WO2022068268A1

WO2022068268A1 - Automatic pick-up and drop-off method and system for mobile robot

Info

Publication number: WO2022068268A1
Application number: PCT/CN2021/100230
Authority: WO
Inventors: 王超
Original assignee: 上海有个机器人有限公司
Priority date: 2020-09-29
Filing date: 2021-06-16
Publication date: 2022-04-07
Also published as: CN112396286B; CN112396286A

Abstract

Disclosed are an automatic pick-up and drop-off method and system for a mobile robot. The method comprises the following steps: receiving a pick-up waybill pushed by a container server; creating a drop-off waybill, and allocating a target robot for the drop-off waybill; pushing the state of the drop-off waybill and the state of the target robot to the container server, until the target robot moves to a pick-up location; interacting with the container server until the target robot completes station entry, connection, and station exit; and continuing to push the state of the drop-off waybill to the container server, until the target robot moves to a target drop-off location. In the present invention, by means of waybill pushing and information pushing of a dispatch server and a container server, a robot automatically receives and delivers goods placed in an intelligent container, and in particular, the robot can be used for carrying and delivering some relatively heavy pre-ordered items, such that highly efficient, convenient and automatic intelligent services are provided for a user, and the experience of the user is thus improved.

Description

A method and system for automatically picking up and delivering parts of a mobile robot

【Technical field】

The invention relates to the field of robots, in particular to a method and system for automatically picking up and delivering parts of a mobile robot.

【Background technique】

With the maturity of driverless technology and the introduction of concepts such as the Internet of Things and smart cities, intelligent distribution robots have gradually entered people's field of vision. Delivery robots can replace manual labor in many application scenarios. For example, in some public places such as office buildings, high-end communities, and campuses, ordinary logistics personnel cannot enter these areas to complete distribution. At this time, delivery robots can replace logistics personnel, making people work and live continuously. Smart and automated. With the increasing development and maturity of automatic container technology, the application of automatic containers is becoming wider and wider, and more and more are deployed, which can be seen everywhere in subway stations, shopping malls, and office buildings. At present, the automatic containers on the market are all used for personal operation. People select items on the spot, and then pay for them. The corresponding items are taken out from the shelves and transferred to the pick-up port (also called the delivery port) through the transmission component. In these application environments, there is no smart container and its matching pickup and delivery robot that can provide users with efficient and convenient automated pickup and delivery services.

[Content of the invention]

The present invention provides a method and system for automatically picking up and delivering parts of a mobile robot, which solves the above-mentioned technical problems.

The technical solution of the present invention to solve the above-mentioned technical problems is as follows: an automatic pickup and delivery method for a mobile robot, which is applied to a scheduling server and includes the following steps:

Step 1: Receive the pick-up bill pushed by the container server, the information of the pick-up bill includes the pick-up bill number, the pick-up point and the target distribution point;

Step 2: Create a delivery waybill according to the information of the pick-up waybill, assign a target robot to the distribution waybill, and push the distribution result to the container server, where the distribution result includes the distribution list number, the state of the distribution waybill, and the target robot. ID and position label;

Step 3: Continue to obtain the status of the delivery waybill and the target robot, and push the status of the delivery waybill and the target robot to the container server in the form of events until the target robot moves to the fetcher. cargo location;

Step 4, interact with the container server, until the target robot is completed in pile entry, connection and pile out;

Step 5: Continue to obtain the status of the delivery waybill and the target robot, and push the status of the delivery waybill and the target robot to the container server in the form of events until the target robot moves to the target. delivery point.

In a preferred embodiment, the creation of a delivery waybill according to the information of the pick-up waybill, and the allocation of a target robot to the delivery waybill, is specifically:

S201, create a delivery waybill according to the information of the pick-up waybill, and push the distribution waybill to a container server;

S202, immediately assign a target robot to the delivery waybill, and lock at least one position of the target robot;

S203, push the allocation result to the container server;

S204, when no target robot accepts the delivery waybill within a preset time period, cancel the delivery waybill, generate a cancellation result and send it to the container server.

In a preferred embodiment, the interaction with the container server until the completion of the target robot piling, specifically includes the following steps:

S401, after the target robot moves to the pickup point, continuously push the status of the target robot to the container server as having reached the container point;

S402, receiving the open state of the container door continuously pushed by the container server, and sending a pile entry instruction to the target robot;

S403, obtain the real-time status of the target robot, and continuously push the status of the target robot to the container server as being in the pile;

S404, receiving the pile-in-place signal continuously pushed by the container server, and sending an instruction to end the pile-in to the target robot;

S405, obtain the real-time status of the target robot, and push the status of the target robot to the container server as having completed the piling.

In a preferred embodiment, the interaction with the container server until the connection of the target robot is completed, specifically includes the following steps:

S406, receiving the delivery status continuously pushed by the container server, until the delivery status is switched from delivery to delivery completion;

S407, send a weighing instruction to the target robot, and obtain the weighing result of the target robot, if there is a change in the weighing result, the state of pushing the delivery waybill to the container server is that the delivery is successful;

The container server uses the corresponding hopper to release goods according to the bin label, and detects whether there is goods on the hopper after the hopper action is completed, and if there is no goods, pushes the delivery completion status to the dispatch server.

In a preferred embodiment, the interaction with the container server is performed until the target robot is completed, specifically:

S408, when it is determined that all the delivery waybills corresponding to the pick-up point have completed the delivery of goods, send a pile-out instruction to the target robot, and push the status of the target robot to the container server as pile-out;

S409 , after the target robot is moved out of the container, the state of pushing the target robot to the container server is that the pile-out is completed.

In a preferred embodiment, it also includes a step of abnormally ending the waybill, and the step of ending the waybill abnormally is specifically:

Obtain the pile-in duration of the target robot and/or the opening duration of the cabinet door, when the pile-in duration or the opening duration is greater than the first preset threshold, send a pile-out instruction to the target robot, and wait for the target robot to complete the pile-out Then cancel the delivery waybill, and generate a cancellation result and send it to the container server;

Obtain the waiting time for delivery and/or the number of retries for delivery of the target robot, and when the waiting time for delivery is greater than the second preset threshold or the number of retries for delivery is greater than the preset number, send a pile to the target robot order, and cancel the delivery waybill after the target robot is completed, and generate a cancellation result and send it to the container server;

The cancellation result includes the delivery order number, the status of the delivery waybill, and the reason for cancellation.

A second aspect of this embodiment provides an automatic pickup and delivery system for a mobile robot, including a dispatch server, a container server, and a target robot, and the dispatch server includes a waybill receiving module, a waybill assigning module, a first interaction module, a second an interaction module and a third interaction module,

The waybill receiving module is used to receive the pickup bill pushed by the container server, and the information of the pickup bill includes the pickup number, the pickup point and the target delivery point;

The waybill distribution module is used to create a distribution waybill according to the information of the pick-up waybill, assign a target robot to the distribution waybill, and push the distribution result to the container server, where the distribution result includes the distribution number, the distribution waybill Status, target robot ID and position label;

The first interaction module is used to continuously obtain the status of the delivery note and the target robot, and push the status of the delivery note and the target robot to the container server in the form of events until the target robot is move to said pickup point;

The second interaction module is used for interacting with the container server until the target robot completes piling, connection and piling;

The third interaction module is used to continuously acquire the status of the delivery note and the target robot, and push the status of the delivery note and the target robot to the container server in the form of events until the target robot is Move to the target delivery point.

In a preferred embodiment, the second interaction module includes a pile-in interaction unit, and the pile-in interaction unit is used to continuously push the target robot to the container server after the target robot moves to the pick-up point, and the status of the target robot is reached. container point; and the open state of the container door used to receive the continuous push from the container server, and send the pile-in command to the target robot; and used to obtain the real-time status of the target robot, and continuously push the status of the target robot to the container server as pile-in and is used to receive the pile-in-place signal continuously pushed by the container server, and send the end-pile-in instruction to the target robot; and is used to obtain the real-time status of the target robot, and push the status of the target robot to the container server that the pile-in has been completed. .

In a preferred embodiment, the container server is configured to use a corresponding hopper to release goods according to the bin label, and to detect whether there is goods on the hopper after the operation of the hopper is completed, and push and release the goods to the dispatch server if there is no goods. finished condition;

The second interaction module includes a connection interaction unit, and the connection interaction unit is configured to receive the delivery status continuously pushed by the container server until the delivery status is switched from delivery to delivery completion; The target robot sends a weighing instruction and obtains the weighing result of the target robot. If there is a change in the weighing result, the status of pushing the delivery waybill to the container server is that the delivery is successful.

In a preferred embodiment, the second interaction module includes a pile-out interaction unit, and the pile-out interaction unit is configured to send a message to the target robot when it is determined that all the delivery waybills corresponding to the pickup point have been released. The pile-out instruction is sent to the container server, and the status of the target robot is pile-out; and after the target robot is moved out of the container, the status of the target robot is pushed to the container server as pile-out completed.

In a preferred embodiment, the waybill allocation module specifically includes:

A creation unit, configured to create a delivery waybill according to the information of the pick-up waybill, and push the delivery waybill to the container server;

an allocation unit for immediately allocating a target robot to the delivery waybill, and locking at least one position of the target robot;

The allocation result push unit is used to push the allocation result to the container server;

The canceling unit is configured to cancel the delivery waybill when no target robot accepts the delivery waybill within a preset time period, and generate a cancellation result and send it to the container server.

In a preferred embodiment, the dispatch server further includes a waybill abnormal end module, and the waybill abnormal end module includes a first end unit and a second end unit,

The first end unit is used to obtain the pile-in duration of the target robot and/or the opening duration of the cabinet door, and when the pile-in duration or the opening duration is greater than the first preset threshold, send a pile-out instruction to the target robot , and cancel the delivery waybill after the target robot is completed, and generate the cancellation result and send it to the container server;

The second end unit is used to obtain the waiting time for delivery and/or the number of retries for delivery of the target robot, when the waiting time for delivery is greater than the second preset threshold or the number of retries for delivery is greater than the preset number of times. When the stubbing instruction is sent to the target robot, and the delivery waybill is cancelled after the target robot has completed the staking, and a cancellation result is generated and sent to the container server;

The present invention provides a method and system for automatically picking up and delivering pieces of a mobile robot. Through the waybill push and information push of the dispatch server and the container server, the robot can automatically receive and deliver the goods placed in the smart container, and in particular, the robot can be used. Carrying and delivering some heavy reservation items, so as to provide users with efficient, convenient and automated intelligent services and improve user experience.

In order to make the above-mentioned objects, features and advantages of the invention more obvious and easy to understand, the preferred embodiments of the invention are exemplified below, and are described in detail as follows in conjunction with the accompanying drawings.

【Description of drawings】

In order to illustrate the technical solutions of the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings used in the embodiments. It should be understood that the following drawings only show some embodiments of the present invention, and therefore do not It should be regarded as a limitation of the scope, and for those of ordinary skill in the art, other related drawings can also be obtained according to these drawings without any creative effort.

Fig. 1 is the schematic flow chart of the automatic pick-up and delivery method of the mobile robot provided by Embodiment 1;

Fig. 2 is the interaction diagram of the container server and the dispatch server when the target robot enters the pile in the embodiment 1;

Fig. 3 is the interaction diagram of the container server and the dispatch server when the target robot is connected in the embodiment 1;

Fig. 4 is the interaction diagram of the container server and the dispatch server when the target robot is out of piles in the embodiment 1;

FIG. 5 is a schematic structural diagram of an automatic part picking system for a mobile robot provided in Embodiment 2. FIG.

【Detailed ways】

In order to make the objectives, technical solutions and beneficial technical effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described in this specification are only for explaining the present invention, and not for limiting the present invention.

Fig. 1 is a schematic flowchart of the method for automatically picking up and delivering parts of a mobile robot provided in Embodiment 1 of the present invention, which is applied to a scheduling server of a mobile robot, as shown in Fig. 1, including the following steps:

Step 1: Receive the pick-up bill pushed by the container server, the information of the pick-up bill includes the pick-up bill number, the pick-up point and the target distribution point. The pickup shipping order is created on the container server by the user through an app, a small program or a container panel, and is then pushed to the dispatch server by the container server.

Step 2: Create a delivery waybill according to the information of the delivery waybill, assign a target robot to the delivery waybill, and push the distribution result to the container server. Specifically include the following steps:

S201, create a delivery waybill according to the information of the pick-up waybill, and push the delivery waybill to the container server, where the information of the delivery waybill includes the delivery number and the created state of the delivery waybill.

S202, immediately assign a target robot to the delivery waybill, and lock at least one position of the target robot. In the preferred embodiment, after the delivery waybill is created, the order is not pressed but distributed immediately, thereby improving the efficiency of picking up and delivering parts. At the same time, the allocation is asynchronous to the order creation because there may not be a robot available at all times.

S203, push the distribution result to the container server, where the distribution result includes the delivery order number, the delivery waybill status, the target robot ID, and the bin label. At this time, the delivery waybill status is allocated.

Then perform step 3, continue to obtain the status of the delivery waybill and the target robot, and push the status of the delivery waybill and the target robot to the container server in the form of events until the target robot moves to the desired location. Describe the pickup point to prepare for the next step of robot piling.

Step 4: Interact with the container server until the target robot completes the piling, connection and piling.

Figure 2 is the interaction diagram of the container server and the dispatch server when the target robot enters the pile, as shown in Figure 2, which specifically includes the following steps:

S401, after the target robot moves to the pickup point, the dispatch server continues to push the status of the target robot to the container server as having reached the container point;

S402, the dispatch server receives the open state of the container door continuously pushed by the container server, and sends a pile entry instruction to the target robot;

S403, the scheduling server obtains the real-time status of the target robot, and continuously pushes the status of the target robot to the container server as being in the pile;

S404, the dispatch server receives the pile-in-place signal continuously pushed by the container server, and sends an end pile-in instruction to the target robot;

S405 , the scheduling server obtains the real-time status of the target robot, and pushes the status of the target robot to the container server as having completed the piling.

During the above pile entry process, the container door of the container remains open, and the dispatch server and the container server continue to exchange status information until the robot successfully enters the pile. The container is also required to be checked in place, and the pile entry is successful only when the two are satisfied at the same time.

Figure 3 is the interaction diagram of the container server and the dispatch server when the target robot is connected, as shown in Figure 3, which specifically includes the following steps:

S406, the container server uses the corresponding hopper to release goods according to the position label, and detects whether there is goods on the hopper after the hopper action is completed, and if there is no goods, pushes the delivery completion status to the dispatch server. The dispatch server receives the delivery status continuously pushed by the container server until the delivery status is switched from delivery to delivery completion.

S407, the scheduling server sends a weighing instruction to the target robot, and obtains the weighing result of the target robot. If there is a change in the weighing result, the status of pushing the delivery waybill to the container server is that the delivery is successful. Here, the successful delivery status needs to satisfy the completion of the funnel action, the detection of no goods in the funnel, and the changes in the robot weighing.

Figure 4 is the interaction diagram of the container server and the dispatch server when the target robot is out of the pile, as shown in Figure 4, which specifically includes the following steps:

S408, when it is determined that all the delivery waybills corresponding to the pickup point have been released, the dispatch server sends a pile-out instruction to the target robot, and pushes the status of the target robot to the container server as pile-out;

S409 , after the target robot is removed from the container, the dispatch server pushes the status of the target robot to the container server as the pile-out completed. When the container server cannot receive the target robot for N seconds, it can automatically close the door.

As shown in FIG. 2-FIG. 3, the method for automatically picking up and delivering parts in the preferred embodiment further includes the step of abnormally ending the waybill, and the step of ending the waybill abnormally is specifically:

S501, obtain the pile-in duration of the target robot and/or the opening duration of the cabinet door, when the pile-in duration or the opening duration is greater than a first preset threshold, send a pile-out instruction to the target robot, and wait for the target robot to exit After the pile is completed, the delivery waybill is cancelled, and a cancellation result is generated and sent to the container server;

S502: Acquire the waiting time for delivery and/or the number of retries for delivery of the target robot, and when the waiting time for delivery is greater than a second preset threshold or the number of retries for delivery is greater than a preset number, send a message to the target robot Send out the pile instruction, and cancel the delivery waybill after the target robot completes the pile out, and generate a cancellation result and send it to the container server;

Finally, step 5 is executed, the scheduling server continuously obtains the status of the delivery waybill and the target robot, and pushes the status of the delivery waybill and the target robot to the container server in the form of events until the target robot moves to the target delivery point.

The above provides an automatic pick-up and delivery method for a mobile robot. Through the waybill push and information push of the dispatch server and the container server, the robot can automatically receive and deliver the goods placed in the smart container, especially the robot can be used for handling and delivery. Some heavier pre-order items can provide users with efficient, convenient and automated intelligent services and improve user experience.

It should be understood that the size of the sequence numbers of the steps in the above embodiments does not mean the sequence of execution, and the execution sequence of each process should be determined by its functions and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

FIG. 5 is a schematic structural diagram of the automatic pickup and delivery system for a mobile robot provided in Embodiment 2, including a dispatch server 100, a container server 200 and a target robot 300. The dispatch server 100 includes a waybill receiving module 101, a waybill distribution module 102, a an interaction module 103, a second interaction module 104 and a third interaction module 105,

The waybill receiving module 101 is configured to receive the pickup bill pushed by the container server, and the information of the pickup bill includes the pickup number, the pickup point and the target delivery point;

The waybill distribution module 102 is configured to create a distribution waybill according to the information of the pickup waybill, assign a target robot to the distribution waybill, and push the distribution result to the container server, where the distribution result includes the distribution number, the distribution Waybill status, target robot ID and position label;

The first interaction module 103 is used to continuously acquire the status of the delivery waybill and the target robot, and push the status of the delivery waybill and the target robot to the container server in the form of events until the target the robot moves to the pickup point;

The second interaction module 104 is used for interacting with the container server until the target robot completes piling, connection and piling;

The third interaction module 105 is configured to continuously obtain the status of the delivery waybill and the target robot, and push the status of the delivery waybill and the target robot to the container server in the form of events until the target The robot moves to the target delivery point.

In a preferred embodiment, the second interaction module 104 includes a pile entry interaction unit 1041, and the pile entry interaction unit 1041 is used to continuously push the state of the target robot to the container server after the target robot moves to the pickup point. It means that the container point has been reached; and it is used to receive the open state of the container door continuously pushed by the container server, and send a pile-in instruction to the target robot; and it is used to obtain the real-time status of the target robot and continuously push the status of the target robot to the container server. and is used to receive the pile-in-place signal continuously pushed by the container server, and send the end-piling instruction to the target robot; and is used to obtain the real-time status of the target robot, and push the status of the target robot to the container server as completed. The piling is completed.

In a preferred embodiment, the container server 200 is configured to use the corresponding hopper to release the goods according to the position label, and to detect whether there is goods on the hopper after the operation of the hopper is completed, and if there is no goods, push and put the goods to the dispatch server. completion status of the goods;

The second interaction module 104 includes a connection interaction unit 1042, and the connection interaction unit 1042 is configured to receive the delivery status continuously pushed by the container server until the delivery status is switched from delivery to delivery completion; and It is used to send a weighing instruction to the target robot and obtain the weighing result of the target robot. If there is a change in the weighing result, the status of pushing the delivery waybill to the container server is that the delivery is successful.

In a preferred embodiment, the second interaction module 104 includes a pile-out interaction unit 1043, and the pile-out interaction unit 1043 is configured to send a message to the collection point when it is determined that all the delivery waybills corresponding to the pickup point have been released. The target robot sends a pile-out instruction, and pushes the status of the target robot to the container server as pile-out; and is used to push the target robot to the container server after the target robot is removed from the container as pile-out completed.

In a preferred embodiment, the waybill distribution module 102 specifically includes:

The creating unit 1021 is configured to create a delivery waybill according to the information of the pickup waybill, and push the delivery waybill to the container server;

an allocation unit 1022, configured to immediately allocate a target robot to the delivery waybill, and lock at least one position of the target robot;

an allocation result pushing unit 1023, configured to push the allocation result to the container server;

The canceling unit 1024 is configured to cancel the delivery waybill when no target robot accepts the delivery waybill within a preset time period, and generate a cancellation result and send it to the container server.

In a preferred embodiment, the scheduling server 100 further includes a waybill abnormal end module 106, and the waybill abnormal end module 106 includes a first end unit 1061 and a second end unit 1062,

The first ending unit 1061 is used to obtain the pile-in duration of the target robot and/or the opening duration of the cabinet door, and when the pile-in duration or the opening duration is greater than the first preset threshold, send the pile-out duration to the target robot. order, and cancel the delivery waybill after the target robot is completed, and generate a cancellation result and send it to the container server;

The second end unit 1062 is used to obtain the waiting time for delivery and/or the number of retries for delivery of the target robot. When the waiting time for delivery is greater than the second preset threshold or the number of retries for delivery is greater than a preset When the number of times, send a pile-out instruction to the target robot, and cancel the delivery waybill after the target robot completes the pile-out, and generate a cancellation result and send it to the container server; the cancellation result includes the delivery order number, delivery waybill status and cancellation. reason.

Those skilled in the art can clearly understand that, for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. Module completion, that is, dividing the internal structure of the device into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment may be integrated in one processing unit, or each unit may exist physically alone, or two or more units may be integrated in one unit, and the above-mentioned integrated units may adopt hardware. It can also be realized in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing from each other, and are not used to limit the protection scope of the present application. For the specific working processes of the units and modules in the above-mentioned system, reference may be made to the corresponding processes in the foregoing method embodiments, which will not be repeated here.

In the foregoing embodiments, the description of each embodiment has its own emphasis. For parts that are not described or described in detail in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

Those of ordinary skill in the art can realize that the units and method steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each particular application, but such implementations should not be considered beyond the scope of the present invention.

In the embodiments provided by the present invention, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other manners. For example, the apparatus/terminal device embodiments described above are only illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units. Or components may be combined or may be integrated into another system, or some features may be omitted, or not implemented. On the other hand, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated units may be implemented in the form of hardware, or may be implemented in the form of software functional units.

The present invention is not limited only to what is described in the specification and embodiments, so that additional advantages and modifications can easily be realized by those skilled in the art, without departing from the spirit and scope of the general concept defined by the claims and equivalents In the event that the invention is not limited to the specific details, representative apparatus, and illustrative examples shown and described herein.

Claims

A method for automatically picking up and delivering parts of a mobile robot, which is applied to a dispatch server, is characterized in that, it comprises the following steps:

Step 1: Receive the pick-up bill pushed by the container server, the information of the pick-up bill includes the pick-up bill number, the pick-up point and the target distribution point;

Step 2: Create a delivery waybill according to the information of the pick-up waybill, assign a target robot to the distribution waybill, and push the distribution result to the container server, where the distribution result includes the distribution list number, the state of the distribution waybill, and the target robot. ID and position label;

Step 3: Continue to obtain the status of the delivery waybill and the target robot, and push the status of the delivery waybill and the target robot to the container server in the form of events until the target robot moves to the fetcher. cargo location;

Step 4, interact with the container server, until the target robot is completed in pile entry, connection and pile out;

Step 5: Continue to obtain the status of the delivery waybill and the target robot, and push the status of the delivery waybill and the target robot to the container server in the form of events until the target robot moves to the target. delivery point.
The method for automatically picking up and delivering parts for a mobile robot according to claim 1, characterized in that, creating a delivery waybill according to the information of the pick-up waybill, and assigning a target robot to the distribution waybill, specifically:

S201, create a delivery waybill according to the information of the pick-up waybill, and push the distribution waybill to a container server;

S202, immediately assign a target robot to the delivery waybill, and lock at least one position of the target robot;

S203, push the allocation result to the container server;

S204, when no target robot accepts the delivery waybill within a preset time period, cancel the delivery waybill, generate a cancellation result and send it to the container server.
The method for automatically picking up and delivering parts of a mobile robot according to claim 1 or 2, characterized in that, the interaction with the container server until the target robot piling is completed, specifically comprising the following steps:

S401, after the target robot moves to the pickup point, continuously push the status of the target robot to the container server as having reached the container point;

S402, receiving the open state of the container door continuously pushed by the container server, and sending a pile entry instruction to the target robot;

S403, obtain the real-time status of the target robot, and continuously push the status of the target robot to the container server as being in the pile;

S404, receiving the pile-in-place signal continuously pushed by the container server, and sending an instruction to end the pile-in to the target robot;

S405, obtain the real-time status of the target robot, and push the status of the target robot to the container server as having completed the piling.
The method for automatically picking up and delivering parts for a mobile robot according to claim 3, wherein the interaction with the container server until the connection of the target robot is completed, specifically includes the following steps:

S406, receiving the delivery status continuously pushed by the container server, until the delivery status is switched from delivery to delivery completion;

S407, sending a weighing instruction to the target robot, and obtaining the weighing result of the target robot, if there is a change in the weighing result, the status of pushing the delivery waybill to the container server is that the delivery is successful;

The container server uses the corresponding hopper to release goods according to the bin label, and detects whether there is goods on the hopper after the hopper action is completed, and if there is no goods, pushes the delivery completion status to the dispatch server.
The method for automatically picking up and delivering parts for a mobile robot according to claim 4, wherein the interaction with the container server until the target robot completes the pile-out, specifically:

S408, when it is determined that all the delivery waybills corresponding to the pick-up point have completed the delivery of goods, send a pile-out instruction to the target robot, and push the status of the target robot to the container server as pile-out;

S409 , after the target robot is moved out of the container, the state of pushing the target robot to the container server is that the pile-out is completed.
The method for automatically picking up and delivering parts for a mobile robot according to claim 5, further comprising a step of abnormally ending the waybill, and the step of ending the waybill abnormally is specifically:

Obtain the pile-in duration of the target robot and/or the opening duration of the cabinet door, when the pile-in duration or the opening duration is greater than the first preset threshold, send a pile-out instruction to the target robot, and wait for the target robot to complete the pile-out Then cancel the delivery waybill, and generate a cancellation result and send it to the container server;

Obtain the waiting time for delivery and/or the number of retries for delivery of the target robot, and when the waiting time for delivery is greater than the second preset threshold or the number of retries for delivery is greater than the preset number, send a pile to the target robot order, and cancel the delivery waybill after the target robot is completed, and generate a cancellation result and send it to the container server;

The cancellation result includes the delivery order number, the status of the delivery order, and the reason for cancellation.
An automatic pickup and delivery system for a mobile robot, characterized in that it includes a dispatch server, a container server and a target robot, and the dispatch server includes a waybill receiving module, a waybill assigning module, a first interaction module, a second interaction module and a third interactive module,

The waybill receiving module is configured to receive the pickup bill pushed by the container server, and the information of the pickup bill includes the pickup number, the pickup point and the target delivery point;

The waybill distribution module is used to create a distribution waybill according to the information of the pick-up waybill, assign a target robot to the distribution waybill, and push the distribution result to the container server, where the distribution result includes the distribution list number, the distribution waybill Status, target robot ID and bin label;

The first interaction module is used to continuously acquire the status of the delivery order and the target robot, and push the status of the delivery bill and the status of the target robot to the container server in the form of events until the target robot is move to said pickup point;

The second interaction module is used for interacting with the container server until the target robot completes piling, connection and piling;

The third interaction module is used to continuously acquire the status of the delivery waybill and the target robot, and push the status of the delivery waybill and the target robot to the container server in the form of events until the target robot moves to the container server. the target delivery point.
The automatic picking and delivery system for a mobile robot according to claim 7, wherein the second interaction module comprises a pile-feeding interactive unit, and the pile-feeding interactive unit is used to wait for the target robot to move to the pick-up point. The status of continuously pushing the target robot to the container server is that it has reached the container point; and for receiving the status of the container door being opened continuously from the container server, and sending a pile-in instruction to the target robot; and for obtaining the real-time status of the target robot, and Continuously push the status of the target robot to the container server as piling in progress; and is used to receive the piling-in-place signal continuously pushed by the container server, and send an end-piling instruction to the target robot; and is used to obtain the real-time status of the target robot and send the The status of the target robot pushed by the container server is Completed.
The automatic pick-up and delivery system for a mobile robot according to claim 7, wherein the container server is configured to use a corresponding hopper to release goods according to the position label, and to detect whether there is goods on the hopper after the hopper action is completed, If there is no goods, push the delivery completion status to the dispatch server;

The second interaction module includes a connection interaction unit, and the connection interaction unit is configured to receive the delivery status continuously pushed by the container server until the delivery status is switched from delivery to delivery completion; The target robot sends a weighing instruction and obtains the weighing result of the target robot. If there is a change in the weighing result, the status of pushing the delivery waybill to the container server is that the delivery is successful.
The automatic picking and delivery system for a mobile robot according to claim 7, wherein the second interaction module comprises a pile unloading interaction unit, and the pile unloading interaction unit is used for determining all items corresponding to the pickup point. When the delivery of the delivery order is completed, send a pile-out instruction to the target robot, and push the status of the target robot to the container server as pile-out; and it is used to push the target robot's status to the container server after the target robot is removed from the container. Completed for piling.