WO2021121069A1

WO2021121069A1 - Delivery robot and control method, apparatus and system therefor, and storage medium

Info

Publication number: WO2021121069A1
Application number: PCT/CN2020/134384
Authority: WO
Inventors: 崔丽华; 谢耿勋; 李尚�; 罗欣
Original assignee: 京东数科海益信息科技有限公司
Priority date: 2019-12-18
Filing date: 2020-12-08
Publication date: 2021-06-24
Also published as: CN111017069A

Abstract

A delivery robot and a control method, apparatus and system therefor, and a storage medium. The control method for the delivery robot comprises: receiving delivery task information issued by a scheduling center (300), wherein the delivery task information comprises a delivery task start point and a delivery task end point; controlling a robot chassis (100) to move to the delivery task start point, and docking the robot chassis (100) with a corresponding robot cabinet body (200); and controlling the robot chassis (100) to deliver the corresponding robot cabinet body (200) to the delivery task end point according to a delivery task path, so as to be separated from the corresponding robot cabinet body (200). The delivery robot adopts a detachable/mountable robot design scheme, thereby improving the robot delivery efficiency and the usage rate of the chassis (100), shortening the multi-cargo or multi-end-point delivery time, and improving the user experience.

Description

Distribution robot and its control method, device and system, and storage medium

Cross-references to related applications

This application is based on the application with the CN application number 201911308549.6 and the filing date of December 18, 2019, and claims its priority. The disclosure of the CN application is hereby incorporated into this application as a whole.

Technical field

The present disclosure relates to the field of intelligent distribution, in particular to a distribution robot and its control method, device and system, and storage medium.

Background technique

With the advent of informatization, digitization and intelligence, artificial intelligence devices have gradually entered people's daily lives and have received widespread attention. Among them, a demonstration application case of artificial intelligence equipment-robots have become common smart devices in people's lives. The existing transportation service robots are mainly in the form of integrated transportation, one car and one box. The user puts goods into the box of the integrated robot, and the robot delivers the goods according to the destination of the user’s task. This process greatly reduces labor costs and improves Improve the user’s shipping experience.

Summary of the invention

According to another aspect of the present disclosure, a robot chassis is provided, wherein the robot chassis is used to receive delivery task information issued by a dispatch center, wherein the delivery task information includes a delivery task starting point and a delivery task ending point; autonomously moving to the delivery task Starting point, docking with the corresponding robot box; transporting the corresponding robot box to the end of the distribution task, and separating it from the corresponding robot box.

In some embodiments of the present disclosure, the robot chassis further includes a jacking platform, wherein:

The jacking platform is set on the top of the robot chassis;

The jacking platform is used to lift the robot box when the robot chassis is mounted on the robot chassis, and the robot box is lifted by the jacking system; after the robot chassis is loaded with the robot box to the end of the delivery task, the jacking platform is lowered so that The robot chassis and the robot box are separated.

In some embodiments of the present disclosure, the robot chassis further includes a robot controller, wherein:

The robot controller is used to receive the distribution task information issued by the dispatch center. The distribution task information includes the starting point and the ending point of the distribution task; controlling the robot chassis to move to the starting point of the distribution task and docking with the corresponding robot box; controlling the robot chassis The corresponding robot box is transported to the end of the distribution task and separated from the corresponding robot box.

In some embodiments of the present disclosure, the robot chassis further includes a plurality of environmental sensors, among which:

Environmental sensors are used to identify the robot box when the robot chassis moves to the starting point of the distribution task, and send the identification information of the robot box to the robot controller;

The robot controller is used to adjust the position of the robot chassis to match the position of the robot box according to the identification information of the robot box, and then control the robot chassis to dock with the corresponding robot box.

In some embodiments of the present disclosure, the robot chassis further includes a prompt device, wherein:

Environmental sensors are used to monitor environmental information in real time during the movement of the robot chassis and send the monitoring information to the robot controller;

The robot controller is used to judge whether the robot chassis is blocked in real time based on the environment information, and when the robot movement is blocked, determine whether the obstacle is a dynamic obstacle or a static obstacle according to the environmental information;

The prompting device is used to prompt the dynamic obstacle to leave when the robot controller determines that the obstacle is a dynamic obstacle, and to prompt the dynamic obstacle to leave according to the instructions of the robot controller; and to display the status information of the robot chassis in real time.

In some embodiments of the present disclosure, the robot controller is also used to perform local path planning to autonomously avoid the obstacle when the obstacle is a static obstacle; when the prompt of the prompt device is valid, control the robot chassis Continue to run; when the prompt of the prompt device is invalid, perform local path planning to avoid obstacles autonomously.

In some embodiments of the present disclosure, the robot chassis further includes an anti-collision module, wherein:

Anti-collision modules are arranged on the front and rear sides of the robot chassis;

The anti-collision module is used for collision detection and emergency braking when the robot collides with other objects during operation.

According to another aspect of the present disclosure, a delivery robot is provided, including a robot box and the robot chassis according to any of the above embodiments.

In some embodiments of the present disclosure, the robot box includes at least one of a display screen, an emergency stop button, a manual pusher, a status indicator, a door with a lock, and an ultrasound module.

According to another aspect of the present disclosure, a dispatch center is provided, including:

The distribution data receiving module is used to receive the distribution task data uploaded by the distribution management system;

The distribution information sending module is used to send the distribution task information to the robot chassis so that the robot chassis moves to the starting point of the distribution task according to the distribution task information. The robot chassis docks with the corresponding robot box, and the robot chassis transports the corresponding robot box to The end of the delivery task is separated from the corresponding robot box, where the delivery task information includes the start of the delivery task and the end of the delivery task.

Dispatching center memory, used to store instructions;

The dispatch center processor is used to execute the instructions so that the dispatch center performs the following operations: receiving the distribution task data uploaded by the distribution management system; sending the distribution task information to the robot chassis so that the robot chassis moves to the starting point of the distribution task, and the robot The chassis is docked with the corresponding robot box, and the robot chassis transports the corresponding robot box to the end of the delivery task and separates it from the corresponding robot box. The delivery task information includes the starting point of the delivery task and the end of the delivery task.

According to another aspect of the present disclosure, a delivery robot control system is provided, including the robot chassis according to any one of the above embodiments, and the dispatch center according to any one of the above embodiments.

In some embodiments of the present disclosure, the delivery robot control system further includes:

The distribution management system is used to receive the distribution information input by the user, and establish distribution tasks according to the distribution information. The distribution information includes the starting point of the distribution task, the ending point of the distribution task, and the type of the distribution task; the newly created distribution task data is uploaded to the dispatch center.

According to an aspect of the present disclosure, a method for controlling a delivery robot is provided, including:

Receive the distribution task information issued by the dispatch center, where the distribution task information includes the starting point and the ending point of the distribution task;

Control the robot chassis to move to the starting point of the distribution task, and dock the robot chassis with the corresponding robot box;

Control the robot chassis to transport the corresponding robot box to the end of the distribution task according to the delivery task path, and separate it from the corresponding robot box.

In some embodiments of the present disclosure, the docking of the robot chassis with the corresponding robot box includes: controlling the jacking system of the robot chassis to drive the jacking platform to rise to jack up the robot box.

In some embodiments of the present disclosure, the delivery robot control method further includes: controlling the jacking platform to maintain the jacked state of the robot box during the working process of the robot chassis loading the robot box; and loading the robot box on the robot chassis to arrive After the end of the distribution task, the lifting platform is controlled to descend to separate the robot chassis from the robot box.

In some embodiments of the present disclosure, the lifting system for controlling the robot chassis drives the lifting platform to lift, and lifting the robot box includes:

The control jacking platform cooperates with the distribution robot box, and after the jacking platform is raised to a predetermined position, the box wheels are suspended.

In some embodiments of the present disclosure, the delivery robot control method further includes:

When the robot chassis moves to the starting point of the distribution task, the robot box is identified through environmental sensors;

According to the identification information of the robot box, adjust the position of the robot chassis to match the position of the robot box, and then perform the steps of docking the robot chassis with the corresponding robot box.

During the movement of the robot chassis, real-time monitoring of environmental information through environmental sensors and real-time judgment of whether the robot chassis is blocked;

In the case that the movement of the robot is blocked, the obstacle is determined as a dynamic obstacle or a static obstacle according to the information of the environmental sensor;

When the obstacle is a static obstacle, the local path planning is performed to avoid the obstacle autonomously.

When the obstacle is a dynamic obstacle, the prompt device is activated to prompt the dynamic obstacle to leave;

If the prompt is valid, control the robot chassis to continue running;

If the prompt is invalid, perform the steps of performing local path planning to avoid obstacles autonomously.

When the robot collides with other objects during operation, the anti-collision module is controlled to perform collision detection and emergency braking. The anti-collision module is arranged on the front and rear sides of the robot chassis.

According to another aspect of the present disclosure, a method for controlling a delivery robot is provided, including:

Receive distribution task data uploaded by the distribution management system;

Send the distribution task information to the robot chassis so that the robot chassis can move to the starting point of the distribution task. The robot chassis will be docked with the corresponding robot box. The robot chassis will transport the corresponding robot box to the end of the distribution task and separate it from the corresponding robot box. , The distribution task information includes the starting point of the distribution task and the ending point of the distribution task.

In some embodiments of the present disclosure, the sending the delivery task information to the robot chassis includes:

Instruct all robot chassis to perform self-inspection;

Obtain the self-inspection information of all robot chassis;

Determine the optimal robot chassis based on the self-inspection information, distribution task data and distribution task information of all robot chassis;

Send the distribution task information to the optimal robot chassis.

According to another aspect of the present disclosure, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, which when executed by a processor, implement the delivery robot control method as described in any of the above embodiments .

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present disclosure or related technologies, the following will briefly introduce the accompanying drawings that need to be used in the description of the embodiments or related technologies. Obviously, the accompanying drawings in the following description are merely the present invention. For some of the disclosed embodiments, those of ordinary skill in the art can obtain other drawings based on these drawings without creative labor.

Figure 1 is a combined schematic diagram of some embodiments of the delivery robot of the present disclosure.

Fig. 2 is a schematic diagram of some embodiments of the robot cabinet of the present disclosure.

Fig. 3 is a schematic diagram of some embodiments of the robot chassis of the present disclosure.

Fig. 4 is a schematic diagram of other embodiments of the robot box of the present disclosure.

Fig. 5a is a schematic diagram of other embodiments of the robot chassis of the disclosure.

Fig. 5b is a schematic diagram of two directions in other embodiments of the robot chassis of the present disclosure.

Fig. 6 is a schematic diagram of some embodiments of a method for controlling a delivery robot of the present disclosure.

Fig. 7 is a schematic diagram of some embodiments of the disclosed robot controller.

FIG. 8 is a schematic diagram of other embodiments of the robot controller of the present disclosure.

Figure 9 is a schematic diagram of other embodiments of the disclosed delivery robot control method

Fig. 10 is a schematic diagram of some embodiments of the dispatch center of the present disclosure.

Fig. 11 is a schematic diagram of other embodiments of the dispatch center of the present disclosure.

FIG. 12 is a schematic diagram of some embodiments of the distribution robot control system of the present disclosure.

FIG. 13 is a schematic diagram of still other embodiments of the control method of the delivery robot of the present disclosure.

Detailed ways

The technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative, and in no way serves as any limitation to the present disclosure and its application or use. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present disclosure.

Unless specifically stated otherwise, the relative arrangement of components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present disclosure.

At the same time, it should be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn in accordance with the actual proportional relationship.

The technologies, methods, and equipment known to those of ordinary skill in the relevant fields may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be regarded as part of the authorization specification.

In all examples shown and discussed herein, any specific value should be interpreted as merely exemplary, rather than as a limitation. Therefore, other examples of the exemplary embodiment may have different values.

It should be noted that similar reference numerals and letters indicate similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further discussed in the subsequent drawings.

The inventor found through research that related technology transportation robots are mainly all-in-one vehicles. When the robot reaches the destination of the transportation, if the transportation task cannot be completed in time (for example, the customer does not pick up the goods in time, etc.), the robot needs to wait for the task to end before proceeding to the next step. Operation, this process greatly wastes robot resources, the utilization rate of the robot is low, and the transportation efficiency is low.

The inventor also discovered through research that the related technology robot adopts a single forward positioning navigation and obstacle avoidance method, and the robot's environmental perception range is small. When an obstacle approaches the robot, the robot cannot perform flexible and autonomous obstacle avoidance and promptly remind dynamic obstacles. .

In view of at least one of the above technical problems, the present disclosure provides a distribution robot and its control method, device and system, and storage medium, which improve the transportation efficiency of the robot and the utilization rate of the chassis. The present disclosure will be described below through specific embodiments.

Figure 1 is a combined schematic diagram of some embodiments of the delivery robot of the present disclosure. Fig. 2 is a schematic diagram of some embodiments of the robot cabinet of the present disclosure. Fig. 3 is a schematic diagram of some embodiments of the robot chassis of the present disclosure.

As shown in Fig. 1, the delivery robot of the present disclosure can be formed by combining the robot box 200 of the embodiment of Fig. 2 and the robot chassis 100 of the embodiment of Fig. 3, wherein:

The robot chassis 100 is used to receive the distribution task information issued by the dispatch center; move to the starting point of the distribution task, and dock with the corresponding robot box 200; follow the distribution task path to transport the corresponding robot box 200 to the end of the distribution task, and the corresponding robot The box 200 is separated to complete the delivery of the robot box.

In some embodiments of the present disclosure, the delivery task information may include a delivery task starting point, a delivery task destination, and a delivery task path, where the delivery task path is planned by the dispatch center based on the delivery task data (delivery task starting point and delivery task destination) And issued to the robot chassis.

In other embodiments of the present disclosure, the delivery task information may include a delivery task starting point and a delivery task ending point, and the robot chassis autonomously plans the delivery task path according to the delivery task starting point and the delivery task ending point.

In some embodiments of the present disclosure, the delivery robot of the present disclosure may be implemented as an indoor transportation robot. The multi-purpose indoor transportation robot can replace manual transportation of various materials and consumables. The disclosed multi-purpose indoor transportation robot can be applied to hospitals, nursing homes, office buildings, hotels and other types of indoor places, supporting various scenarios such as meals, bedding, medical supplies, express delivery, etc., thereby reducing employment costs, optimizing delivery efficiency, and improving The delivery experience.

The delivery robot provided by the above-mentioned embodiments of the present disclosure may include a robot chassis and a robot box. The above-mentioned embodiments of the present disclosure adopt a detachable/carrying robot design scheme. The robot chassis can be moved to the starting point of the delivery task by controlling the robot chassis to move the robot chassis. Docking with the corresponding robot box, and transporting the corresponding robot box to the end of the delivery task according to the delivery task path, and separating it from the corresponding robot box, so that the idle robot chassis can continue to transport other robot boxes, thereby improving the robot The transportation efficiency and chassis utilization rate shorten the delivery time of multiple goods or multiple destinations, and improve the user experience.

The specific structure and function of the robot box and the robot chassis of the present disclosure are described below through specific embodiments.

Fig. 4 is a schematic diagram of other embodiments of the robot box of the present disclosure. As shown in FIG. 4, the robot box of the present disclosure (for example, the robot box 200 of the embodiment of FIG. 1 or FIG. 2) may include a display screen 201, an emergency stop button 202, a manual pusher 203, a status indicator light 204, and a door with a lock. At least one of 205 and ultrasound module 206, wherein:

As shown in Fig. 4, there are two manual push hands 203 in front and back. Before the robot box is loaded with the robot chassis, the operator can move the robot box by pushing the manual pusher 203.

The display screen 201 is used to display the motion and parameter status of the robot box.

The emergency stop button 202 is used for being manually pressed in the case of an accident in the box (a child suddenly appears, etc.) to stop the robot box from moving.

The lockable warehouse door 205 is used to close and lock the cargo after the packing is completed by the staff to keep the cargo in the box safe.

The status indicator 204 is used to always display the cabinet status (pause, stop, normal operation, etc.) during operation.

In some embodiments of the present disclosure, the robot box of the present disclosure is provided with an ultrasonic module 206 including eight ultrasonic sensors.

The ultrasound module 206 is used to detect environmental information.

Based on the robot box provided by the above-mentioned embodiments of the present disclosure, after docking with the robot chassis, the loaded robot chassis can be separated from the corresponding robot box after reaching the end of the delivery task, and the idle robot chassis can continue to transport other robot boxes. This improves the efficiency of robot delivery and the utilization rate of the chassis, shortens the delivery time of multiple goods or multiple destinations, and improves the user experience.

Fig. 5a is a schematic diagram of other embodiments of the robot chassis of the disclosure. As shown in FIG. 5, the robot chassis of the present disclosure (for example, the robot chassis of the embodiments of FIG. 1, FIG. 3, and FIG. 5b of the present disclosure) may include, for example, a robot controller 120, wherein:

The robot controller 120 is used to receive the distribution task information issued by the dispatch center, where the distribution task information includes the starting point of the distribution task, the ending point of the distribution task and the path of the distribution task; controlling the robot chassis to move to the starting point of the distribution task, and connecting the robot chassis with the corresponding robot The boxes are docked; the robot chassis is controlled to transport the corresponding robot box to the end of the distribution task according to the delivery task path, and separate from the corresponding robot box.

Fig. 5b is a schematic diagram of two directions in other embodiments of the robot chassis of the present disclosure. As shown in Figures 5a and 5b, in addition to the robot controller, the robot chassis of the present disclosure may also include a jacking platform 101, wherein:

The jacking platform 101 is set on the top of the robot chassis.

The jacking platform 101 is used to lift the robot box when the robot chassis is mounted on the robot chassis by the jacking system to lift the robot box; after the robot chassis is loaded with the robot box to the end of the delivery task, the jacking platform 101 The descent separates the robot chassis from the robot box.

In some embodiments of the present disclosure, as shown in Figures 1-2 and 4, the robot box may also include box wheels, where:

The jacking platform 101 is used to cooperate with the box of the delivery robot. After the jacking platform 101 rises to a predetermined position, the wheels of the box are suspended.

In some embodiments of the present disclosure, as shown in FIG. 5a, the robot chassis may further include a plurality of environmental sensors 130, among which:

The environment sensor 130 is used to identify the robot box when the robot chassis moves to the starting point of the delivery task.

The robot controller 120 is used to adjust the position of the robot chassis to match the position of the robot box according to the identification information of the robot box.

In some embodiments of the present disclosure, the environmental sensor 130 can also be used to monitor environmental information in real time and determine whether the robot chassis is blocked in real time during the movement of the robot chassis; the robot controller can also be used to prevent the robot from moving. According to the information of environmental sensors, it is determined that the obstacle is a dynamic obstacle or a static obstacle; when the obstacle is a static obstacle, the local path planning is performed to avoid the obstacle autonomously.

In some embodiments of the present disclosure, as shown in FIG. 5b, the environmental sensor 130 in the embodiment of FIG. 5a may include two depth cameras installed at the positions of diagonal lidars 107 and 110, and five rear ultrasound modules 104 and five. One front ultrasound module 111 and two side ultrasound modules 115, of which,

The depth cameras installed at the positions of the two diagonal lidars 107 and 110, five rear ultrasound modules 104, five front ultrasound modules 111, and two side ultrasound modules 115 are used for omnidirectional real-time monitoring of environmental information .

In some embodiments of the present disclosure, as shown in FIG. 5a, the robot chassis may further include a prompting device 140, wherein:

The robot controller 120 is used when the obstacle is a dynamic obstacle, and the prompt device 140 is activated to prompt the dynamic obstacle to leave; if the prompt is valid, the robot chassis continues to run; if the prompt is invalid, the local path planning is performed to avoid the obstacle autonomously Things.

In some embodiments of the present disclosure, as shown in FIG. 5b, the prompting device 140 in the embodiment of FIG. 5a may include an indicator light 103, two side indicator lights 108, a front indicator light at 110 positions, a speaker 112, and a status display screen 113. ,among them:

The front indicator light at the 110 position, the indicator light 103 and the two side indicator lights 108 can also be used to indicate the robot running status.

The speaker 112 can also be used to broadcast system voice prompts and real-time voice prompts.

The status display screen 113 can also be used to display the status of the robot chassis (for example, power, transportation tasks, etc.).

In some embodiments of the present disclosure, as shown in FIG. 5a, the robot chassis may further include an anti-collision module 150, wherein:

As shown in FIG. 5b, the anti-collision module 150 is arranged on the front and rear sides of the robot chassis; the anti-collision module may include a rear anti-collision module 106 and a front anti-collision module 114.

The rear anti-collision module 106 and the front anti-collision module 114 are used for collision detection and emergency braking when the robot collides with other objects during operation.

In some embodiments of the present disclosure, as shown in FIGS. 5a and 5b, the robot chassis may further include an electromagnetic lock 102, a charging electrode 105, an emergency stop button 109, and a start switch 116, among which:

The start switch 116 is used to complete the start and stop actions on the robot chassis.

The function of the electromagnetic lock 102 and the emergency stop button 109 is that the lifting platform 101 of the chassis is lifted by the lifting system during the working process of the robot chassis carrying the box body to lift the distribution robot box, and the lifting platform 101 and the distribution robot The box body cooperates to reach the predetermined position, the box body wheel is suspended, and the electromagnetic lock 102 is locked. At this time, the display screen 201 of the robot box body 200 displays the box body status. An unexpected situation occurred during transportation (skidding, sudden appearance of children, etc.) Next, the emergency stop button 109 can be manually pressed.

The robot controller 120 is used for autonomously navigating the robot chassis to the nearest charging pile electrode when the chassis power information is lower than a predetermined value; through environmental sensor observation, the charging electrode of the robot chassis is aligned with the charging pile electrode. Charging the robot chassis.

The charging electrode 105 is used for charging the charging electrode 105 and the charging pile electrode in the charging process of the robot chassis.

Based on the robot chassis provided by the above embodiments of the present disclosure, it can move to the starting point of the delivery task, dock with the corresponding robot box, and transport the corresponding robot box to the end of the delivery task according to the delivery task path, and separate it from the corresponding robot box. The idle robot chassis can continue to transport other robot boxes, thereby improving the robot transportation efficiency and chassis utilization rate, shortening the delivery time of multiple goods or multiple destinations, and improving the user experience.

The above-mentioned embodiments of the present disclosure provide an omnidirectional environment perception system, which adopts environment sensors such as diagonal lidar, depth camera, rear ultrasound module, front ultrasound module, and side ultrasound module to monitor environment information in all directions in real time, thereby improving Safety of robot operation.

Fig. 6 is a schematic diagram of some embodiments of a method for controlling a delivery robot of the present disclosure. Preferably, this embodiment can be executed by the robot controller of the present disclosure. The method includes the following steps:

Step 61: The robot controller receives the distribution task information issued by the dispatch center.

Step 62: The robot controller controls the robot chassis to move to the starting point of the distribution task, and docks the robot chassis with the corresponding robot box.

In some embodiments of the present disclosure, in step 62, the step of docking the robot chassis with the corresponding robot box may include: controlling the jacking system of the robot chassis to drive the jacking platform 101 to rise, and to top the robot box. Up.

Step 63: The robot controller controls the robot chassis to transport the corresponding robot box to the end of the delivery task according to the delivery task path, and separate it from the corresponding robot box.

In some embodiments of the present disclosure, the delivery robot control method may further include: controlling the jacking platform 101 to maintain the jacked state of the robot box during the working process of the robot chassis mounting the robot box; and mounting the robot box on the robot chassis After the body reaches the end of the distribution task, the lifting platform 101 is controlled to descend so that the robot chassis and the robot box are separated.

In some embodiments of the present disclosure, the lifting system for controlling the robot chassis drives the lifting platform 101 to rise, and the step of lifting the robot box may include: controlling the lifting platform 101 to cooperate with the delivery robot box, and After the jacking platform 101 rises to a predetermined position, the box wheels are suspended.

In some embodiments of the present disclosure, the delivery robot control method may further include: when the robot chassis moves to the starting point of the delivery task, identifying the robot box through environmental sensors; adjusting the robot according to the identification information of the robot box The position of the chassis is consistent with the position of the robot box, and then the step of docking the robot chassis with the corresponding robot box is performed.

In some embodiments of the present disclosure, the delivery robot control method may further include: during the movement of the robot chassis, real-time monitoring of environmental information through environmental sensors and real-time determination of whether the robot chassis is obstructed; in the case where the robot movement is obstructed, according to The information of the environmental sensor determines that the obstacle is a dynamic obstacle or a static obstacle; when the obstacle is a static obstacle, local path planning is performed to avoid the obstacle autonomously.

In some embodiments of the present disclosure, the delivery robot control method may further include: when the obstacle is a dynamic obstacle, starting a prompt device to prompt the dynamic obstacle to leave; if the prompt is valid, controlling the robot chassis to continue running; If the prompt is invalid, perform the steps of performing local path planning to avoid obstacles autonomously.

In some embodiments of the present disclosure, the delivery robot control method may further include: when the robot collides with other objects during operation, controlling the anti-collision module to perform collision detection and emergency braking, wherein the anti-collision mode The groups are set on the front and back sides of the robot chassis.

Based on the distribution robot control method provided by the foregoing embodiments of the present disclosure, the robot chassis can be controlled to move to the starting point of the distribution task, the robot chassis can be docked with the corresponding robot box, and the corresponding robot box can be transported to the end of the distribution task according to the distribution task path. , Separate from the corresponding robot box, so that the idle robot chassis can continue to transport other robot boxes, thereby improving the robot transportation efficiency and chassis utilization rate, shortening the delivery time of multiple goods or multiple destinations, and improving the user experience.

Fig. 7 is a schematic diagram of some embodiments of the disclosed robot controller. As shown in FIG. 7, the robot controller of the present disclosure (for example, the robot controller 120 in the embodiment of FIG. 5b) may include a delivery information receiving module 121, a box docking control module 122, and a box transportation control module 123, wherein:

The delivery information receiving module 121 is configured to receive delivery task information issued by the dispatch center, where the delivery task information includes a delivery task starting point and a delivery task ending point.

The box docking control module 122 is used to control the robot chassis to move to the starting point of the distribution task, and dock the robot chassis with the corresponding robot box.

The box transport control module 123 is used to control the robot chassis to transport the corresponding robot box to the end of the delivery task according to the delivery task path, and separate the corresponding robot box from the corresponding robot box.

In some embodiments of the present disclosure, the robot controller is used to perform operations for implementing the delivery robot control method described in any of the above embodiments (for example, the embodiment of FIG. 6).

Based on the robot controller provided by the above embodiments of the present disclosure, the robot chassis can be controlled to move to the starting point of the delivery task, dock the robot chassis with the corresponding robot box, and transport the corresponding robot box to the end of the delivery task according to the delivery task path. Separate from the corresponding robot box, so that the idle robot chassis can continue to transport other robot boxes, thereby improving the robot transportation efficiency and chassis utilization rate, shortening the delivery time of multiple goods or multiple destinations, and improving the user experience.

FIG. 8 is a schematic diagram of other embodiments of the robot controller of the present disclosure. As shown in FIG. 8, the robot controller of the present disclosure (for example, the robot controller 120 in the embodiment of FIG. 5b) may include a robot memory 128 and a robot processor 129, wherein:

The robot memory 128 is used to store instructions.

The robot processor 129 is configured to execute the instructions, so that the robot controller executes operations for implementing the delivery robot control method described in any of the foregoing embodiments (for example, the embodiment of FIG. 6).

The robot controller of the above-mentioned embodiment of the present disclosure can control the omni-directional environment perception system and use environmental sensors such as diagonal lidar, depth camera, rear ultrasound module, front ultrasound module, and side ultrasound module to monitor environment information in real time. , Thereby improving the safety of robot operation.

FIG. 9 is a schematic diagram of other embodiments of the control method of the delivery robot of the present disclosure. Preferably, this embodiment can be executed by the dispatch center of the present disclosure. The method includes the following steps:

Step 91: The dispatch center receives the distribution task data uploaded by the distribution management system.

Step 92: The dispatch center sends the distribution task information to the robot chassis so that the robot chassis can move to the starting point of the distribution task. The robot chassis will be docked with the corresponding robot box. The robot chassis will transport the corresponding robot box to the destination of the distribution task according to the delivery task path. Separate from the corresponding robot box, where the distribution task information includes the starting point and the ending point of the distribution task.

In some embodiments of the present disclosure, step 92 may include: instructing all robot chassis to perform self-inspection; acquiring the self-inspection information of all robot chassis; determining the optimum based on the self-inspection information, delivery task data, and delivery task information of all robot chassis Robot chassis; send the distribution task information to the optimal robot chassis.

In some embodiments of the present disclosure, the delivery robot control method of the present disclosure may further include a dispatch center planning a delivery task path according to the delivery task data.

In some embodiments of the present disclosure, the step of the dispatch center planning the delivery task path according to the delivery task data may include: the dispatch center plans the task path according to the delivery task data, calculates the delivery time, the robot turning situation and other information.

Based on the delivery robot control method provided by the above-mentioned embodiments of the present disclosure, the optimal robot chassis can be determined according to the self-check information, delivery task data, and delivery task information of all robot chassis; the delivery task information is sent to the optimal robot chassis for the robot chassis Move to the starting point of the delivery task, dock the robot chassis with the corresponding robot box, and transport the corresponding robot box to the end of the delivery task according to the delivery task path, and separate from the corresponding robot box, so that the idle robot chassis can continue to be transported Other robot boxes improve the efficiency of robot transportation and chassis utilization, shorten the delivery time of multiple goods or multiple destinations, and improve the user experience.

Fig. 10 is a schematic diagram of some embodiments of the dispatch center of the present disclosure. As shown in FIG. 10, the dispatch center of the present disclosure may include a distribution data receiving module 310 and a distribution information sending module 330, where:

The delivery data receiving module 310 is used to receive delivery task data uploaded by the delivery management system.

The distribution information sending module 330 is used to send the distribution task information to the robot chassis so that the robot chassis can move to the starting point of the distribution task, the robot chassis is docked with the corresponding robot box, and the robot chassis transports the corresponding robot box to the distribution according to the delivery task path The task destination is separated from the corresponding robot box, where the delivery task information includes the delivery task starting point and the delivery task ending point.

In some embodiments of the present disclosure, as shown in FIG. 9, the dispatch center of the present disclosure may further include a distribution route planning module 320, wherein:

The distribution path planning module 320 is used to plan the distribution task path according to the distribution task data. The delivery task information issued by the delivery information sending module 330 may also include the delivery task path. In some embodiments of the present disclosure, the delivery route planning module 320 may be used to plan task routes, calculate delivery time, robot turning conditions, and other information according to the delivery task data.

In some embodiments of the present disclosure, the dispatch center is used to perform operations for implementing the delivery robot control method described in any of the foregoing embodiments (for example, the embodiment of FIG. 9).

Fig. 11 is a schematic diagram of other embodiments of the dispatch center of the present disclosure. As shown in FIG. 11, the robot controller of the present disclosure may include a dispatch center memory 380 and a dispatch center processor 390, where:

The dispatch center memory 380 is used to store instructions.

The dispatch center processor 390 is configured to execute the instructions, so that the dispatch center executes operations that implement the delivery robot control method described in any of the foregoing embodiments (for example, the embodiment of FIG. 9).

Based on the dispatch center provided by the above-mentioned embodiments of the present disclosure, the intelligent distribution scheduling scheme can be used to determine the optimal robot chassis based on the self-inspection information, distribution task data, and distribution task information of all robot chassis; send the distribution task information to the optimal robot chassis , So that the robot chassis moves to the starting point of the delivery task, docks the robot chassis with the corresponding robot box, and transports the corresponding robot box to the end of the delivery task according to the delivery task path, and separates from the corresponding robot box, so that the idle robot The chassis can continue to transport other robot boxes, thereby improving the efficiency of robot transportation and the utilization rate of the chassis, shortening the delivery time of multiple goods or multiple destinations, and improving the user experience.

FIG. 12 is a schematic diagram of some embodiments of the distribution robot control system of the present disclosure. As shown in FIG. 12, the robot controller of the present disclosure may include a robot chassis 100 and a dispatch center 300, where:

The dispatch center 300 is used to receive the distribution task data uploaded by the distribution management system; and send the distribution task information to the robot chassis 100.

In some embodiments of the present disclosure, the dispatch center 300 may be a dispatch center as described in any of the foregoing embodiments (for example, the embodiment of FIG. 11 or FIG. 12).

The robot chassis 100 is used to receive the distribution task information issued by the dispatch center, where the distribution task information includes the starting point of the distribution task and the ending point of the distribution task; moving to the starting point of the distribution task, docking the robot chassis with the corresponding robot box; according to the distribution task The path transports the corresponding robot box to the end of the delivery task and separates it from the corresponding robot box.

In some embodiments of the present disclosure, the robot chassis 100 may be the robot chassis as described in any of the above-mentioned embodiments (for example, the embodiment of FIG. 1, FIG. 3, FIG. 5a, or FIG. 5b).

In some embodiments of the present disclosure, the dispatch center 300 can also be used to transport the robot box to the end of the delivery task on the robot chassis, and after the user picks up the goods manually, if the user terminal or the robot box sends the pickup completed Message, instructs the idle robot chassis 100 to transport the robot box back to the designated starting point of the delivery task, and load the new delivery task.

In some embodiments of the present disclosure, as shown in FIG. 12, the delivery robot control system may further include a delivery management system 400, wherein:

The distribution management system 400 is used to receive the distribution information input by the user, and establish distribution tasks according to the distribution information. The distribution information includes the starting point of the distribution task, the ending point of the distribution task, and the type of the distribution task; uploading the newly created distribution task data to the dispatch center.

The distribution management system 400 may be used to send the new distribution task to the dispatch center 300 after generating a new distribution task.

In some embodiments of the present disclosure, the delivery management system 400 may include a human-computer interaction interface.

In some embodiments of the present disclosure, the human-computer interaction interface can display the task list, floor information, delivery task information, robot management information and other information to the user.

In some embodiments of the present disclosure, the human-computer interaction interface can also display information such as the overview of today's tasks, the number of deliveries, the number of robots at work, the number of delivery tasks, historical task information, average delivery time, abnormal alarms, and abnormal robots to the user.

Based on the distribution robot control system provided by the foregoing embodiments of the present disclosure, its dispatch center can determine the optimal robot chassis based on the self-check information, distribution task data, and distribution task information of all robot chassis; and send the distribution task information to the optimal robot chassis. The above-mentioned embodiments of the present disclosure can control the robot chassis to move to the starting point of the delivery task, dock the robot chassis with the corresponding robot box, and transport the corresponding robot box to the end of the delivery task according to the delivery task path, and separate the robot box from the corresponding robot box. Therefore, the idle robot chassis can continue to transport other robot boxes, thereby improving the robot transportation efficiency and chassis utilization rate, shortening the delivery time of multiple goods or multiple destinations, and improving the user experience.

FIG. 13 is a schematic diagram of still other embodiments of the control method of the delivery robot of the present disclosure. Preferably, this embodiment can be executed by the delivery robot control system of the present disclosure. The method includes the following steps:

Step 1301: The user selects the starting point of the distribution task, the ending point of the distribution task, the type of the distribution task, etc. through the distribution management system to establish distribution task data.

Step 1302: The distribution management system uploads the newly-created distribution task data to the dispatch center, and the dispatch center plans the task path, calculates the delivery time, the robot turning situation and other information according to the distribution task data.

Step 1303: All robot chassis start self-checking, and report the self-checking information to the dispatch center for analysis.

Step 1304: The dispatch center judges whether the robot chassis is available according to the self-check information of the robot chassis. If the robot chassis is available, step 1307 is executed; if the robot chassis is available, step 1305 is executed.

In some embodiments of the present disclosure, the chassis self-check information may include information such as the position of the chassis and the power level of the chassis.

Step 1305: Instruct the robot chassis to repair itself (such as in the case of charging or environmental obstacle avoidance); determine whether the robot chassis repairs successfully. If the robot chassis is repaired successfully by itself, return to step 1303 to continue the robot chassis self-check; if the robot chassis fails to repair itself, go to step 1306.

In some embodiments of the present disclosure, the step of repairing the robot chassis by itself may include: when the power information of the chassis is lower than a predetermined value, the robot chassis autonomously navigates to move to the nearest charging pole electrode; observes through environmental sensors, Realize the charging electrode of the robot chassis and the charging pile electrode to pile, and charge the robot chassis.

In some embodiments of the present disclosure, the step of repairing the robot chassis by itself may include: during the movement of the robot chassis, real-time monitoring of environmental information through environmental sensors and real-time determination of whether the robot chassis is blocked; in the case where the robot's movement is blocked , Determine whether the obstacle is a dynamic obstacle or a static obstacle according to the information of the environmental sensor; when the obstacle is a static obstacle, perform local path planning to avoid the obstacle autonomously.

In some embodiments of the present disclosure, the step of repairing the robot chassis by itself may further include: when the obstacle is a dynamic obstacle, activating a prompt device to prompt the dynamic obstacle to leave; if the prompt is valid, controlling the robot chassis Continue to run; if the prompt is invalid, perform the steps of performing local path planning to avoid obstacles autonomously.

In some embodiments of the present disclosure, the step of the robot chassis performing self-repair may further include: when the robot chassis collides with other objects during operation, controlling the anti-collision module to perform collision detection and emergency braking.

Step 1306: The robot chassis uploads the self-repairing result or the self-adjusting result to the dispatch center; the dispatching center integrates the self-repairing result or the autonomous adjustment result and gives manual processing suggestions.

Step 1307: The dispatch center collects all the robot chassis self-inspection information and distribution task data for calculation, and selects the optimal robot chassis.

Step 1308: The dispatch center delivers the distribution task information to the optimal robot chassis selected in step 1307, where the distribution task information includes the starting point of the distribution task, the ending point of the distribution task, and the path of the distribution task.

Step 1309: The optimal robot chassis receives the delivery task information and starts the working mode.

Step 1310: The optimal robot chassis autonomously navigates and moves to the starting point of the delivery task according to the delivery task information.

Step 1311: The optimal robot chassis recognizes the task robot box through multiple environmental sensors, and adjusts the position to match the position of the robot box.

Step 1312: The optimal robot chassis is docked with the task robot box, and the jacking structure lifts the task robot box.

In some embodiments of the present disclosure, step 1312 may include: controlling the jacking platform to cooperate with the distribution task robot box, and after the jacking platform is raised to a predetermined position, the task robot box wheel is suspended. Step 1313: After the robot chassis jacks up the task robot box, it is transported according to the delivery task path, and step 1314 and step 1316 are performed at the same time.

In some embodiments of the present disclosure, the delivery robot control method may further include: controlling the jacking platform to maintain the jacked state of the robot box during the working process of the robot chassis mounting the robot box; and mounting the robot box on the robot chassis After reaching the end of the distribution task, the lifting platform is controlled to descend to separate the robot chassis from the robot box. In some embodiments of the present disclosure, the delivery robot control method may further include: when the delivery robot collides with other objects during the operation of the robot chassis, controlling the anti-collision module to perform collision detection and emergency braking.

In some embodiments of the present disclosure, the delivery robot control method may further include: during the operation of the robot chassis and the chassis power information is lower than a predetermined value, the robot chassis autonomously navigates to move to the nearest charging pole electrode; Environmental sensor observation realizes that the charging electrode of the robot chassis and the electrode of the charging pile are paired to the pile, and the robot chassis is charged.

Step 1314: During the movement of the optimal robot chassis, multiple environmental sensors monitor the environmental information in real time and judge whether it is blocked in real time. If the robot chassis is not blocked, go to step 1316; if the robot chassis is blocked, go to step 1315.

Step 1315: When the motion of the optimal robot chassis is blocked, perform the autonomous adjustment of the optimal robot chassis motion path; determine whether the autonomous adjustment of the optimal robot chassis motion path is successful. If the autonomous adjustment is successful, return to step 1313 and continue to transport the robot box; if the autonomous adjustment fails, then go to step 1306.

In some embodiments of the present disclosure, in step 1315, the step of performing autonomous adjustment of the movement path of the robot chassis may include: determining whether the obstacle is a dynamic obstacle or a static obstacle according to the information of multiple environmental sensors; In the case of static obstacles, perform local path planning to avoid obstacles autonomously; if the obstacles are dynamic obstacles, the robot chassis activates the voice prompt + prompt light prompt mode. If the prompt is valid, the robot chassis performs step 1313 to continue the transportation task The robot box, if the prompt is invalid, the robot chassis performs local path planning to avoid obstacles autonomously.

Step 1316: Determine whether the optimal robot chassis has reached the end of the delivery task. If the robot chassis reaches the end of the delivery task, go to step 1317; if the robot chassis does not reach the end of the delivery task, return to step 1313 to continue to transport the task robot box.

Step 1317: The optimal robot chassis distribution task The robot box arrives at the end of the distribution task and waits for manual pick-up. After the manual pick-up, the distribution task is completed.

In some embodiments of the present disclosure, after the robot chassis has transported the robot box to the end of the delivery task, the robot chassis is in idle state, and other robot boxes can continue to be transported according to the scheduling of the dispatch center.

In some embodiments of the present disclosure, the delivery robot control method may further include: after the robot chassis transports the robot box to the end of the delivery task, and the user picks up the goods manually, the user terminal or the robot box sends the delivery to the dispatch center. Complete the message; the dispatch center instructs the idle robot chassis to transport the robot box back to the designated starting point of the distribution task, and load the new distribution task.

Based on the distribution robot control method provided by the foregoing embodiments of the present disclosure, the dispatch center can determine the optimal robot chassis based on the self-check information, distribution task data, and distribution task information of all robot chassis; and send the distribution task information to the optimal robot chassis. The above-mentioned embodiments of the present disclosure can control the robot chassis to move to the starting point of the delivery task, dock the robot chassis with the corresponding robot box, and transport the corresponding robot box to the end of the delivery task according to the delivery task path, and separate the robot box from the corresponding robot box. Therefore, the idle robot chassis can continue to transport other robot boxes, thereby improving the robot transportation efficiency and chassis utilization rate, shortening the delivery time of multiple goods or multiple destinations, and improving the user experience.

The above-mentioned embodiments of the present disclosure can control the omni-directional environment perception system and adopt environmental sensors such as diagonal lidar, depth camera, rear ultrasound module, front ultrasound module, and side ultrasound module to monitor environment information in all directions in real time, thereby improving Safety of robot operation.

According to another aspect of the present disclosure, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and when the instructions are executed by a processor, they can implement any of the above-mentioned embodiments (for example, FIGS. 6 and 9). Or the delivery robot control method described in the embodiment of FIG. 13).

Based on the computer-readable storage medium provided by the foregoing embodiments of the present disclosure, the optimal robot chassis can be determined based on the self-check information, delivery task data, and delivery task information of all robot chassis; the delivery task information can be sent to the optimal robot chassis. The above-mentioned embodiments of the present disclosure can control the robot chassis to move to the starting point of the delivery task, dock the robot chassis with the corresponding robot box, and transport the corresponding robot box to the end of the delivery task according to the delivery task path, and separate the robot box from the corresponding robot box. Therefore, the idle robot chassis can continue to transport other robot boxes, thereby improving the robot transportation efficiency and chassis utilization rate, shortening the delivery time of multiple goods or multiple destinations, and improving the user experience.

The robot controller and dispatch center described above can be implemented as general-purpose processors, programmable logic controllers (PLC), digital signal processors (DSP), and application-specific integrated circuits (ASIC) for performing the functions described in this application , Field Programmable Gate Array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, or any appropriate combination thereof.

So far, the present disclosure has been described in detail. In order to avoid obscuring the concept of the present disclosure, some details known in the art are not described. Based on the above description, those skilled in the art can fully understand how to implement the technical solutions disclosed herein.

Those of ordinary skill in the art can understand that all or part of the steps in the foregoing embodiments can be implemented by hardware, or by a program to instruct related hardware to be completed. The program can be stored in a computer-readable storage medium. The storage medium mentioned can be a read-only memory, a magnetic disk or an optical disk, etc.

The description of the present disclosure is given for the sake of example and description, and is not exhaustive or limiting the present disclosure to the disclosed form. Many modifications and changes are obvious to those of ordinary skill in the art. The embodiments are selected and described in order to better illustrate the principles and practical applications of the present disclosure, and to enable those of ordinary skill in the art to understand the present disclosure so as to design various embodiments with various modifications suitable for specific purposes.

Claims

A robot chassis, in which the robot chassis is used to receive the distribution task information issued by the dispatch center, where the distribution task information includes the starting point and the ending point of the distribution task; it autonomously moves to the starting point of the distribution task and docks with the corresponding robot box ; Transport the corresponding robot box to the end of the distribution task and separate it from the corresponding robot box.
The robot chassis according to claim 1, comprising a jacking platform, wherein:

The jacking platform is set on the top of the robot chassis;

The jacking platform is used to lift the robot box when the robot chassis is mounted on the robot chassis, and the robot box is lifted by the jacking system; after the robot chassis is loaded with the robot box to the end of the delivery task, the jacking platform is lowered so that The robot chassis and the robot box are separated.
The robot chassis according to claim 1 or 2, further comprising a robot controller, wherein:

The robot controller is used to receive the distribution task information issued by the dispatch center. The distribution task information includes the starting point and the ending point of the distribution task; controlling the robot chassis to move to the starting point of the distribution task and docking with the corresponding robot box; controlling the robot chassis The corresponding robot box is transported to the end of the distribution task and separated from the corresponding robot box.
The robot chassis according to claim 3, further comprising a plurality of environmental sensors, wherein:

Environmental sensors are used to identify the robot box when the robot chassis moves to the starting point of the distribution task, and send the identification information of the robot box to the robot controller;

The robot controller is used to adjust the position of the robot chassis to match the position of the robot box according to the identification information of the robot box, and then control the robot chassis to dock with the corresponding robot box.
The robot chassis according to claim 4, further comprising a prompting device, wherein:

Environmental sensors are used to monitor environmental information in real time during the movement of the robot chassis and send the monitoring information to the robot controller;

The robot controller is used to judge whether the robot chassis is blocked in real time based on the environment information, and when the robot movement is blocked, determine whether the obstacle is a dynamic obstacle or a static obstacle according to the environmental information;

The prompting device is used to prompt the dynamic obstacle to leave when the robot controller determines that the obstacle is a dynamic obstacle, and to prompt the dynamic obstacle to leave according to the instructions of the robot controller; and to display the status information of the robot chassis in real time.
The robot chassis according to claim 5, wherein:

The robot controller is also used for local path planning to avoid obstacles autonomously when the obstacle is a static obstacle; when the prompt of the prompt device is valid, control the robot chassis to continue running; when the prompt of the prompt device is invalid In the case of local path planning, avoid obstacles autonomously.
The robot chassis according to claim 3, further comprising an anti-collision module, wherein:

Anti-collision modules are arranged on the front and rear sides of the robot chassis;

The anti-collision module is used for collision detection and emergency braking when the robot collides with other objects during operation.
A delivery robot, comprising a robot box and the robot chassis according to any one of claims 1-7.
The delivery robot according to claim 8, wherein the robot box includes at least one of a display screen, an emergency stop button, a manual pusher, a status indicator, a door with a lock, and an ultrasonic module.
A dispatch center including:

The distribution data receiving module is used to receive the distribution task data uploaded by the distribution management system;

The distribution information sending module is used to send the distribution task information to the robot chassis so that the robot chassis moves to the starting point of the distribution task according to the distribution task information. The robot chassis docks with the corresponding robot box, and the robot chassis transports the corresponding robot box to The end of the delivery task is separated from the corresponding robot box, where the delivery task information includes the start of the delivery task and the end of the delivery task.
A dispatch center including:

Dispatching center memory, used to store instructions;

The dispatch center processor is used to execute the instructions so that the dispatch center performs the following operations: receiving the distribution task data uploaded by the distribution management system; sending the distribution task information to the robot chassis so that the robot chassis moves to the starting point of the distribution task, and the robot The chassis is docked with the corresponding robot box, and the robot chassis transports the corresponding robot box to the end of the delivery task and separates it from the corresponding robot box. The delivery task information includes the starting point of the delivery task and the end of the delivery task.
A distribution robot control system, characterized in that the robot chassis according to any one of claims 1-7 and the dispatch center according to claim 10 or 11.
The delivery robot control system according to claim 12, further comprising:

The distribution management system is used to receive the distribution information input by the user, and establish distribution tasks according to the distribution information. The distribution information includes the starting point of the distribution task, the ending point of the distribution task, and the type of the distribution task; the newly created distribution task data is uploaded to the dispatch center.
A control method of a distribution robot includes:

Receive the distribution task information issued by the dispatch center, where the distribution task information includes the starting point and the ending point of the distribution task;

Control the robot chassis to move to the starting point of the distribution task, and dock the robot chassis with the corresponding robot box;

Control the robot chassis to transport the corresponding robot box to the end of the distribution task according to the delivery task path, and separate it from the corresponding robot box.
The delivery robot control method according to claim 14, wherein:

The docking of the robot chassis with the corresponding robot box includes: controlling the jacking system of the robot chassis to drive the jacking platform to rise, and jack up the robot box;

The delivery robot control method further includes: controlling the jacking platform to maintain the jacked state of the robot box during the working process of the robot chassis carrying the robot box; after the robot chassis carrying the robot box reaches the end of the delivery task, controlling the jacking platform The descent separates the robot chassis from the robot box.
The distribution robot control method according to claim 15, wherein the lifting system for controlling the robot chassis drives the lifting platform to lift, and lifting the robot box comprises:

The control jacking platform cooperates with the distribution robot box, and after the jacking platform is raised to a predetermined position, the box wheels are suspended.
The delivery robot control method according to any one of claims 14-16, further comprising:

When the robot chassis moves to the starting point of the distribution task, the robot box is identified through environmental sensors;

According to the identification information of the robot box, adjust the position of the robot chassis to match the position of the robot box, and then perform the steps of docking the robot chassis with the corresponding robot box.
The delivery robot control method according to any one of claims 14-16, further comprising:

During the movement of the robot chassis, real-time monitoring of environmental information through environmental sensors and real-time judgment of whether the robot chassis is blocked;

In the case that the movement of the robot is blocked, the obstacle is determined as a dynamic obstacle or a static obstacle according to the information of the environmental sensor;

When the obstacle is a static obstacle, the local path planning is performed to avoid the obstacle autonomously.
The control method of a delivery robot according to claim 18, further comprising:

When the obstacle is a dynamic obstacle, the prompt device is activated to prompt the dynamic obstacle to leave;

If the prompt is valid, control the robot chassis to continue running;

If the prompt is invalid, perform the steps of performing local path planning to avoid obstacles autonomously.
The delivery robot control method according to any one of claims 14-16, further comprising:

When the robot collides with other objects during operation, the anti-collision module is controlled to perform collision detection and emergency braking. The anti-collision module is arranged on the front and rear sides of the robot chassis.
A control method of a distribution robot includes:

Receive distribution task data uploaded by the distribution management system;

Send the distribution task information to the robot chassis so that the robot chassis can move to the starting point of the distribution task. The robot chassis will be docked with the corresponding robot box. The robot chassis will transport the corresponding robot box to the end of the distribution task and separate it from the corresponding robot box. , The distribution task information includes the starting point of the distribution task and the ending point of the distribution task.
The delivery robot control method according to claim 21, wherein the sending the delivery task information to the robot chassis comprises:

Instruct all robot chassis to perform self-inspection;

Obtain the self-inspection information of all robot chassis;

Determine the optimal robot chassis based on the self-inspection information, distribution task data and distribution task information of all robot chassis;

Send the distribution task information to the optimal robot chassis.
A computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and when the instructions are executed by a processor, the delivery robot control method according to any one of claims 14-22 is realized.