CN118145303A - Method, device and storage medium for processing robot dispatch articles - Google Patents

Abstract

The application is applicable to the technical field of intelligent robots, and provides a processing method, a device and a storage medium for delivering articles by a robot, wherein the processing method comprises the following steps: acquiring a first time length of the robot reaching a specified object extraction position in real time according to the current robot position of the robot; determining a second time length for a user to arrive at the article extraction position to take an article; determining a message sending time node according to the first time length and the second time length; and sending a fetching message to the user to inform the user to go to the article extraction position for fetching in response to the arrival of the message sending time node. The waiting time of the robot and the user can be reduced, and the delivery efficiency of the robot and the object taking experience of the user are improved.

Description

Method, device and storage medium for processing robot dispatch articles

Technical Field

The application belongs to the technical field of intelligent robots, and particularly relates to a processing method, a device and a storage medium for robot dispatch articles.

Background

Currently, in a robot delivery scenario, when a robot delivers an item to a user in performing a delivery task, the robot needs to deliver the item to the user to complete the delivery task. Therefore, after the robot arrives at the pick-up point with the carried article, if the user has not yet arrived at the pick-up point, the robot needs to wait for the user to pick up the article at the pick-up point.

However, the robot waits for the user according to fixed time, and the real distance from the user to the object taking point is not considered, so that the robot is not flexible enough.

In the above-mentioned method, it is common that the robot starts to notify the user of taking the object after the object is delivered, and the waiting time of the robot at the object delivery point depends on the time when the user arrives at the object delivery point. If the user is far from the picking point, the robot needs to waste a lot of time waiting for the user to pick up the object.

Even if the robot sends a notification message to the user about to arrive in advance before arriving, it may happen that the user arrives in advance but the robot has not arrived yet, and the user is required to wait for the robot, resulting in poor user experience.

Disclosure of Invention

The embodiment of the application aims to provide a processing method, a device and a storage medium for delivering articles by a robot, and the method, the device and the storage medium can dynamically adjust a message sending time node by acquiring the time of arrival of the robot and a user at an article extraction position in real time, so that the arrival time of the user and the robot is as close as possible, the waiting time of the user and the robot is reduced, and the delivery efficiency of the robot and the article taking inspection of the user are improved.

To achieve the above object, according to one aspect of the present application, there is provided a method for handling articles by a robot, comprising:

Acquiring a first time length of the robot reaching a specified object extraction position in real time according to the current robot position of the robot;

Determining a second time length for a user to arrive at the article extraction position to take an article;

Determining a message sending time node according to the first time length and the second time length;

and sending a fetching message to the user to inform the user to go to the article extraction position for fetching in response to the arrival of the message sending time node.

In an alternative implementation manner, determining a message sending time node according to the first duration and the second duration includes:

determining an article dispatch task and/or dispatch scene of the robot;

determining a corresponding third duration according to the article sending task and/or the sending scene;

and determining the message sending time node according to the first time length, the second time length and the third time length.

In an alternative implementation, the method further includes:

In response to detecting that the robot reaches the article extraction position and the user does not reach the article extraction position, acquiring a first waiting time and a second waiting time, wherein the first waiting time is preset by an administrator or default waiting time of a system, the second waiting time is estimated user article taking time, and the user article taking time is determined according to an estimated article taking time node of the user and the message sending time node;

Determining the estimated waiting time length of the robot according to the comparison result of the first waiting time length and the second waiting time length;

and controlling the robot to wait for the user at the article extraction position according to the estimated waiting time length.

In an optional implementation manner, the acquiring, in real time, the first time length of the robot reaching the specified object extraction position according to the current robot position of the robot includes:

Acquiring the residual distance between the current robot position and the object extraction position according to the planned path of the robot;

Determining the current movement rate of the robot;

and determining a first duration of the robot from the current robot position to the article extraction position in real time according to the remaining distance and the movement rate.

In an optional implementation manner, the acquiring, in real time, the first time length of the robot reaching the specified object extraction position according to the current robot position of the robot includes:

Acquiring a residual walking route of the robot;

Acquiring a plurality of completed walking routes in a history period according to the remaining walking routes, wherein the completed walking routes are the same as or similar to the remaining walking routes in distance;

According to the completion sequence of the plurality of completed walking routes, corresponding weights are correspondingly given to each completed route;

And determining the first duration of the robot from the current robot position to the article extraction position according to the completed routes and the weights corresponding to the completed routes.

In an alternative implementation manner, determining the second duration of time for the user to arrive at the article picking position to pick the article includes:

Acquiring current order information of the user, wherein the current order information is used for requesting a system to specify a robot to execute an article sending task so as to send a specified article to the article extraction position and give the specified article to the user;

Correspondingly determining the time length for taking the object of each corresponding user in a plurality of history sending tasks according to a plurality of user ordering information similar to the current ordering information, wherein the same or similar current user position and object extraction position exist between the user ordering information and the current ordering information;

Selecting a plurality of target users to take the objects according to the normal distribution conditions of the time and the time of taking the objects by the users, which correspond to the historical dispatch tasks;

And taking the average time-consuming duration of the time-consuming object taking time of the selected plurality of target users as the second time duration of the user reaching the object extraction position from the current user position.

In an optional implementation manner, according to a plurality of user ordering information similar to the current ordering information, it is correspondingly determined that the material taking and consuming time of the corresponding user in the plurality of history sending tasks are long, including:

determining actual fetching time nodes and historical message sending time nodes in the historical dispatching tasks according to the user ordering information;

And determining that the user fetching time consumption corresponding to each of the plurality of historical dispatching tasks is long according to the actual fetching time node and the message sending time node in the plurality of historical dispatching tasks.

In an alternative implementation, obtaining a second duration of time for the user to reach the item extraction location from the current user location includes:

Acquiring current order information of the user, wherein the current order information is used for requesting a system to specify a robot to execute an article sending task so as to send a specified article to the article extraction position and give the specified article to the user;

according to the current ordering information, determining network information of terminal equipment used by a user when ordering;

in the process of executing the dispatching task by the robot, trying to connect the terminal equipment according to the network information, and determining connection response time;

Determining a distance between the current user position and the current robot position according to the connection response time;

And determining a second time period for the user to reach the article extraction position from the current user position according to the distance between the current user position and the current robot position and the distance between the current robot position and the article extraction position.

According to a second aspect of the present application, there is provided a processing apparatus for robot-fed articles, comprising:

the acquisition module is used for acquiring a first time length of the robot reaching a specified object extraction position in real time according to the current robot position of the robot;

the first determining module is used for determining a second time length for a user to arrive at the article extracting position to take an article;

The second determining module is used for determining a message sending time node according to the first time length and the second time length;

And the notification module is used for sending a fetching message to the user in response to the arrival of the message sending time node so as to notify the user to go to the article extraction position for fetching.

Any implementation manner of the second aspect and the second aspect corresponds to any implementation manner of the first aspect and the first aspect, respectively. The technical effects corresponding to the second aspect and any implementation manner of the second aspect may refer to the technical effects corresponding to the first aspect and any implementation manner of the first aspect, which are not described herein.

According to a third aspect of the present application there is provided an electronic device comprising one or more processors and memory;

The memory is coupled with one or more processors, the memory for storing computer program code comprising computer instructions that are invoked by the one or more processors to cause the electronic device to perform the method of any of the claims.

According to a fourth aspect of the present application, there is provided a computer readable storage medium storing a computer program which, when run on an electronic device, causes the electronic device to perform the method of any one of the claims.

According to a fifth aspect of the present application, there is provided a computer program product comprising: computer program code which, when run by an electronic device, causes the electronic device to perform the method of any one of the claims.

Compared with the prior art, the method, the device and the storage medium for processing the robot dispatch articles acquire the first time length of the robot reaching the appointed article extraction position in real time according to the current robot position of the robot; determining a second time length for a user to arrive at the article extraction position to take an article; determining a message sending time node according to the first time length and the second time length; and sending an object fetching message to the user to inform the user to go to the object extraction position for fetching in response to the arrival of the message sending time node.

The beneficial effects are that: the time for the robot and the user to reach the article extraction position can be obtained in real time, and the message sending time node can be dynamically adjusted, so that the arrival time of the user and the robot is as close as possible, the waiting time of the user and the robot is reduced, and the delivery efficiency of the robot and the article taking experience of the user are improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a flow chart of a method for handling articles sent by a robot according to an embodiment of the present application;

FIG. 2 is a schematic flow chart of an alternative method for handling robot-sent articles according to an embodiment of the present application;

FIG. 3 is a schematic flow chart of an alternative method for handling robot-sent articles according to an embodiment of the present application;

FIG. 4 is a schematic flow chart of an alternative method for handling robot-sent articles according to an embodiment of the present application;

FIG. 5 is a schematic flow chart of an alternative method for handling robot-sent articles according to an embodiment of the present application;

FIG. 6 is a schematic diagram of an alternative robot-dispensing article handling device according to an embodiment of the present application;

Fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the disclosure.

Detailed Description

In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.

It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element. Embodiments of the application and features of the embodiments may be combined with each other without conflict. The application will be described in detail below with reference to the drawings in connection with embodiments.

It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are merely for convenience in describing and simplifying the description based on the orientation or positional relationship shown in the drawings, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the application.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "plurality" is two or more unless specifically defined otherwise.

At present, in a robot object-delivering scene, after the robot reaches an object-taking point, the robot needs to inform a user of taking an object before the user calls a mobile phone of the user or a room phone and the like; when a user receives the object taking notification and goes to an object taking point, the robot needs to wait at the object feeding point and keep still; the waiting time of the robot at the fetching point is limited, and in the specified time, the user does not finish fetching operation, so that the robot needs to carry the object to return to the original point, enter a fetching timeout strategy and wait for the next delivery or be manually intervened for processing.

However, the robot waits for the user according to fixed time, and the real distance from the user to the object taking point is not considered, so that the robot is not flexible enough. In addition, in the above-mentioned manner, it is common that the robot starts to notify the user of taking the object after the object is delivered, so that the time for the robot to actually wait at the object delivery point depends on the time for the user to reach the object delivery point. If the user is far from the picking point, the robot needs to waste a lot of time waiting for the user to pick up the object.

Even if the robot sends a notification message to the user about to arrive in advance before arriving, it may happen that the user arrives in advance but the robot has not arrived yet, and the user is required to wait for the robot, resulting in poor user experience.

According to the embodiment of the processing method for the robot to dispatch the objects, the time for the robot and the user to reach the object extraction position can be obtained in real time, and the message sending time node can be intelligently and dynamically adjusted, so that the arrival time of the user and the robot is as close as possible, the waiting time of the user and the robot is reduced, and the delivery efficiency of the robot and the object fetching experience of the user are improved.

Fig. 1 is a schematic structural diagram of a method for handling articles dispatched by a robot according to an embodiment of the present application, and referring to fig. 1, the method for handling articles dispatched by a robot includes:

s110, acquiring a first time length for the robot to reach a specified object extraction position in real time according to the current robot position of the robot.

S120, determining a second time period when the user arrives at the article extraction position to take the article.

S130, determining a message sending time node according to the first time length and the second time length.

And S140, sending a fetching message to the user to inform the user to go to the article extraction position for fetching in response to the arrival of the message sending time node.

Illustratively, in the present example, the robot is an intelligent device that can autonomously travel and handle items, such as a meal delivery robot, an express delivery robot, a box robot, and the like.

The processing method for delivering the articles by the robot can be used for delivering the dining to the users of hotels and residential buildings by the robot, delivering the express to the users, providing logistics service, opening up market segments of logistics industry and improving the competitive power of enterprises in the delivery field.

Illustratively, in the present example, the article pickup location (hereinafter also referred to as an article pickup point) is a location where a user can conveniently pick up articles handled by a robot, such as a self-pickup point, a workstation, a sorting bay, or the like.

It may be appreciated that, in the example of the present application, the first duration may be calculated in real time by a navigation system of the robot according to a road network, a traffic condition, and the like, and the time required for the robot to reach the object extraction position from the current position.

It will be appreciated that, in the example of the present application, the second duration may be estimated in real time by the control system of the robot or the background according to the position, the moving speed, and other factors of the user, and the time required for the user to reach the object extraction position from the current position.

In one example, when the second time period for the user to reach the object taking point is estimated, various strategies such as physical distance measurement, historical data simulation, wi f i/Bluetooth ranging and the like can be adopted for cross verification, so that the estimation accuracy is improved, and the waiting time of the robot is further reduced.

As an example shown in fig. 2, after the robot goes to the article pickup location and performs the dispatch task, a first time period and a second time period are determined in real time, and a message transmission time node is determined according to the first time period and the second time period. It will be appreciated that the message sending time node refers to an appropriate time point determined by the robot according to the first time length and the second time length.

As also shown in fig. 2, when the robot arrives at the message sending time node, a pickup message is sent to the user, for example, a notification message is sent to the user through the wireless signal transceiver, where the message should include the position of the robot, the information of the article, the manner of picking up the article, and the like, so as to guide the user to go to the article picking up position to pick up the article.

As also shown in fig. 2, the robot then proceeds to the item pick up location, where the user, after receiving the pick up message, also proceeds to the item pick up location to pick up items. By dynamically determining the message sending node in real time, a user can reach the article extraction position as soon as possible after receiving the article picking message, and the waiting time of the robot and the waiting time of the user are avoided to be overlong.

According to the method, the time for the robot and the user to reach the article extraction position is obtained in real time, and the message sending time node can be dynamically adjusted, so that the arrival time of the user and the robot is as close as possible, the waiting time of the user and the robot is reduced, and the delivery efficiency of the robot and the article taking experience of the user are improved. When the message sending time node arrives, a fetching message is sent to the user, so that the arrival condition of the robot of the user can be timely notified, the user is prevented from missing the delivery of the robot, the repeated delivery times of the robot are reduced, and the operation cost of the robot and the complaint rate of the user are reduced.

In an optional implementation manner, determining a message sending time node according to the first duration and the second duration includes:

s210, determining an article dispatch task and/or dispatch scene of the robot.

S220, determining a corresponding third duration according to the object dispatching task and/or the dispatching scene.

S230, determining the message sending time node according to the first time length, the second time length and the third time length.

Optionally, the task of sending the articles may refer to information such as the number, the kind, the destination, etc. of the articles to be sent by the robot, such as a take-out order, an express package, etc.

Optionally, the above-mentioned dispatch scene refers to the environmental conditions where the robot is located when it delivers the objects, such as weather, road conditions, traffic rules, people flow density, etc.

In the above example, the third duration refers to a policy reserved duration determined by the control system of the robot according to the task and/or scene of delivering the article, for example, the maximum tolerance time of the robot waiting for the user to take the article at the article extracting position, and in a practical application scene, the third duration may be determined according to factors such as the quality guarantee period, the emergency degree of delivering, the credit level of the user, and the like of the article.

Further, the message sending time node refers to a proper time point determined by the robot according to the first time length, the second time length and the third time length, and the time point should enable the user to reach the article extraction position as soon as possible after receiving the article picking message, so that the arrival time of the robot and the user can be more coordinated and balanced, and the influence on the delivery efficiency of the robot and the article picking experience of the user due to overlong or too short waiting time of the robot is avoided.

As an alternative embodiment, the specific calculation formula of the message sending time node may be:

message sending time node = current time of robot control system + first duration (robot remaining arrival time) +policy reservation duration-second duration (estimated user arrival time);

The policy reserved time length can be set by an administrator through a platform or a robot interface, and different reserved time length values are set in different delivery tasks or different delivery scenes.

By determining the third duration according to the object dispatching task and/or the dispatching scene, the waiting time of the robot can be more reasonable and flexible, different dispatching requirements and environment changes can be adapted, and the dispatching success rate of the robot and the satisfaction degree of users can be improved.

In an alternative implementation, as shown in fig. 3, the method further includes:

and S310, acquiring a first waiting duration and a second waiting duration in response to detecting that the robot reaches the article extraction position and the user does not reach the article extraction position.

The first waiting time is preset by an administrator or default waiting time of a system, the second waiting time is estimated user fetching time, the user fetching time is determined according to an estimated fetching time node of a user and a message sending time node, and the time from the message sending time node to the user finishing fetching is estimated.

S320, determining the estimated waiting time length of the robot according to the comparison result of the first waiting time length and the second waiting time length.

And S330, controlling the robot to wait for the user at the article extraction position according to the estimated waiting time. After the robot reaches the object extraction position, carrying out object extraction waiting at the object extraction position according to the estimated waiting time of the user, and if the object is taken away within the confirmed estimated waiting time, completing the delivery task by the robot to carry out the next task or returning to the original point; if the object is not taken away within the time, the robot reports the failure information of taking the object and executes the next task or returns to the original point.

Optionally, the first waiting time length refers to a minimum time for the robot to wait for the user to take the object at the object taking position, where the time is preset by an administrator or default by the system, such as 5 minutes, 10 minutes, and the like.

Optionally, the second waiting duration refers to a predicted time from receiving the fetching message to completing fetching by the user, where the time is determined by a control system or a background of the robot according to a predicted fetching time node of the user and a message receiving time node of the user, for example, 3 minutes, 7 minutes, and the like.

Optionally, the estimated waiting time period refers to an expected time period for the robot to wait for the user to take the object at the object extraction position, where the time period is determined by a control system of the robot according to a comparison result of the first waiting time period and the second waiting time period, if the first waiting time period is longer than the second waiting time period, the estimated waiting time period is the first waiting time period, and if not, the estimated waiting time period is the second waiting time period.

The first waiting time length and the second waiting time length are acquired, the reasonable estimated waiting user time length can be determined according to different conditions, and the problems that the waiting time of a robot is too long or too short, the delivery efficiency of the robot and the object taking experience of a user are affected are avoided. For example, when the first waiting time preset by the administrator is shorter and the user is far away from the object taking point, the estimated second waiting time is used as the reference, so that the user can be ensured to be able to take objects successfully as much as possible, abnormal handling flow is prevented, and the object conveying success rate is improved.

Under the condition that the robot is controlled to wait for the user at the object extraction position according to the estimated waiting time length, the robot can be controlled to take corresponding measures according to actual needs, such as saving electric energy, improving safety, improving interactivity and the like, and improving the distribution quality of the robot and the satisfaction degree of the user.

In an alternative implementation manner, as shown in fig. 4, the acquiring, in real time, the first time period for the robot to reach the specified article picking position according to the current robot position of the robot includes:

S410, acquiring the residual distance between the current robot position and the object extraction position according to the planned path of the robot;

S420, determining the current movement rate of the robot;

And S430, determining a first time length of the robot from the current robot position to the article extraction position in real time according to the residual distance and the movement rate.

Optionally, the planned path refers to an optimal route calculated by the robot according to the navigation system and reaching the object extraction position from the current position, for example, a planned path determined by considering factors such as road network, traffic condition, distribution priority and the like. The remaining distance refers to a linear or curved distance between the current position and the object extraction position when the robot travels along the planned path, and may be, for example, acquired by a positioning system of the robot according to real-time position information.

According to the planning path of the robot, the remaining distance between the current position and the object extraction position is obtained, the driving path of the robot can be reflected more accurately, the distance error caused by the change of the route is avoided, and the delivery precision of the robot and the object taking experience of a user are improved.

It will be appreciated that the speed of travel, i.e. the rate of movement, of the robot over the planned path is determined by the control system of the robot from movement state information, such as speeds determined taking into account acceleration, deceleration, cornering angle etc. Based on the current movement rate of the robot, the running speed of the robot can be adjusted more flexibly, different road conditions and traffic rules are adapted, and the distribution safety of the robot and the satisfaction degree of users are improved.

In this example, the control system of the robot may calculate the first time length, i.e., the time required for the robot to reach the article extraction position from the current position, such as the time calculated in consideration of the acceleration time, the deceleration time, the turning time, etc., in real time, based on the remaining distance and the movement rate.

According to the residual distance and the movement rate, the first time length of the robot reaching the article extraction position is determined in real time, so that the arrival time of the robot can be updated more timely, time errors caused by speed change are avoided, and the delivery efficiency of the robot and the object taking experience of a user are improved.

By judging the time point of the advance notice and combining with the clear user prompt, the user can go to the object taking point to take objects at the time point of receiving the prompt notice, so that the effect that the robot just reaches the object taking point when the user reaches the object taking point is achieved, the object taking waiting time of the robot is reduced to the greatest extent, and the overall object conveying efficiency is improved; when the arrival of the customer picking up objects is reasonably estimated and judged, the maximum picking waiting time of the equipment is flexibly adjusted, the situation that the robot exceeds the maximum waiting time when the customer goes to the picking up objects is avoided, and the abnormal task processing flow is carried out. Therefore, the success rate of delivering the objects is improved, and the experience of the user is improved; historical task data and field information data are fully utilized, the arrival time of the robot and the arrival time of the client are calculated and verified in a crossed mode, and the estimated accuracy is improved.

In an optional implementation manner, the acquiring, in real time, the first time length of the robot reaching the specified object extraction position according to the current robot position of the robot includes:

s510, acquiring the remaining walking route of the robot.

S520, acquiring a plurality of completed walking routes in a history period according to the residual walking route, wherein the completed walking route is the same as or similar to the distance of the residual walking route.

S530, according to the completion sequence of the plurality of completed walking routes, corresponding weights are correspondingly given to the completed routes.

S540, determining the first time period for the robot to reach the article extraction position from the current robot position according to the completed routes and the weights corresponding to the completed routes.

Optionally, the above weight refers to an evaluation value of importance or reliability of the robot on the completed walking route, where the evaluation value is determined by the control system of the robot according to the completion sequence of the completed walking route, for example, the higher the weight of the route closer to the current time, the lower the weight of the route farther from the current time.

Alternatively, the remaining walking route refers to a route that the robot needs to pass through to reach the object extraction position from the current position, and the route is determined by a navigation system of the robot according to real-time position information and a planned path. The completed walking route refers to a route which is the same as or similar to the remaining walking route and which has been completed by the robot in a history period (such as one day, one week, one month, etc.), and which is acquired by a control system of the robot according to a history data record.

In one example, for example, robot a now needs to go from the current location point 1 to the pick-off point 2, while 3 other robots have also travelled through the route in the previous 30 minutes. Wherein, before 3 minutes, the robot B takes 10 minutes to complete due to the appearance of a large number of people on the road. And the robot C walks smoothly before 15 minutes and takes 2 minutes to finish. That is considered to be more valuable as a reference for data 3 minutes ago, it can be estimated that the robot a starts from the current position point 1 by 10 x 90% + 2x 10% = 9.2 minutes, and will reach the pick-up point 2 after 9.2 minutes.

According to the residual walking routes, a plurality of completed walking routes in a history period are obtained from the cloud server, so that the history data of the robot can be more fully utilized, and the data utilization rate and the intelligent level of the robot are improved. According to the completion sequence of the completed walking routes, corresponding weights are given to each completed route, so that the importance or the reliability of different routes can be more reasonably evaluated, and the data analysis capability and the decision making capability of the robot are improved.

In one example, a control system of the robot comprehensively calculates a first time required for the robot to reach the object extraction position from the current position according to the completed walking route and the weight, such as time calculated according to factors such as average time, maximum time, minimum time and the like of different routes. The arrival time of the robot can be updated more timely, and accidents on the road, such as obstacles on the front path or time delay caused by road congestion, are eliminated; the distribution efficiency of the robot and the object taking experience of the user are prevented from being influenced by time errors.

In another example, the robot may report its own action route and the road condition (for example, there is an obstacle before 15min, and the obstacle is removed before 3min, then the estimated time is more accurate along with the update of the data) in real time when executing the delivery task, so as to continuously perfect the historical data of the robot of the cloud server, and use the historical data of the robot for the calculation of the remaining time or the calculation of the next task of other robots, thereby improving the delivery efficiency and control accuracy of the robot.

In an optional implementation manner, determining a second duration for the user to arrive at the article picking position to pick the article includes:

and S610, acquiring current order information of the user, wherein the current order information is used for requesting a system to specify a robot to execute an article sending task so as to send a specified article to the article extraction position and give the specified article to the user.

S620, according to the plurality of user ordering information similar to the current ordering information, the corresponding user taking time and time consumption in the plurality of history sending tasks are correspondingly determined.

The user order information and the current order information have the same or similar current user position and article extraction position.

S630, selecting a plurality of target users to take the objects and consume long time according to the normal distribution situation of the user to take the objects and consume long time corresponding to the plurality of history dispatch tasks.

And S640, taking the average time spent on the object taking of the selected plurality of target users as the second time spent on the user reaching the object extracting position from the current user position.

Optionally, the current order information refers to an article sending request sent by the user to the system through a network platform or other modes, where the request includes information of the current position of the user, the article extracting position, the type and number of articles, and the like, and the information is used for designating the robot to execute the task of sending the articles.

Optionally, the user order information refers to an article sending request which is received by the system in a history period (such as a day, a week, a month, etc.) and is the same as or similar to the current order information, and the similarity between the request and the current order information is determined by the current position of the user, the article extraction position, etc., such as a distance, a direction, a route, etc. The long time of the user taking the object refers to the time from the time when the user receives a message that the robot reaches the object extraction position to the time when the user finishes taking the object, wherein the time is acquired by a system according to a historical data record, such as the time determined according to the actions of the user, such as code scanning, signing, evaluation and the like.

Alternatively, the normal distribution condition may be understood as that the data distribution of the time spent for taking the object by the user accords with the rule of the normal distribution, that is, the time spent for taking the object by most of the users is concentrated near the average value, and the time spent for taking the object by a small part of the users deviates from the average value farther, and takes a shape of a bell-shaped curve.

In this example, the long time and long time for taking the object by the target user refers to a plurality of representative data, such as an average value, a median, a mode, a standard deviation, and the like, selected from a normal distribution of a long time for taking the object by the user, which are used for reflecting characteristics and a change trend of the long time and long time for taking the object by the user. And further, the second duration can be determined according to an arithmetic average of the time spent by the target user in taking the object.

According to the current ordering information, similar user ordering information is obtained, historical data of the system can be utilized more fully, and the data utilization rate and the intelligent level of the system are improved. And then, according to the normal distribution condition that the object taking time of the user is long, the object taking time of the target user is long, the representative data of the object taking time of the user can be screened more effectively, and according to the object taking time of the target user, the second time that the user arrives at the object extracting position for object taking is determined, so that the arrival time of the user can be updated more timely, and the influence on the object taking inspection of the user and the distribution efficiency of the robot due to time errors is avoided.

In an optional implementation manner, according to a plurality of user ordering information similar to the current ordering information, it is correspondingly determined that the material taking and consuming time of the corresponding user in the plurality of history sending tasks are long, including:

S710, determining an actual fetching time node and a historical message sending time node in the plurality of historical dispatch tasks according to the plurality of user ordering information;

S720, determining that the user fetching time and the user fetching time corresponding to each of the plurality of history dispatching tasks are long according to the actual fetching time node and the message sending time node in the plurality of history dispatching tasks.

As set forth above, the history task refers to an article task that is performed by the system in a history period (such as one day, one week, one month, etc.) and is the same as or similar to the user order information, and the similarity between the task and the user order information is determined by the current location of the user, the position of the article extraction, etc., such as distance, direction, route, etc.

Optionally, the actual fetching time node refers to a time point when the user actually completes fetching in the historical dispatching task, where the time point is obtained by the system according to the historical data record, for example, a time point determined according to the behavior of the user such as code scanning, signing, evaluation, and the like. The above-mentioned history message sending time node refers to a time point when the system sends a message that the robot reaches the article extraction position to the user in the history dispatch task, for example, a time point determined according to the behaviors of the robot such as positioning, communication, pushing, and the like.

Optionally, the long time of taking the object by the user refers to the time from receiving the message that the robot reaches the object extraction position to completing taking the object, and the time is determined according to an actual object taking time node and a historical message sending time node, for example, the time is determined according to the difference value between two time points.

According to the user ordering information, the actual fetching time node and the historical message sending time node in the historical dispatching task are determined, and according to the actual fetching time node and the historical message sending time node in the historical dispatching task, the fetching time consumption of the user is determined, so that the fetching requirement of the user can be evaluated more reasonably, and the data analysis capability and the decision making capability of the system are improved. According to the time spent by the user for taking the object, the second time spent by the user for taking the object when the user arrives at the object extraction position is determined, and the arrival time of the user can be updated more timely.

In an alternative implementation manner, obtaining a second duration of time for the user to reach the article picking position from the current user position includes:

s810, acquiring current order information of the user, wherein the current order information is used for requesting a system to specify a robot to execute an article sending task so as to send a specified article to the article extraction position and give the specified article to the user;

s820, according to the current ordering information, determining the network information of the terminal equipment used by the user when ordering;

S830, in the process of executing the dispatch task by the robot, trying to connect the terminal equipment according to the network information, and determining connection response time;

S840, determining the distance between the current user position and the current robot position according to the connection response time;

S850, determining a second time period for the user to reach the article extraction position from the current user position according to the distance between the current user position and the current robot position and the distance between the current robot position and the article extraction position.

Optionally, the current order information refers to an article sending request sent by the user to the system through a network platform or other modes, where the request includes information of the current position of the user, the article extraction position, the type of the article, the number of the articles, and the like, and is used for designating the robot to execute the task of sending the articles.

The network information of the terminal device refers to the network status of the device (such as a mobile phone, a computer, etc.) used by the user when the user places an order, such as a network type (such as 4G, 5G, WI F I, etc.), a network signal strength, a network delay, etc.

In this example, the robot tries to connect to the terminal device according to the network information in the process of performing the dispatch task, and the communication system of the robot acquires the time of connection success or failure according to the real-time signal information.

The distance between the current user position and the current robot position, i.e. the relative position of the user and the robot in the geographic space, can be estimated by the control system of the robot based on the connection response time and the network information (e.g. based on factors such as the network signal strength and propagation speed).

Firstly, by acquiring the current ordering information of the user, the dispatching requirement of the user can be reflected more accurately, and the dispatching response speed of the system and the satisfaction degree of the user are improved. Secondly, network information of terminal equipment of a user is determined, so that the communication strategy of the robot can be adjusted more flexibly, and different network environments are adapted; then, according to the network information, the terminal equipment is tried to be connected, the connection response time is determined, and the relative positions of the user and the robot can be acquired more timely; finally, according to the connection response time, the distance between the current user position and the current robot position is determined, so that the arrival time of the user can be estimated more reasonably, and the dispatching efficiency of the robot and the object taking experience of the user are improved.

In an example, when a user issues a remote distribution task through a cloud, the user can determine the approximate area where the user is located by data such as a two-dimensional code scanned by the user, a local area network wifi, mobile phone positioning, manual filling and checking of the user, and the like.

In another example, when an administrator issues a local delivery task, the administrator checks the location information of the user and issues the data to the robot, which can calculate the approximate time taken by the user to go to the pick-up point through such data simulation.

The cloud server can pull historical object-sending task data according to the same object-taking point information and similar user order-sending data (for example, each room in a hotel has independent wifi, the user can be considered to be in the same room by using the data of the same wifi order-sending in the historical data), and the estimated time consumption of the object taking of the user in the historical task is obtained through the actual object-taking time of the user-the early notification time of the robot, and the estimated time consumption of the object taking of the user in the historical task is about 85% of the average time consumption of the object-taking time consumption according to normal distribution; when a user places an order through a mobile phone, the user can obtain the sharing wifi or Bluetooth information of the mobile phone of the user, the robot continuously tries to connect the mobile phone of the user in the process of delivering objects by the robot, and the actual distance between the user and the robot is calculated through the response time of the wifi or Bluetooth information.

After the three data sources are acquired, a feasible predicted time is given according to a certain priority strategy (generally, authority allocation is carried out by a scheme of C > B > A, because C can be calculated and perceived in real time, and is the most accurate; and meanwhile, after the distribution task is completed, the robot uploads the used strategy mode, the early notification data and the actual object taking data of the user to the cloud, so that the historical data of the cloud is perfected, and the estimated calculation accuracy of the next task is improved.

In summary, implementing the method for processing the robot to dispatch the articles provided in this embodiment has at least the following beneficial technical effects:

Through confirming the notice time point in advance, combining clear user suggestion document, let the user advance to get the thing of getting the thing point at reasonable time point, reach when the user arrives getting the thing point, the robot just arrives the effect that the thing point is very near yet, the furthest reduces robot and gets thing latency, improves holistic send thing efficiency. When the arrival of the object taken by the user is reasonably judged, the maximum object taking waiting time of the equipment is flexibly adjusted, the situation that the robot exceeds the maximum waiting time when the user goes to the object taking is avoided, and the abnormal task processing flow is carried out. Therefore, the success rate of delivering the objects is improved, and the experience of the user is improved; historical task data and field information data are fully utilized, the arrival time of the robot and the arrival time of the user are calculated and verified in a crossed mode, and the estimated accuracy is improved.

According to another aspect of the present application, there is provided an embodiment of a processing apparatus for robot dispatch of an article, and fig. 6 is a schematic structural diagram of an alternative processing apparatus for robot dispatch of an article according to an embodiment of the present application, as shown in fig. 6, the processing apparatus for robot dispatch of an article includes:

an obtaining module 610, configured to obtain, in real time, a first duration for the robot to reach a specified object extraction position according to a current robot position of the robot;

A first determining module 620, configured to determine a second time period for the user to arrive at the article picking position for picking;

a second determining module 630, configured to determine a message sending time node according to the first duration and the second duration;

And a notification module 640, configured to send a pickup message to the user in response to the arrival of the message sending time node, so as to notify the user to pick up an object from the object extraction location.

It should be noted that: the processing device for delivering articles by the robot provided in the above embodiment is only exemplified by the division of the above functional modules, and in practical application, the above functional allocation may be performed by different functional modules according to needs, i.e. the internal structure of the device is divided into different functional modules, so as to complete all or part of the functions described above.

The functional units and modules in the above embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the embodiments of the present application.

The processing device for sending the articles by the robot and the processing method for sending the articles by the robot provided in the above embodiments belong to the same concept, and specific working processes and technical effects brought by the units and the modules in the above embodiments can be referred to the method embodiment part and are not repeated here.

The embodiment of the application also provides electronic equipment, which comprises one or more processors and a memory;

The memory is coupled to the one or more processors and the memory is configured to store computer program code, the computer program code comprising computer instructions that the one or more processors call to cause the electronic device to perform the method of processing the robotic dispatch article shown previously.

The electronic device may be a cell phone, a smart screen, a tablet computer, a wearable electronic device, a vehicle-mounted electronic device, an augmented reality (augmented rea l ity, AR) device, a virtual reality (vi rtua l rea l ity, VR) device, a notebook computer, an ultra mobile personal computer (u l tra-mob i l e persona l computer, UMPC), a netbook, a personal digital assistant (personal assistant L D I GITA L ASS I STANT, PDA), a projector, or a communication device such as a server, a memory, a base station, or a smart car. The embodiment of the application does not limit the specific type of the electronic equipment.

The embodiment of the application also provides a computer readable storage medium, wherein the computer readable storage medium stores computer instructions; the above-described computer-readable storage medium, when executed on an electronic device, causes the electronic device to perform the aforementioned robot-dispatch article processing method.

The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, from one website, computer, server, or data center by wired (e.g., coaxial cable, fiber optic, digital subscriber line (d i gita l subscr i ber l i ne, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer readable storage media may be any available media that can be accessed by a computer or data storage devices including one or more servers, data centers, etc. that can be integrated with the media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium, or a semiconductor medium (e.g., solid state disk (so L I D STATE D I SK, SSD)), etc.

Embodiments of the present application also provide a computer program product comprising computer instructions that, when executed on an electronic device, enable the electronic device to perform the method of handling robot-dispatched articles as previously described.

The computer storage medium and the computer program product provided in the embodiments of the present application are used to execute the methods provided above, so that the advantages achieved by the method can refer to the advantages corresponding to the methods provided above, and are not described herein.

In the above embodiments, it may also be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product described above includes one or more computer instructions. When the above-described computer instructions are loaded and executed on a computer, the processes or functions described above according to embodiments of the present application are produced in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, from one website, computer, server, or data center via a wired (e.g., coaxial cable, fiber optic, data subscriber line (Di g ita l Subscr i ber Li ne, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer readable storage media may be any available media that can be accessed by a computer or a data storage device such as a server, data center, or the like that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., digital versatile disk (DI GITA L VERSAT I L E DI SC, DVD)), or a semiconductor medium (e.g., solid state disk (So L I D STATE DI SK, SSD)), etc.

Fig. 7 is a schematic structural diagram of an electronic device provided in an embodiment of the present disclosure, where the device may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, etc.

The apparatus 700 may include one or more of the following components: a processing component 702, a memory 704, a power component 706, a multimedia component 708, an audio component 710, an input/output (I/O) interface 712, a sensor component 714, and a communication component 716.

The processing component 702 generally controls overall operation of the apparatus 700, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing component 702 may include one or more processors 720 to execute instructions to perform all or part of the steps of the methods described above. Further, the processing component 702 can include one or more modules that facilitate interaction between the processing component 702 and other components. For example, the processing component 702 may include a multimedia module to facilitate interaction between the multimedia component 708 and the processing component 702.

The memory 704 is configured to store various types of data to support operations at the apparatus 700. Examples of such data include instructions for any application or method operating on the apparatus 700, contact data, phonebook data, messages, pictures, videos, and the like. The memory 704 may be implemented by any type or combination of volatile or nonvolatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk.

The power supply component 706 provides power to the various components of the device 700. The power components 706 may include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for the device 700.

The multimedia component 708 includes a screen that provides an output interface between the device 700 and the user. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from a user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensor may sense not only a boundary of a touch or a sliding action but also a duration and a pressure related to the touch or the sliding operation. In some embodiments, the multimedia component 708 includes a front-facing camera and/or a rear-facing camera. The front-facing camera and/or the rear-facing camera may receive external multimedia data when the apparatus 700 is in an operational mode, such as a photographing mode or a video mode. Each front camera and rear camera may be a fixed optical lens system or have focal length and optical zoom capabilities.

The audio component 710 is configured to output and/or input audio signals. For example, the audio component 710 includes a microphone (M ic) configured to receive external audio signals when the apparatus 700 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may be further stored in the memory 704 or transmitted via the communication component 716. In some embodiments, the audio component 710 further includes a speaker for outputting audio signals.

The I/O interface 712 provides an interface between the processing component 702 and peripheral interface modules, which may be a keyboard, click wheel, buttons, etc. These buttons may include, but are not limited to: homepage button, volume button, start button, and lock button.

The sensor assembly 714 includes one or more sensors for providing status assessment of various aspects of the apparatus 700. For example, the sensor assembly 714 may detect an on/off state of the device 700, a relative positioning of the components, such as the display and keypad of the device 700, a change in position of the device 700 or a component of the device 700, the presence or absence of user contact with the device 700, an orientation or acceleration/deceleration of the device 700, and a change in temperature of the device 700. The sensor assembly 714 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor assembly 714 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 714 may also include an acceleration sensor, a gyroscopic sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

The communication component 716 is configured to facilitate communication between the apparatus 700 and other devices in a wired or wireless manner. The apparatus 700 may access a wireless network based on a communication standard, such as WiFi,2G or 3G, or a combination thereof. In one exemplary embodiment, the communication component 716 receives broadcast signals or broadcast related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, the communication component 716 described above further includes a Near Field Communication (NFC) module to facilitate short range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (irda) technology, ultra Wideband (UWB) technology, bluetooth (BT) technology, and other technologies.

In an exemplary embodiment, the apparatus 700 may be implemented by one or more application specific integrated circuits (asic), digital Signal Processors (DSP), digital Signal Processing Devices (DSPD), programmable Logic Devices (PLD), field Programmable Gate Arrays (FPGA), controllers, microcontrollers, microprocessors, or other electronic components for executing the methods described above.

In an exemplary embodiment, a non-transitory computer readable storage medium is also provided, such as memory 704, including instructions executable by processor 720 of apparatus 700 to perform the above-described method. For example, the non-transitory computer readable storage medium may be ROM, random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.

It will be clear to those skilled in the art that, for convenience and brevity of description, reference may be made to the corresponding process in the foregoing method embodiment for the specific working process of the apparatus described above, which is not described herein again.

Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the method embodiments described above may be performed by hardware associated with program instructions. The foregoing program may be stored in a computer readable storage medium. The program, when executed, performs steps including the method embodiments described above; and the aforementioned storage medium includes: various media that can store program code, such as ROM, RAM, magnetic or optical disks.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present disclosure, and not for limiting the same; although the present disclosure has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present disclosure.

Claims (10)

1. A method of handling robot dispatch items, comprising:

Acquiring a first time length of the robot reaching a specified object extraction position in real time according to the current robot position of the robot;

Determining a second time length for a user to arrive at the article extraction position to take an article;

Determining a message sending time node according to the first time length and the second time length;

and sending a fetching message to the user to inform the user to go to the article extraction position for fetching in response to the arrival of the message sending time node.

2. The method of claim 1, wherein determining a message transmission time node based on the first duration and the second duration comprises:

determining an article dispatch task and/or dispatch scene of the robot;

determining a corresponding third duration according to the article sending task and/or the sending scene;

and determining the message sending time node according to the first time length, the second time length and the third time length.

3. The method of claim 1, wherein the method further comprises:

In response to detecting that the robot reaches the article extraction position and the user does not reach the article extraction position, acquiring a first waiting time and a second waiting time, wherein the first waiting time is preset by an administrator or default waiting time of a system, the second waiting time is estimated user article taking time, and the user article taking time is determined according to an estimated article taking time node of the user and the message sending time node;

Determining the estimated waiting time length of the robot according to the comparison result of the first waiting time length and the second waiting time length;

and controlling the robot to wait for the user at the article extraction position according to the estimated waiting time length.

4. A method according to any one of claims 1 to 3, wherein said obtaining in real time a first time period for the robot to reach a specified article retrieval location based on a current robot position of the robot, comprises:

Acquiring the residual distance between the current robot position and the object extraction position according to the planned path of the robot;

Determining the current movement rate of the robot;

and determining a first duration of the robot from the current robot position to the article extraction position in real time according to the remaining distance and the movement rate.

5. A method according to any one of claims 1 to 3, wherein said obtaining in real time a first time period for the robot to reach a specified article retrieval location based on a current robot position of the robot, comprises:

Acquiring a residual walking route of the robot;

Acquiring a plurality of completed walking routes in a history period according to the remaining walking routes, wherein the completed walking routes are the same as or similar to the remaining walking routes in distance;

According to the completion sequence of the plurality of completed walking routes, corresponding weights are correspondingly given to each completed route;

And determining the first duration of the robot from the current robot position to the article extraction position according to the completed routes and the weights corresponding to the completed routes.

6. A method according to any one of claims 1 to 3, wherein determining a second time period for a user to arrive at the item pick up location for picking up items comprises:

Acquiring current order information of the user, wherein the current order information is used for requesting a system to specify a robot to execute an article sending task so as to send a specified article to the article extraction position and give the specified article to the user;

Correspondingly determining the time length for taking the object of each corresponding user in a plurality of history sending tasks according to a plurality of user ordering information similar to the current ordering information, wherein the same or similar current user position and object extraction position exist between the user ordering information and the current ordering information;

Selecting a plurality of target users to take the objects according to the normal distribution conditions of the time and the time of taking the objects by the users, which correspond to the historical dispatch tasks;

And taking the average time-consuming duration of the time-consuming object taking time of the selected plurality of target users as the second time duration of the user reaching the object extraction position from the current user position.

7. The method of claim 6, wherein the corresponding determination of the respective user pickup costs for the plurality of history shipping tasks based on the plurality of user ordering information similar to the current ordering information comprises:

determining actual fetching time nodes and historical message sending time nodes in the historical dispatching tasks according to the user ordering information;

And determining that the user fetching time consumption corresponding to each of the plurality of historical dispatching tasks is long according to the actual fetching time node and the message sending time node in the plurality of historical dispatching tasks.

8. A method according to any one of claims 1 to 3, wherein obtaining a second time period for a user to reach the item pick-up location from a current user location comprises:

Acquiring current order information of the user, wherein the current order information is used for requesting a system to specify a robot to execute an article sending task so as to send a specified article to the article extraction position and give the specified article to the user;

according to the current ordering information, determining network information of terminal equipment used by a user when ordering;

in the process of executing the dispatching task by the robot, trying to connect the terminal equipment according to the network information, and determining connection response time;

Determining a distance between the current user position and the current robot position according to the connection response time;

And determining a second time period for the user to reach the article extraction position from the current user position according to the distance between the current user position and the current robot position and the distance between the current robot position and the article extraction position.

9. A robot-dispensing article handling device, comprising:

the acquisition module is used for acquiring a first time length of the robot reaching a specified object extraction position in real time according to the current robot position of the robot;

the first determining module is used for determining a second time length for a user to arrive at the article extracting position to take an article;

The second determining module is used for determining a message sending time node according to the first time length and the second time length;

And the notification module is used for sending a fetching message to the user in response to the arrival of the message sending time node so as to notify the user to go to the article extraction position for fetching.

10. A computer readable storage medium, characterized in that the computer readable storage medium stores a computer program which, when run on an electronic device, causes the electronic device to perform the method of any one of claims 1 to 8.