivered.

In this embodiment, at least one shelf may be pre-arranged in the operation scene of the robot, and each shelf may be pasted with unique identification information for determination, for example, the identification information may be a digital number, and after the position information of the target goods is determined, the target robot may come to the starting point of the target goods and load the target goods at the starting point by identifying the shelf identification.

In some embodiments, it is also possible to determine a target robot that executes the cargo delivery request based on the cargo delivery request and the states of the candidate robots, and control the target robot to travel to the origin in the cargo delivery request and load the target cargo at the origin. Wherein each candidate robot is a robot which can be currently scheduled in the working environment. Specifically, the robot closest to the target cargo may be selected from the candidate robots as the target robot according to the cargo delivery request; of course, the robot having the largest carrying capacity may be selected from the candidate robots as the target robot.

And S230, controlling the target robot to distribute the target goods to the target place.

The target location can be determined according to the content of the cargo distribution request, that is, the cargo distribution request carries destination information of the target cargo distribution; alternatively, the destination location may be a location area known in advance, such as in a meal tray recycling scenario, where a location area may be designated for placing food items to be recycled or for storing food items that have failed to be temporarily delivered. Optionally, the target location may also be related to the starting location, for example, once the starting location is determined, the target location of the target cargo to be matched may also be determined, and thus, the target location of the target cargo may be determined according to actual situations.

Optionally, after the target robot has loaded the target cargo at the starting location, the target robot may plan a corresponding navigation path according to the target location to which the target cargo belongs; the target robot may deliver the target cargo from the starting location to the target location according to the planned navigation path.

It should be noted that, in this embodiment, the robot may directly receive the cargo delivery request, and select the target robot for delivering the cargo to be delivered according to the cargo delivery request; after the target robot is determined, the target robot can go to the starting place in the goods delivery request and load the target goods at the starting place; after the target robot has loaded the target cargo, the target robot can deliver the target cargo to the target site. Of course, the cargo delivery request may be received by a background server of the management robot, and the background server may perform the above operations.

The embodiment of the application receives a cargo delivery request; controlling a target robot to go to a starting place in the cargo delivery request according to the cargo delivery request, and loading target cargos at the starting place; controlling the target robot to deliver the target cargo to a target location. Through the technical scheme, the target robot can go to the starting place in the cargo delivery request according to the cargo delivery request, the target cargo is loaded at the starting place, and the target cargo is delivered, so that the whole delivery process is automatically completed without human participation, the automatic delivery of the robot to the cargo is realized, and the delivery efficiency is improved.

EXAMPLE III

Fig. 3 is a flowchart of a distribution method according to a third embodiment of the present application, and the present embodiment is an optimization of the foregoing scheme based on the foregoing embodiment. Further, the operation of controlling a target robot to go to a starting place in the cargo delivery request according to the cargo delivery request and loading a target cargo at the starting place is refined into the operation of determining a target delivery bin of the target robot according to the cargo delivery request; identifying the working state of the target delivery bin in the target robot; the working state comprises an idle state and an occupied state; and if the target distribution bin is in an idle state, controlling the target robot to go to the starting place, and installing the target goods at the starting place so as to complete the loading process of the target goods. Wherein explanations of the same or corresponding terms as those of the above-described embodiments are omitted. Referring to fig. 3, the distribution method provided in this embodiment includes:

s310, receiving a cargo delivery request.

And S320, determining a target delivery bin of the target robot according to the cargo delivery request.

The target delivery warehouse refers to a location area for loading target goods. The target delivery bin may be determined based on the cargo location information in the cargo delivery request. For example, the goods are placed on the second floor position area of the No. 1 shelf, and accordingly, the target delivery compartment of the target robot can be determined as the second floor position area of the target robot.

In a specific implementation manner, the target robot is provided with at least two delivery warehouses, and the target delivery warehouse corresponding to the current cargo delivery request can be selected from the at least two delivery warehouses according to the preset correspondence between the cargo position information and the delivery warehouse.

S330, identifying the working state of a target distribution bin in the target robot; the working state includes an idle state and an occupied state.

And S340, if the target distribution bin is in an idle state, controlling the target robot to go to the starting place, and loading the target goods at the starting place.

In this embodiment, if the target delivery warehouse is in an occupied state, the target robot will not have an idle position area to place the target cargo, and the target robot will not respond to the cargo delivery request; and if the target distribution bin is in an idle state, the target robot has an idle position area for placing the target goods.

Optionally, the loading target cargo at the starting location includes: and determining that the target robot reaches a specified position, and sending a goods delivery instruction to a bearing shelf of the target goods by the target robot so as to enable the bearing shelf to respond to the goods delivery instruction and control a self-conveying mechanism to convey the target goods to the target robot.

The bearing shelf of the target goods refers to a shelf where the target goods are specifically located, and can be determined according to the goods distribution request. For example, the load-bearing shelves may be shelves located in a dining area, or shelves located in a dining area.

The goods delivery instruction is used for informing the bearing goods shelf to convey the target goods. Specifically, the target robot can communicate with the bearing goods shelf through the near field communication module, and after the bearing goods shelf receives the shipment instruction, the bearing goods shelf can coordinate shipment with the target robot.

The conveying mechanism can be a conveying crawler belt, and the target distribution bin of the robot is synchronously driven through the conveying crawler belt to receive the target goods to the position in the designated bin, so that the goods taking of the robot is realized.

In this embodiment, the goods shelf and the position area of placing the goods by the target robot correspond to each other one by one. Referring to fig. 4, a schematic diagram of cargo distribution is shown, which illustrates a case where a load-bearing shelf and a target robot are provided with four layers of location areas, the location area of each layer corresponds to a distribution bin, the location areas of the layers of the load-bearing shelf and the target robot are highly consistent, a target cargo can be a food to be distributed, the food can be placed in a tray, and the transfer of the food on the load-bearing shelf and the target robot tray can be realized through a transfer mechanism between the load-bearing shelf and the target robot, such as the tray is transferred from position 1 to position 2 and then to position 3.

It can be understood that the shipment instruction is sent through the goods shelves that bear to the target goods for bear the goods shelves and can construct the interface channel who bears between goods shelves and the target robot after receiving this shipment instruction, through this interface channel, bear the goods shelves and can carry the target goods to the target robot, realized the automatic loading of target robot to the target goods.

In some embodiments, the number of load shelves and the number of mobile robot bins may be different, and a plurality of mobile robots with different numbers of bins may serve one load shelf, such as a mobile robot with a number of 3 bins, a mobile robot with a number of 4 bins, and a mobile robot with a number of 5 bins, which together serve the same load shelf with a number of 5 bins.

And S350, controlling the target robot to deliver the target goods to the target place.

Optionally, the controlling the target robot to deliver the target cargo to the target location comprises: identifying the working state of the target delivery bin; and if the target delivery bin is in an occupied state, controlling the target robot to deliver the target goods to the target place.

Specifically, if the target delivery bin is in an idle state, it is indicated that the target robot does not successfully load the target goods or finishes loading, and at this time, the target robot should not be controlled to perform subsequent delivery on the target goods, so that errors are avoided. It can be understood that, through the identification of the working state of the target delivery bin of the target robot, the delivery of the target goods can be realized under the condition that the target delivery bin is loaded with the target goods, and the successful delivery of the target goods by the target robot is ensured.

On the basis of the embodiment, the loading process of the target goods is refined, and the target delivery bin of the target robot is determined according to the goods delivery request; identifying the working state of the target delivery bin in the target robot; the working state comprises an idle state and an occupied state; and if the target distribution bin is in an idle state, controlling the target robot to go to the starting place, and installing the target goods at the starting place. Through the technical scheme, the successful delivery of the target robot to the target goods is ensured according to the identification of the working state of the target delivery bin of the target robot, the automatic delivery of the robot to the goods is realized, and the delivery efficiency is improved.

Example four

Fig. 5 is a flowchart of a distribution method according to a fourth embodiment of the present application, and the present embodiment is an optimization of the foregoing scheme based on the foregoing embodiment. Further, the operation of determining a target delivery bin of the target robot according to the cargo delivery request is refined into the operation of determining the source information of the cargo delivery request; wherein the source information comprises a shelf and a user terminal; and determining the target delivery bin' according to the source information so as to complete the determination process of the target delivery bin. Wherein explanations of the same or corresponding terms as those of the above-described embodiments are omitted. Referring to fig. 5, the distribution method provided in this embodiment includes:

and S410, receiving a cargo distribution request.

And S420, determining source information of the cargo delivery request.

Wherein the source information may include at least one of a load shelf and a user terminal.

In this embodiment, the shelf is a transit mechanism for storing goods to be delivered, and the transit mechanism may be a middle shelf in a restaurant delivery scene. For example, an intermediate shelf can be placed in a back-end kitchen of a restaurant, after food is made in the back-end kitchen, the food is not required to be placed until the food delivery robot arrives at a food outlet, and a worker can place the food on the intermediate shelf, send a goods delivery request through a corresponding application program and inform the food delivery robot of taking the food. For another example, an intermediate shelf can be placed at a fixed position of a restaurant, and when the food delivery robot fails to deliver food, the food delivery robot can temporarily store food on the intermediate shelf, so that the food delivery robot can release space and continue to execute the next order delivery task.

Alternatively, whether the goods delivery request is issued from the shelf or the user terminal may be determined based on the identification information in the goods delivery request. For example, if the cargo delivery request is sent by a shelf, the cargo delivery request carries specific shelf identification information, and if the cargo delivery request is sent by a user terminal, the cargo delivery request carries specific terminal identification information.

And S430, determining a target delivery bin according to the source information.

Specifically, if the goods delivery request is sent by the shelf, it indicates that the food to be delivered continuously on the shelf needs to be delivered by the target robot. In this embodiment, the target delivery bay of the target robot can be determined according to the contents of the cargo delivery request.

Optionally, the determining the target delivery bin according to the source information includes: if the source information is a shelf, determining the occupied area of the shelf according to a shelf identifier and/or an area identifier in the goods distribution request; and taking the delivery bin corresponding to the goods shelf occupation area in the target robot as a target delivery bin.

The shelf identifier is used for uniquely determining a shelf where the goods to be delivered are located, the area identifier is used for uniquely determining which layer of the shelf where the goods to be delivered are located, for example, the goods delivery request carries field information of '001 shelf +1# area', and is used for indicating that the target goods exist in the first layer position area of the 1 st shelf, and it is assumed that the uppermost layer is the first layer position area according to the sequence from top to bottom. Of course, the entire rack may be used as the rack occupation area, and the delivery warehouse corresponding to the entire rack in the target robot may be used as the target delivery warehouse, that is, the rack occupation area may be determined only according to the rack identifier in the cargo delivery request.

It can be understood that the target delivery bin of the target robot can be determined according to the shelf identifier and/or the area identifier in the cargo delivery request and the one-to-one correspondence between the shelf and the position area where the target robot places the cargo.

Optionally, the determining the target delivery bin according to the source information includes: and if the source information is the user terminal, determining a target distribution bin corresponding to the user terminal according to the user terminal identification and/or the position information of the user terminal.

In this embodiment, a corresponding target delivery bin may be set for the user terminal in advance. For example, each table of a restaurant is provided with an intelligent terminal, and when a recovery button on the intelligent terminal is triggered, the target robot can be informed to come to a corresponding table position, and food is recovered to a position area corresponding to the robot.

Specifically, the intelligent terminal identifiers arranged on different dining tables are different, so that the target distribution bin corresponding to the user terminal can be determined according to the user terminal identifier; of course, the target delivery warehouse corresponding to the user terminal may be determined based on a predetermined position delivery relationship according to the position information of the user terminal, where the predetermined position delivery relationship is a corresponding relationship between the user terminal identifier and each delivery warehouse of the target robot. It will be appreciated that the user terminal identification and/or the location information of the user terminal provides data support for determining the target delivery bin corresponding to the user terminal.

S440, identifying the working state of a target delivery bin in the target robot; the working state includes an idle state and an occupied state.

S450, if the target distribution bin is in an idle state, controlling the target robot to go to the starting place, and installing the target goods at the starting place.

And S460, controlling the target robot to deliver the target goods to the target place.

Optionally, if the source information is a user terminal, the controlling the target robot to deliver the target cargo to the target location includes: sending an area occupation query request to a relevant shelf of the user terminal according to the shelf occupation area corresponding to the target distribution bin; receiving an area occupation state fed back by the associated shelf based on the area occupation query request; wherein the area occupation state comprises an occupation state and an idle state; taking the shelf occupation area in an idle state in the associated shelf as a target placement area; and controlling the target robot to go to the target place and loading the target cargo to the target placement area. The associated shelf of the user terminal can be determined according to the shelf occupation area corresponding to the target distribution bin, and if the shelf occupation area is the first-layer position area of the shelf No. 1, the associated shelf of the user terminal is the shelf No. 1.

In this embodiment, if there is no empty shelf occupied area in the associated shelf, an error is reported, and the target goods cannot be continuously recycled. It can be understood that the goods to be recovered are placed by inquiring the area occupation state of the associated shelf and taking the shelf occupation area in the idle state in the associated shelf as a target placement area, so that the goods are recovered.

Wherein the loading the target cargo to the target placement area comprises: after the target robot reaches the target location, sending a recovery instruction to the associated shelf, so that the associated shelf controls the conveying mechanism of the target placement area to recover the target goods in response to the recovery instruction.

The recycling instruction is used for informing the associated goods shelf to recycle the target goods. Specifically, the target robot can communicate with the associated shelf through the near field communication module, and after the associated shelf receives the recycling instruction, the associated shelf and the target robot can cooperatively recycle goods together.

Specifically, if the delivery scene is a recovery scene in a restaurant, the target goods may be meal items to be recovered, the meal items may be placed in a tray, and automatic recovery of the meal items may be achieved through a transmission mechanism between the associated shelf and the target robot. It can be understood that, the recovery instruction is sent to the associated shelf of the user terminal, so that the associated shelf can construct a connecting channel between the associated shelf and the target robot after receiving the recovery instruction, and the associated shelf can recover the target goods from the target robot through the connecting channel, thereby realizing the automatic recovery of the target goods.

On the basis of the embodiment, the determining process of the target delivery warehouse is refined, and the source information of the cargo delivery request is determined; wherein the source information comprises signaling subject information, such as whether the subject is a shelf or a user terminal; and determining the target delivery bin according to the source information. Through the technical scheme, according to the difference of the sources of the goods distribution requests, if the goods distribution requests are sent by the goods shelf, the goods distribution requests correspond to the goods delivery scene, if the goods distribution requests are sent by the user terminal, the goods distribution requests correspond to the recycling scene, and the target distribution bins for loading target goods are determined according to the source information of the goods distribution requests, so that the automatic distribution of the goods by the robot is realized, and the distribution efficiency is improved.

EXAMPLE five

Fig. 6 is a flowchart of a distribution method according to a fifth embodiment of the present application. The present embodiment is a preferred embodiment provided on the basis of the above embodiments. The embodiment can be applied to the situation that in a restaurant scene, the goods shelf and the food delivery robot are matched for use, and automatic shipment and food recovery are realized. Wherein explanations of the same or corresponding terms as those of the above-described embodiments are omitted. Referring to fig. 6, the distribution method provided in this embodiment includes:

s501, sending a goods distribution request by the shelf.

In this embodiment, at least one goods placement area may be disposed in the load-bearing shelf, and different obtained placement areas correspond to different table identifiers; correspondingly, the goods shelf is according to the goods placement area that self bore the weight of goods, confirms the dining table sign to add the dining table sign in the goods delivery request, perhaps, add the goods that the target acquireed corresponds in the goods delivery request and place the region, place regional corresponding dining table sign according to the goods for the target robot. For example, the meal items to be shipped are placed on corresponding shelves, for example, the meal items of table No. 1 are placed on the first layer of shelf No. 1 correspondingly, the meal items of table No. 2 are placed on the second layer of shelf No. 1 correspondingly, and the like. After the food to be delivered is placed on the corresponding shelf, the shelf can automatically send a delivery request including the corresponding goods placement area and/or the table identifier.

S502, the target robot receives a cargo distribution request sent by the goods shelf through a near field communication module between the goods shelf and the robot. In this embodiment, the delivery relation between the robot and the shelf may be preset, for example, the robot 1 is responsible for delivering the goods on the shelf 1, and the robot 2 is responsible for delivering the goods on the shelf 2. Therefore, according to the contents of the cargo delivery request, the cargo delivery task can be performed by the designated target robot correspondingly.

S503, the target robot determines a goods shelf occupation area according to the goods shelf identification and/or the area identification in the goods distribution request, and takes a distribution bin corresponding to the goods shelf occupation area in the target robot as a target distribution bin.

And S504, the target robot identifies the working state of a target distribution bin in the target robot.

And S505, if the target distribution bin is in an idle state, the target robot goes to the starting place.

S506, the target robot sends a shipment instruction to the bearing shelf of the target goods.

And S507, the bearing shelf responds to the goods delivery instruction and controls the self-conveying mechanism to convey the target goods to the target robot.

And S508, identifying the working state of the target delivery bin by the target robot.

And S509, if the target delivery cabin is in an occupied state, the target robot delivers the target goods to the target site.

And S510, the target robot receives a cargo delivery request sent by the user terminal.

In this embodiment, after the customer finishes eating, the staff in the restaurant may place the tableware to be recovered in the designated position area of the robot, for example, the tableware may be placed in the first layer and/or the second layer position area of the robot. After the tableware is placed, a recovery button in a user terminal on a corresponding dining table can be triggered, so that a cargo delivery request is sent out. Certainly, when the delivery robot fails to deliver, the failed delivery food can be recovered, so that the condition that the delivery robot is occupied for a long time to influence the normal delivery work of the delivery robot is avoided, and the delivery efficiency is reduced.

And S511, determining a target distribution bin corresponding to the user terminal by the target robot according to the user terminal identification and/or the position information of the user terminal.

S512, according to the shelf occupation area corresponding to the target distribution bin, the target robot sends an area occupation query request to the associated shelf of the user terminal. In this embodiment, the associated shelf in S512 and the carrying shelf in S506 may be the same or different, and may be determined specifically according to an actual situation.

And S513, feeding back the area occupation state to the target robot by the associated shelf.

And S514, the target robot receives the area occupation state fed back by the associated shelf based on the area occupation query request, and takes the shelf occupation area in the idle state in the associated shelf as a target placement area.

And S515, the target robot goes to the target site.

And S516, after the target robot reaches the target place, the target robot sends a recovery instruction to the associated shelf.

And S517, responding to the recovery instruction by the associated goods shelf, and controlling the conveying mechanism of the target placement area to recover the target goods. It should be noted that the present embodiment directly receives the cargo delivery request from the target robot and processes the cargo delivery request. Of course, the background server for managing the robot may be arranged to receive the cargo delivery request, process the cargo delivery request by the background server, and notify the target robot to execute the delivery task.

According to the delivery method and the delivery device, the delivery of the food on the goods shelf and the robot tray is realized through the delivery structure of the goods shelf and the robot conveyor belt, when the robot takes the food, the goods shelf can deliver the food corresponding to the table number to the robot tray, and the robot delivers the food according to the destination, so that the delivery process is realized, and a worker can deliver the food without waiting for the food delivery robot to reach the food outlet; when the food is recovered or the robot fails to deliver the food, the robot can return to the designated shelf and transfer the corresponding food to the shelf, so that the recovery process is realized. Through the technical scheme, the whole distribution process is automatically completed without human participation, so that the automatic distribution of the robot to the goods is realized, and the distribution efficiency is improved.

EXAMPLE six

Fig. 7 is a schematic structural diagram of a dispensing device according to a sixth embodiment of the present application. Referring to fig. 7, an embodiment of the present application provides a dispensing device, including: a cargo state information acquisition module 610, a target load-bearing shelf confirmation module 620, a mobile robot control module 630, and a cargo transfer module 640. The cargo state information acquiring module 610 is used for acquiring cargo state information of the load-bearing shelf; a target load-bearing shelf confirmation module 620, configured to confirm the target load-bearing shelf according to the cargo state information of the load-bearing shelf; the mobile robot control module 630 is configured to control the mobile robot to arrive according to the preset position information of the target load shelf; and the cargo transferring module 640 is used for controlling the transfer of the target cargo between the mobile robot and the target bearing shelf.

Further, the cargo state information obtaining module 610 includes: the cargo state information sending submodule is used for receiving cargo state information sent by the cargo carrying frame when the cargo carrying frame carries target cargos; accordingly, the target load rack validation module 620 includes: the distribution mode triggering sub-module is used for triggering the corresponding cargo distribution mode by the mobile robot according to the cargo state information; and the target bearing shelf confirming submodule is used for confirming the target bearing shelf of the mobile robot according to the goods state information of all the bearing shelves received based on a preset rule.

Further, the mobile robot control module 630 includes: the mobile robot moving sub-module is used for controlling the mobile robot to move to the target bearing goods shelf; the docking position determining submodule is used for determining the docking position of the mobile robot reaching the target bearing shelf according to the identification information of the target bearing shelf; a target cargo transfer sub-module for transferring the target cargo from the target load-bearing shelf at the docking location.

Further, the cargo transferring module 640 includes: and the food delivery transferring submodule is used for confirming the target bearing goods shelf according to the target goods position information in the goods state information when the mobile robot is in a food delivery mode, and sending a goods delivery instruction to the target bearing goods shelf when the mobile robot reaches the starting point position of the target bearing goods shelf so as to enable the target bearing goods shelf to respond to the goods delivery instruction and control a self conveying mechanism to convey the target goods to the mobile robot.

Further, the cargo transferring module 640 includes: and the food recycling transfer submodule is used for confirming the target bearing goods shelf according to idle information in the goods state information when the mobile robot is in a food recycling mode, and sending a food receiving instruction to the target bearing goods shelf when the mobile robot reaches the starting point of the target bearing goods shelf so as to enable the target bearing goods shelf to respond to the food receiving instruction and control a self-conveying mechanism to receive the target goods conveyed by the mobile robot.

Further, the apparatus further comprises: the area occupation query unit is used for sending an area occupation query request to the target bearing goods shelf according to the goods shelf occupation area corresponding to the target delivery bin for assembling the target goods; the area occupation feedback unit is used for receiving an area occupation state fed back by the target bearing shelf based on the area occupation query request; wherein the area occupation state is an occupation state or an idle state; and taking the shelf occupation area in the idle state in the target bearing shelf as a target placing area for placing the target goods.

Further, at least two delivery warehouses are arranged in the mobile robot, and correspondingly, the device further comprises: and the target distribution bin selecting unit is used for selecting the target distribution bin from the at least two distribution bins according to the cargo position information of the target cargo.

Further, the bearing shelf is provided with at least one goods placing area; different goods placing areas correspond to different dining table identifications; correspondingly, the cargo state information obtaining module 610 includes: the cargo delivery request sending submodule is used for sending a cargo delivery request to the mobile robot when target cargos are loaded in any cargo placement area of the loading shelf; the goods distribution request comprises a goods placement area corresponding to the target goods.

Further, the apparatus further comprises: a delivery bin determining submodule for determining a target delivery bin of the target robot according to the cargo delivery request; the working state identification submodule is used for identifying the working state of the target delivery bin in the target robot; the working state comprises an idle state and an occupied state; and the target cargo loading submodule is used for controlling the target robot to go to the starting place and installing the target cargo at the starting place if the target distribution bin is in an idle state.

Further, the apparatus further comprises: the working state determining submodule is used for identifying the working state of the target distribution bin; and the target cargo delivery sub-module is used for controlling the target robot to deliver the target cargo to the target location if the target delivery bin is in an occupied state.

Further, the apparatus further comprises: and the delivery instruction sending submodule is used for sending a delivery instruction to the bearing shelf of the target goods so as to enable the bearing shelf to respond to the delivery instruction and control the self-conveying mechanism to convey the target goods to the target robot.

Further, the delivery bay determination submodule includes: a source information determining unit for determining source information of the cargo delivery request; wherein the source information comprises a shelf and a user terminal; and the distribution bin determining unit is used for determining the target distribution bin according to the source information.

Further, the delivery bay determining unit includes: an occupied area determining subunit, configured to determine, if the source information is a shelf, an occupied area of the shelf according to a shelf identifier and/or an area identifier in the cargo delivery request; and the first delivery bin determining subunit is used for taking the delivery bin corresponding to the shelf occupation area in the target robot as a target delivery bin.

Further, the delivery bay determining unit includes: and the second determining subunit is configured to determine, if the source information is the user terminal, a target delivery warehouse corresponding to the user terminal according to the user terminal identifier and/or the location information of the user terminal.

Further, the apparatus further comprises: the query request sending sub-module is used for sending an area occupation query request to a relevant shelf of the user terminal according to the shelf occupation area corresponding to the target distribution bin if the source information is the user terminal; the state information receiving submodule is used for receiving the area occupation state fed back by the associated shelf based on the area occupation query request; wherein the area occupation state comprises an occupation state and an idle state; a placement area determination submodule for taking a shelf occupation area in an idle state in the associated shelf as a target placement area; and the target cargo loading submodule is used for controlling the target robot to go to the target place and loading the target cargo to the target placement area.

Further, the placement area determination submodule includes: and a recovery instruction sending unit, configured to send a recovery instruction to the associated shelf after the target robot reaches the target location, so that the associated shelf controls the conveying mechanism of the target placement area to recover the target goods in response to the recovery instruction.

The distribution device provided by the embodiment of the application can execute the distribution method provided by any embodiment of the application, and has the corresponding functional modules and beneficial effects of the execution method.

EXAMPLE seven

Fig. 8 is a structural diagram of an electronic device according to a seventh embodiment of the present application. FIG. 8 illustrates a block diagram of an exemplary electronic device 712 suitable for use in implementing embodiments of the present application. The electronic device 712 shown in fig. 8 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present application. As shown in fig. 8, electronic device 712 is embodied in the form of a general purpose computing device. Components of electronic device 712 may include, but are not limited to: one or more processors or processing units 716, a system memory 728, and a bus 718 that couples the various system components (including the system memory 728 and the processing unit 716).

Bus 718 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MCA) bus, enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

Electronic device 712 typically includes a variety of computer system readable media. Such media can be any available media that is accessible by electronic device 712 and includes both volatile and nonvolatile media, removable and non-removable media. The system memory 728 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)730 and/or cache memory 732. The electronic device 712 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 734 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 8, and commonly referred to as a "hard drive"). Although not shown in FIG. 8, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus 718 by one or more data media interfaces. System memory 728 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the application. Program/utility 740 having a set (at least one) of program modules 742 may be stored, for example, in system memory 728, such program modules 742 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may include an implementation of a network environment. Program modules 742 generally perform the functions and/or methodologies of the embodiments described herein. The electronic device 712 may also communicate with one or more external devices 714 (e.g., keyboard, pointing device, display 724, etc.), with one or more devices that enable a user to interact with the electronic device 712, and/or with any devices (e.g., network card, modem, etc.) that enable the electronic device 712 to communicate with one or more other computing devices. Such communication may occur through input/output (I/O) interfaces 722. Also, the electronic device 712 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the internet) via the network adapter 720. As shown, the network adapter 720 communicates with the other modules of the electronic device 712 via the bus 718. It should be appreciated that although not shown in FIG. 8, other hardware and/or software modules may be used in conjunction with electronic device 712, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others. The processing unit 716 executes various functional applications and data processing, such as implementing any of the distribution methods provided by the embodiments of the present application, by running at least one of the other programs stored in the system memory 728.

In an alternative embodiment, the electronic device 712 may specifically be a mobile robot, and may also be a background server for managing the mobile robot.

Example eight

An eighth embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements a distribution method provided in any embodiment of the present application, and the method includes: acquiring the cargo state information of a bearing goods shelf; confirming a target bearing goods shelf according to the goods state information of the bearing goods shelf; controlling the mobile robot to arrive according to the preset position information of the target bearing goods shelf; and controlling the target goods between the mobile robot and the target bearing shelf to be transferred.

From the above description of the embodiments, it is obvious for those skilled in the art that the present application can be implemented by software and necessary general hardware, and certainly can be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a read-only memory, a random access memory, a FLASH memory (FLASH), a hard disk, an optical disk, or the like of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods described in the embodiments of the present application.

It should be noted that, in the embodiment of the authority distribution device, the included units and modules are only divided according to the functional logic, but are not limited to the above division as long as the corresponding functions can be realized; in addition, specific names of the functional units are only used for distinguishing one functional unit from another, and are not used for limiting the protection scope of the application.

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present application and the technical principles employed. It will be understood by those skilled in the art that the present application is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the application. Therefore, although the present application has been described in more detail with reference to the above embodiments, the present application is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present application, and the scope of the present application is determined by the scope of the appended claims.

Claims

1. A method of distribution, comprising:

acquiring the cargo state information of a bearing goods shelf;

confirming a target bearing goods shelf according to the goods state information of the bearing goods shelf;

controlling the mobile robot to arrive according to the preset position information of the target bearing goods shelf;

and controlling the target goods between the mobile robot and the target bearing shelf to be transferred.

2. The method of claim 1, wherein the obtaining of the cargo state information of the load-bearing shelf comprises:

receiving goods state information sent by a load bearing frame when the load bearing frame bears target goods;

the confirming of the target load bearing shelf according to the cargo state information of the load bearing shelf comprises:

according to the cargo state information, the mobile robot triggers a corresponding cargo distribution mode;

and confirming the target bearing shelf of the mobile robot according to the goods state information of all the bearing shelves received based on a preset rule.

3. The method of claim 1, wherein the controlling the mobile robot to arrive according to the preset position information of the target load-bearing shelf comprises:

controlling the mobile robot to go to the target bearing shelf;

determining the docking position of the mobile robot reaching the target bearing shelf according to the identification information of the target bearing shelf;

in the docked position, the target good is transferred from the target load-bearing shelf.

4. The method of claim 2, wherein the controlling the transfer of the target good between the mobile robot and the target load-bearing shelf comprises:

when the mobile robot is in a food delivery mode, the mobile robot confirms the target bearing goods shelf according to the position information of the target goods in the goods state information, and when the mobile robot reaches the starting point of the target bearing goods shelf, a goods delivery instruction is sent to the target bearing goods shelf, so that the target bearing goods shelf responds to the goods delivery instruction and controls a self-conveying mechanism to convey the target goods to the mobile robot.

5. The method of claim 2, wherein the controlling the transfer of the target good between the mobile robot and the target load-bearing shelf comprises:

when the mobile robot is in a food recycling mode, the mobile robot confirms the target bearing goods shelf according to idle information in goods state information, and when the mobile robot reaches the starting point of the target bearing goods shelf, a food receiving instruction is sent to the target bearing goods shelf, so that the target bearing goods shelf responds to the food receiving instruction and controls a self-conveying mechanism to receive the target goods conveyed by the mobile robot.

6. The method of claim 5, further comprising:

sending an area occupation query request to a target bearing shelf according to a shelf occupation area corresponding to a target delivery bin for assembling target goods;

receiving an area occupation state fed back by the target bearing shelf based on the area occupation query request; wherein the area occupation state is an occupation state or an idle state;

and taking the shelf occupation area in the idle state in the target bearing shelf as a target placing area for placing the target goods.

7. The method of claim 2, wherein at least two dispensing bins are provided in the mobile robot; the method further comprises the following steps:

and selecting a target delivery bin from the at least two delivery bins according to the cargo position information of the target cargo.

8. The method of claim 1, wherein the load-bearing shelves are provided with at least one cargo-placement area; different goods placing areas correspond to different dining table identifications;

the acquiring of the cargo state information of the load bearing shelf comprises the following steps:

when any goods placement area of the bearing shelf bears target goods, sending a goods distribution request to the mobile robot; the goods distribution request comprises a goods placement area corresponding to the target goods.

9. A dispensing device, comprising:

the goods state information acquisition module is used for acquiring the goods state information of the bearing goods shelf;

the target bearing goods shelf confirming module is used for confirming the target bearing goods shelf according to the goods state information of the bearing goods shelf;

the mobile robot control module is used for controlling the mobile robot to arrive according to the preset position information of the target bearing goods shelf;

and the cargo transferring module is used for controlling the transfer of the target cargo between the mobile robot and the target bearing shelf.

10. An electronic device, comprising:

one or more processors;

a storage device for storing one or more programs,

when executed by the one or more processors, cause the one or more processors to implement a method of distribution as claimed in any one of claims 1-8.

11. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a distribution method according to any one of claims 1 to 8.