CN114048965A - Article distribution method, device and storage medium - Google Patents
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Abstract
The application discloses a method and a device for article distribution and a storage medium, wherein the method for article distribution comprises the following steps: acquiring a delivery address of an article to be delivered, and determining a delivery path according to the current position and the delivery address of the robot, wherein the robot is used for loading the article to be delivered and delivering the article to be delivered; when the distribution path comprises an outdoor distribution path, acquiring an outdoor distribution environment corresponding to the outdoor distribution path; and when the outdoor distribution environment meets the outdoor distribution condition, the robot is conveyed by the dispatching transportation equipment to complete the distribution of the outdoor distribution path. According to the method and the system, the robot and the transportation equipment are dispatched to deliver the articles, so that the process of autonomous positioning and navigation of the robot is reduced, and the article delivery efficiency is improved.
Description
Technical Field
The present application relates to the field of artificial intelligence technologies, and in particular, to a method and an apparatus for delivering an article, and a storage medium.
Background
At present, in the process of distributing articles, a robot can complete the whole distribution process by completing outdoor positioning navigation between buildings and also completing positioning navigation inside the buildings. In the outdoor positioning navigation, due to the characteristics of long distance, more people flow, variable obstacles and the like, the outdoor environment is complex, the process of the robot for completing the positioning navigation is difficult, and even the positioning navigation fails, so that the article distribution efficiency is low.
Disclosure of Invention
The embodiment of the application aims to solve the problem of low robot article distribution efficiency by providing an article distribution method, an article distribution device and a storage medium.
In order to achieve the above object, an aspect of the present application provides an article distribution method applied to a dispatching platform, the method including:
acquiring a delivery address of an article to be delivered, and determining a delivery path according to the current position of a robot and the delivery address, wherein the robot is used for loading the article to be delivered and delivering the article to be delivered;
when the distribution path comprises an outdoor distribution path, acquiring an outdoor distribution environment corresponding to the outdoor distribution path;
and when the outdoor distribution environment meets outdoor distribution conditions, scheduling a transport device to convey the robot to complete distribution of the outdoor distribution path.
Optionally, the scheduling transportation device transports the robot to complete the delivery of the outdoor delivery path, including:
receiving a riding signal sent by the robot, and acquiring a current distribution station where the robot is located and a target distribution station corresponding to the distribution address according to the riding signal, wherein a path between the distribution station and the target distribution station is the outdoor distribution path;
sending a scheduling instruction comprising the delivery station and the target delivery station to the transportation equipment so that the transportation equipment moves to the delivery station according to the scheduling instruction;
and sending the arrival information of the transportation equipment to the robot so that the robot can take the transportation equipment to the target distribution station according to the arrival information.
Optionally, the transportation device comprises a platform and a pressure sensor arranged on the platform, wherein the platform is used for the robot to take and can move outdoors;
the method further comprises the following steps:
acquiring the pressure of each contact point corresponding to the robot and the transportation equipment through the pressure sensor;
and controlling the moving speed of the transportation equipment according to the pressure of each contact point.
Optionally, the controlling the moving speed of the transportation device according to the pressure of each contact point comprises:
if the pressure of any one contact point is smaller than or equal to a preset value, controlling the transportation equipment to decelerate;
and if the pressure of each contact point is not within the preset pressure range, sending a stop instruction to the transportation equipment so that the transportation equipment stops moving according to the stop instruction.
Optionally, the distribution path further comprises an indoor distribution path;
the method further comprises the following steps:
acquiring positioning information of the robot after the robot leaves the transportation equipment;
acquiring an indoor distribution environment corresponding to the positioning information, and determining an indoor distribution path corresponding to the indoor distribution environment;
and scheduling the robot to carry out article distribution according to the indoor distribution path.
Optionally, the determining an indoor distribution path corresponding to the indoor distribution environment includes:
acquiring the distribution time of each distribution address, and acquiring indoor layout information and elevator running conditions according to the indoor distribution environment;
and determining the indoor distribution path according to the distribution time, the layout information and/or the elevator running condition.
Optionally, the obtaining of the outdoor distribution environment corresponding to the outdoor distribution path includes:
receiving video information sent by the robot, wherein the video information is shot by the robot in an outdoor process;
and acquiring the outdoor distribution environment corresponding to the outdoor distribution path according to the latest received video information.
Optionally, after obtaining the outdoor distribution environment corresponding to the outdoor distribution path, the method includes:
acquiring outdoor distribution weather and outdoor distribution road conditions according to the outdoor distribution environment;
and when the outdoor distribution weather is preset weather and/or the outdoor distribution road condition is preset road condition, determining that the outdoor distribution environment meets the outdoor distribution condition.
In addition, in order to achieve the above object, another aspect of the present application further provides an article dispensing device, which includes a memory, a processor, and an article dispensing program stored in the memory and running on the processor, wherein the processor implements the steps of the article dispensing method when executing the article dispensing program.
In order to achieve the above object, another aspect of the present application provides a storage medium having an article distribution program stored thereon, wherein the article distribution program, when executed by a processor, implements the steps of the article distribution method as described above.
The application provides an article distribution method, which comprises the steps of obtaining a distribution address of an article to be distributed, and determining a distribution path according to the current position and the distribution address of a robot, wherein the robot is used for loading the article to be distributed and distributing the article to be distributed; when the distribution path comprises an outdoor distribution path, acquiring an outdoor distribution environment corresponding to the outdoor distribution path; and when the outdoor distribution environment meets the outdoor distribution condition, the robot is conveyed by the dispatching transportation equipment to complete the distribution of the outdoor distribution path. According to the method and the system, the robot and the transportation equipment are dispatched to deliver the articles, so that the process of autonomous positioning and navigation of the robot is reduced, and the article delivery efficiency is improved.
Drawings
Fig. 1 is a schematic terminal structure diagram of a hardware operating environment according to an embodiment of the present application;
FIG. 2 is a schematic flow chart diagram illustrating a first embodiment of a method for dispensing items of the present application;
FIG. 3 is a detailed flowchart of step S30 in the second embodiment of the article distribution method of the present application;
FIG. 4 is a schematic flow chart diagram illustrating a third exemplary method of dispensing items of the present application;
FIG. 5 is a schematic process diagram illustrating a fourth embodiment of a method for dispensing items of the present application;
FIG. 6 is a schematic view of a transport path of the transport apparatus of the present application;
fig. 7 is a schematic view of the robot boarding transportation device of the present application.
The implementation, functional features and advantages of the objectives of the present application will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
As shown in fig. 1, fig. 1 is a schematic terminal structure diagram of a hardware operating environment according to an embodiment of the present application.
As shown in fig. 1, the terminal may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the terminal structure shown in fig. 1 does not constitute a limitation of the terminal device and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a kind of computer-readable storage medium, may include therein an operating system, a network communication module, a user interface module, and an article distribution program.
In the terminal shown in fig. 1, the network interface 1004 is mainly used for data communication with the background server; the user interface 1003 is mainly used for data communication with a client (user side); when the terminal is a dispatching platform, the processor 1001 may be configured to call the article delivery program in the memory 1005, and perform the following operations:
acquiring a delivery address of an article to be delivered, and determining a delivery path according to the current position of a robot and the delivery address, wherein the robot is used for loading the article to be delivered and delivering the article to be delivered;
when the distribution path comprises an outdoor distribution path, acquiring an outdoor distribution environment corresponding to the outdoor distribution path;
and when the outdoor distribution environment meets outdoor distribution conditions, scheduling a transport device to convey the robot to complete distribution of the outdoor distribution path.
Referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of the article distribution method of the present application.
While embodiments of the article dispensing method are provided herein, it should be noted that although a logical order is shown in the flow chart, in some cases, the steps shown or described may be performed in an order different than that shown or described herein.
The article distribution method of the embodiment is applied to a dispatching platform, and the method comprises the following steps:
step S10, obtaining a delivery address of an article to be delivered, and determining a delivery path according to the current position of a robot and the delivery address, wherein the robot is used for loading the article to be delivered and delivering the article to be delivered;
it should be noted that, the scheduling platform (i.e., task scheduling platform) of this embodiment is in wireless communication with a plurality of robots and transportation devices, where the robots are configured to load and deliver articles to be delivered, each robot may push a current status to the scheduling platform, and when the robots are in an idle status, the scheduling platform may assign one or more delivery tasks to the robots according to a current delivery task condition and delivery capabilities (e.g., a quantity of delivered articles, a weight of delivered articles) of the robots currently in the idle status.
The transportation apparatus refers to an apparatus for transporting a robot. Referring to fig. 6, fig. 6 is a schematic view of a transportation path of the transportation device of the present application, as shown in fig. 6, there are a plurality of buildings (e.g., building a, building B, building C, and building D) in the park/community, and each building has a road to reach, based on which, in this embodiment, a transportation device operating along a fixed line is added in the park/community, and the fixed line connects each building, and each building corresponds to a fixed delivery station, for example, building a corresponds to delivery station P1, building B corresponds to delivery station P2, building C corresponds to delivery station P3, and building D corresponds to delivery station P4. Further, a delivery station P5 is also provided at the entrance/exit. Wherein, the distribution station can be arranged at the entrance and exit of each building. When the robot is used for outdoor distribution, the robot can take the transportation equipment to reach distribution stations corresponding to all buildings, and does not need to reach all buildings in outdoor areas among the buildings through autonomous positioning navigation, so that the process of autonomous positioning navigation of the robot is reduced, and the article distribution efficiency is improved.
Optionally, the line of operation of the transport apparatus is not fixed. A plurality of fixedly arranged distribution sites are distributed in a park/community, a robot can take the transportation equipment in the application at the position of any one distribution site and reach another distribution site based on the transportation equipment, and the distribution site which can be reached by the robot at the moment gets off and starts autonomous positioning navigation. The transportation equipment is used for transporting outdoor road sections between buildings, and the robot is conveyed to another delivery station from one delivery station, so that the positioning and navigation processes of the robot on the outdoor road sections can be reduced, and the article delivery efficiency is improved.
Further, referring to fig. 7, fig. 7 is a schematic view of the robot boarding transportation device of the present application. As shown in fig. 7, the distribution system of the present embodiment includes a robot 1, a transportation device 2, and a track 3, wherein the transportation device 2 includes a platform 4 and a pressure sensor 5 disposed on the platform 4, and the platform 4 is used for the robot 1 to ride on and can move on the track 3; the pressure sensor 4 is used to detect the pressure exerted by the robot on the transport device. The robot can be positioned and navigated to the distribution station, when the transportation equipment detects the robot at the distribution station, a signal for the robot to take is triggered, and at the moment, the robot can take the transportation equipment to reach the next distribution station. Or when the transportation equipment receives the boarding signal of the robot, the transportation equipment moves to the current distribution station where the robot is located so as to board the robot to reach the next distribution station. Or the dispatching platform dispatches the transportation equipment to move to the current delivery station where the robot is located so as to ride the robot to reach the next delivery station.
When the article delivery needs exist, the dispatching platform obtains the delivery addresses of the articles to be delivered, obtains the current positions of the robots at the same time, and then determines the delivery paths of the robots according to the current positions of the robots and the delivery addresses. In one embodiment, when the articles to be delivered are put in storage, the sorting device automatically scans the identification codes (such as two-dimensional codes and bar codes) attached to the articles to be delivered to obtain delivery information of the articles to be delivered, such as delivery addresses, delivery times, recipient information, article types and the like, and classifies and stores the articles to be delivered according to the delivery information, such as classifying the articles to be delivered in the same building or the same floor into one class and storing the articles to be delivered according to the delivery times/article types. Then, the sorting equipment sends the scanning information, the classification information, the storage position and the like of the articles to be delivered to the dispatching platform. After receiving the scanning information of the to-be-delivered items, the scheduling platform acquires delivery addresses of the to-be-delivered items based on the scanning information, then determines delivery paths based on the delivery addresses and the current positions of the robots, for example, referring to fig. 6, assuming that the delivery addresses of the to-be-delivered items are 2-704 of building a, and the current position of the robot is a corresponding delivery station of building C, at this time, the scheduling platform needs to acquire information such as people flow, road condition information, and layout information of a campus, then determines delivery paths where the robots reach 2-704 of building a from the corresponding delivery station of building C based on the acquired information, and if multiple delivery paths exist, determines optimal paths, for example, acquires delivery time required by each delivery path, and then takes the delivery path with the shortest delivery time as the optimal delivery path; or, the path with the least obstacles is taken as the optimal distribution path.
Step S20, when the distribution path includes an outdoor distribution path, acquiring an outdoor distribution environment corresponding to the outdoor distribution path;
after determining the distribution path of the robot, the scheduling platform judges whether the distribution path comprises an outdoor distribution path, and if the distribution path comprises the outdoor distribution path, the outdoor distribution environment corresponding to the outdoor distribution path is obtained, wherein the outdoor distribution path refers to a path moving outside the building. In one embodiment, the robot automatically starts a patrol function in the outdoor operation process, then shoots surrounding environment information based on the camera, and sends shot video information/picture information to the scheduling platform, wherein the video information/picture information comprises information such as a current shooting area and shooting time. The scheduling platform sends the received video information/picture information to the image processing unit, and then the image processing unit analyzes the video information/picture information to obtain an outdoor distribution environment corresponding to the outdoor distribution path, wherein the outdoor distribution environment comprises information such as distribution weather, distribution road conditions, and pedestrian volume. The dispatching platform records the latest outdoor distribution environment, namely the outdoor distribution environment among distribution stations, according to the information of the shooting sections, the shooting time and the like in the video information/picture information, and is used for dispatching the basic environment conditions of the transportation equipment and the robot distribution in the next time period. If the basic environmental conditions between the two distribution sites do not satisfy the outdoor distribution conditions, the outdoor distribution is not performed between the two distribution sites in the next time period, which may be 6 hours later, and at this time, the scheduling platform may plan a path to avoid the distribution sites that do not satisfy the outdoor distribution conditions, or stop operating the transportation device.
And step S30, when the outdoor distribution environment meets the outdoor distribution condition, scheduling a transportation device to transport the robot to complete distribution of the outdoor distribution path.
After the dispatching platform acquires the outdoor distribution environment, whether the robot and the transportation equipment meet the outdoor distribution condition is judged based on the outdoor distribution environment, and if the outdoor distribution condition is met, the transportation equipment is dispatched to convey the robot to complete distribution of the outdoor distribution path. In an embodiment, the scheduling platform acquires outdoor distribution weather and outdoor distribution road conditions according to the outdoor distribution environment, then judges whether the outdoor distribution environment meets the outdoor distribution conditions according to the outdoor distribution weather and/or the outdoor distribution road conditions, and determines that the outdoor distribution environment meets the outdoor distribution conditions when the outdoor distribution weather is preset weather and/or the outdoor distribution road conditions are preset road conditions. For example, if the outdoor distribution weather is rainstorm, snowstorm, typhoon or the like, determining that the outdoor distribution environment does not satisfy the outdoor distribution condition; and if the outdoor distribution weather is sunny or raining, determining that the outdoor distribution environment meets the outdoor distribution conditions, wherein due to the fact that the sealing performance of each robot is different, when the outdoor distribution weather is raining, the robot with good sealing performance needs to be dispatched to distribute articles. If the outdoor distribution road conditions are waterlogging, road repair, barrier blockage and the like, determining that the outdoor distribution environment does not meet the outdoor distribution conditions; and if the outdoor distribution road condition is that the road surface is flat, no water is accumulated, no obstacle is blocked, and the like, determining that the outdoor distribution environment meets the outdoor distribution condition.
In the embodiment, the delivery address of the article to be delivered is obtained, and the delivery path is determined according to the current position and the delivery address of the robot, wherein the robot is used for loading the article to be delivered and delivering the article to be delivered; when the distribution path comprises an outdoor distribution path, acquiring an outdoor distribution environment corresponding to the outdoor distribution path; and when the outdoor distribution environment meets the outdoor distribution condition, the robot is conveyed by the dispatching transportation equipment to complete the distribution of the outdoor distribution path. According to the method and the system, the robot and the transportation equipment are dispatched to deliver the articles, so that the process of autonomous positioning and navigation of the robot is reduced, and the article delivery efficiency is improved.
Further, referring to fig. 3, a second embodiment of the article distribution method of the present application is provided based on the first embodiment.
The article distribution method of the second embodiment differs from the first embodiment in that the scheduling transportation device transports the robot to complete distribution of the outdoor distribution path, including:
step S31, receiving a riding signal sent by the robot, and acquiring a distribution station where the robot is currently located and a target distribution station corresponding to the distribution address according to the riding signal, wherein a path between the distribution station and the target distribution station is the outdoor distribution path;
in this embodiment, when the robot needs to board the transportation device to reach the next delivery station to deliver the article, the robot moves to the delivery station closest to the robot to wait for the transportation device, determines the target delivery station based on the delivery address, and then sends a boarding signal including the current delivery station and the target delivery station to the scheduling platform. It will be appreciated that the ride signal includes the entry and exit points of the robot. Thus, after receiving the pick-up signal of the robot, the dispatching platform can acquire the current delivery station where the robot is located and the target delivery station based on the pick-up signal, wherein a path between the delivery station and the target delivery station is an outdoor delivery path. That is, the transportation apparatus is used for transportation between distribution sites that are fixedly disposed in an outdoor environment, while robots are used indoors, and positioning navigation indoors to the corresponding distribution site areas.
Step S32, sending a scheduling instruction including the delivery site and the target delivery site to the transportation device, so that the transportation device moves to the delivery site according to the scheduling instruction;
in this embodiment, after determining the current delivery station where the robot is located and the target delivery station that needs to be reached, the scheduling platform sends a scheduling instruction including the delivery station and the target delivery station to the transportation device, where the transportation device moves to the delivery station according to the scheduling instruction after receiving the scheduling instruction. For example, referring to fig. 6, assuming that the current delivery station where the robot is located is P1, and the current delivery station where the transportation device is located is P2, after receiving the scheduling command, the transportation device moves to the delivery station according to the scheduling command and is P1, and sends the arrival information to the scheduling platform.
And step S33, sending the arrival information of the transportation equipment to the robot so that the robot can take the transportation equipment to the target distribution station according to the arrival information.
In this embodiment, after receiving arrival information sent by the transportation device, the scheduling platform forwards the arrival information to the robot, where the robot drives on the transportation device after receiving the arrival information, and then rides on the transportation device to the target delivery station.
The robot of the embodiment reduces the process of autonomous positioning and navigation of the robot outdoors by taking the transportation equipment to the target distribution station in the process of distributing articles, thereby saving the distribution time and improving the efficiency of article distribution.
Further, referring to fig. 4, a third embodiment of the article dispensing method of the present application is proposed based on the first embodiment and the second embodiment.
The transportation equipment comprises a platform and a pressure sensor arranged on the platform, wherein the platform is used for the robot to take and can move outdoors;
the method further comprises the following steps:
step S40, acquiring the pressure of each contact point corresponding to the robot and the transportation equipment through the pressure sensor;
in this embodiment, the transportation device includes a platform for the robot to ride on and is movable outdoors, and a pressure sensor provided to the platform. The transportation equipment is taking the in-process that the robot removed, based on set up the pressure that sets up the pressure sensor detection robot of platform and every contact point of transportation equipment correspond, sends the pressure that detects simultaneously to the dispatch platform, so, the dispatch platform can acquire the in-process that the transportation equipment removed, and the robot exerts pressure on the transportation equipment.
Step S50, controlling the moving speed of the transportation equipment according to the pressure of each contact point;
it should be noted that, in the process of moving the transportation device by the robot, if the moving speed is too fast, the robot jolts and even topples; or, the robot may shake due to external force (such as wind force) from the natural environment. Therefore, the dispatching platform needs to detect the state (such as a steady state, a tilted state, and a shaking state) of the robot in real time and control the moving speed of the transportation device based on the state of the robot.
In one embodiment, as shown in fig. 6, pressure sensors 5 are disposed at four corners of the platform 2, and 4 pressure sensors 5 are used for monitoring the pressure at the contact point of the robot and the platform 2. And after the dispatching platform acquires the pressure of each contact point, controlling the moving speed of the transportation equipment according to the pressure of each contact point. For example, whether the pressure applied to the transportation equipment by the robot is uniformly distributed is determined based on the pressure of each contact point, that is, whether the pressure of each contact point is less than or equal to a preset value is determined, and if the pressure of any contact point is less than or equal to the preset value, it is indicated that the current movement speed of the transportation equipment is too high, so that the robot jolts or topples over, at this time, the movement speed of the transportation equipment needs to be reduced, for example, a dispatching platform sends a deceleration instruction to the transportation equipment, wherein after receiving the deceleration instruction, the transportation equipment reduces the current movement speed according to the deceleration instruction. Further, according to the pressure value fed back by the pressure sensor 5, the transportation equipment is controlled to run in a preset speed interval, so that the transportation equipment can stably and safely transport the robot.
In one embodiment, when acquiring the pressure of each contact point of the robot detected by the transportation equipment, the scheduling platform judges whether the pressure of each contact point is within a preset pressure range, if the pressure of each contact point is not within the preset pressure range, the robot is in an inclined state or a falling state, at the moment, the robot is likely to fall and fall, and based on the situation, the robot is judged not to meet the distribution condition currently, and a stop instruction is sent to the transportation equipment, so that the transportation equipment stops moving according to the stop instruction. At this moment, the dispatching platform can send robot fault information to the staff of garden/community to remind the staff to revise the state of robot, when the robot state satisfies the delivery condition, then continue to transport through the transportation equipment.
The moving speed of the transportation equipment is adjusted based on the pressure applied to the transportation equipment by the robot, the phenomenon that the robot topples over in the process of taking the transportation equipment is avoided, and the robot is ensured to normally deliver articles, so that the article delivery efficiency is improved.
Further, referring to fig. 5, a fourth embodiment of the article distribution method of the present application is proposed based on the first, second, and third embodiments.
The fourth embodiment of the article distribution method differs from the third embodiment in that the distribution path further includes an indoor distribution path;
the method further comprises the following steps:
step S60, acquiring positioning information of the robot after the robot leaves the transportation equipment;
in this embodiment, the robot leaves from the transportation device after receiving the arrival information sent by the scheduling platform, and at this time, the robot needs to be repositioned and sends the positioning information obtained by repositioning to the scheduling platform, so that the scheduling platform can obtain the positioning information of the robot.
Step S70, acquiring an indoor distribution environment corresponding to the positioning information, and determining an indoor distribution route corresponding to the indoor distribution environment;
in this embodiment, after obtaining the positioning information of the robot, the scheduling platform determines the building where the robot is located, then obtains the indoor distribution environment corresponding to the building, and then determines the indoor distribution path corresponding to the indoor distribution environment.
Step S80, the robot is scheduled to perform article delivery according to the indoor delivery route.
In this embodiment, the scheduling platform determines an indoor distribution route of the robot and then schedules the robot to distribute the articles based on the indoor distribution route. Alternatively, the dispatching platform may also directly send the indoor distribution path to the robot, so that the robot performs article distribution based on the indoor distribution path.
In the embodiment, the positioning information of the robot after leaving the transportation equipment is acquired, the indoor distribution environment is determined based on the positioning information, the indoor distribution path is determined based on the indoor distribution environment, and the robot is scheduled to distribute indoor articles based on the indoor distribution path, so that the article distribution efficiency is improved.
In the present application, the robot is based on SLAM (simultaneous localization and mapping) technology, and the robot performs indoor localization and navigation to the corresponding delivery station area. In the present application, it is necessary to construct and store grid maps in advance, and each grid map ranges from indoor of each building to an area corresponding to a distribution site.
In addition, the application also provides an article delivery device, which comprises a memory, a processor and an article delivery program stored on the memory and run on the processor, wherein the device determines a delivery path according to the current position and the delivery address of a robot by acquiring the delivery address of an article to be delivered, wherein the robot is used for loading the article to be delivered and delivering the article to be delivered; when the distribution path comprises an outdoor distribution path, acquiring an outdoor distribution environment corresponding to the outdoor distribution path; and when the outdoor distribution environment meets the outdoor distribution condition, the robot is conveyed by the dispatching transportation equipment to complete the distribution of the outdoor distribution path. According to the embodiment, the robot and the transportation equipment are dispatched to deliver the articles, so that the process of autonomous positioning and navigation of the robot is reduced, and the article delivery efficiency is improved.
In addition, the present application also provides a storage medium, wherein the storage medium stores an article distribution program, and the article distribution program realizes the steps of the article distribution method when being executed by a processor.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The application can be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
While alternative embodiments of the present application have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following appended claims be interpreted as including alternative embodiments and all such alterations and modifications as fall within the scope of the application.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (10)
1. An article distribution method applied to a scheduling platform, the method comprising:
acquiring a delivery address of an article to be delivered, and determining a delivery path according to the current position of a robot and the delivery address, wherein the robot is used for loading the article to be delivered and delivering the article to be delivered;
when the distribution path comprises an outdoor distribution path, acquiring an outdoor distribution environment corresponding to the outdoor distribution path;
and when the outdoor distribution environment meets outdoor distribution conditions, scheduling a transport device to convey the robot to complete distribution of the outdoor distribution path.
2. The article distribution method of claim 1, wherein said dispatching transporter transports said robot to complete distribution of said outdoor distribution path, comprising:
receiving a riding signal sent by the robot, and acquiring a current distribution station where the robot is located and a target distribution station corresponding to the distribution address according to the riding signal, wherein a path between the distribution station and the target distribution station is the outdoor distribution path;
sending a scheduling instruction comprising the delivery station and the target delivery station to the transportation equipment so that the transportation equipment moves to the delivery station according to the scheduling instruction;
and sending the arrival information of the transportation equipment to the robot so that the robot can take the transportation equipment to the target distribution station according to the arrival information.
3. The article distribution method according to claim 2, wherein the transport device includes a platform for the robot to ride on and is movable outdoors, and a pressure sensor provided to the platform;
the method further comprises the following steps:
acquiring the pressure of each contact point corresponding to the robot and the transportation equipment through the pressure sensor;
and controlling the moving speed of the transportation equipment according to the pressure of each contact point.
4. The article dispensing method of claim 3, wherein said controlling the speed of movement of said transport device based on the pressure at each of said contact points comprises:
if the pressure of any one contact point is smaller than or equal to a preset value, controlling the transportation equipment to decelerate;
and if the pressure of each contact point is not within the preset pressure range, sending a stop instruction to the transportation equipment so that the transportation equipment stops moving according to the stop instruction.
5. The article dispensing method of claim 1, wherein said dispensing path further comprises an indoor dispensing path;
the method further comprises the following steps:
acquiring positioning information of the robot after the robot leaves the transportation equipment;
acquiring an indoor distribution environment corresponding to the positioning information, and determining an indoor distribution path corresponding to the indoor distribution environment;
and scheduling the robot to carry out article distribution according to the indoor distribution path.
6. The article distribution method of claim 5, wherein said determining an indoor distribution path corresponding to said indoor distribution environment comprises:
acquiring the distribution time of each distribution address, and acquiring indoor layout information and elevator running conditions according to the indoor distribution environment;
and determining the indoor distribution path according to the distribution time, the layout information and/or the elevator running condition.
7. The article distribution method of claim 1, wherein said obtaining an outdoor distribution environment corresponding to the outdoor distribution path comprises:
receiving video information sent by the robot, wherein the video information is shot by the robot in an outdoor process;
and acquiring the outdoor distribution environment corresponding to the outdoor distribution path according to the latest received video information.
8. The article distribution method of claim 1, wherein after acquiring the outdoor distribution environment corresponding to the outdoor distribution path, the method comprises:
acquiring outdoor distribution weather and outdoor distribution road conditions according to the outdoor distribution environment;
and when the outdoor distribution weather is preset weather and/or the outdoor distribution road condition is preset road condition, determining that the outdoor distribution environment meets the outdoor distribution condition.
9. An article dispensing device, comprising a memory, a processor, and an article dispensing program stored on the memory and executed on the processor, wherein the processor implements the steps of the method of any of claims 1-8 when executing the article dispensing program.
10. A storage medium, characterized in that the storage medium has stored thereon an article delivery program which, when executed by a processor, implements the steps of the method according to any one of claims 1 to 8.
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| CN202111244409.4A CN114048965A (en) | 2021-10-25 | 2021-10-25 | Article distribution method, device and storage medium |
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Cited By (1)
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| CN116048018A (en) * | 2022-12-23 | 2023-05-02 | 深圳优地科技有限公司 | Cross-building scheduling method and device for robot, terminal equipment and storage medium |
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