目的 提高“最后一公里”配送效率，提出一种可移动快递柜和车载机器人协同的新型绿色配送模式。方法 首先考虑客户服务偏好、时间窗、车辆容量以及可移动快递柜与配送机器人的协同，以碳排放量最小化为目标，构建路径优化模型。其次针对问题特点，设计适用的自适应大规模邻域搜索算法。最后基于实际案例进行数值实验分析。结果 设计的算法在15个案例上能求得与Gurobi在1 h时间限制下相同或更优的解。若以配送成本最小化为目标，则10个案例中有3个会得到不同的解，碳排放量最小化目标所求解能以约0.3%的成本增加获得2.41%的碳排放量降低。在碳排放量和配送成本上，可移动快递柜和车载机器人协同配送模式比仅货车配送模式分别减少53.29%和33.38%，比固定快递柜模式减少41.85%和62.01%，比车辆移动停靠自提模式减少37.80%和32.76%。结论 可移动快递柜和配送机器人协同配送能取得较好的效益，建立的路径优化模型和设计的求解算法可为低碳可持续的城市配送体系的构建提供参考依据与决策支持。

The work aims to propose a new green delivery mode using mobile parcel lockers and onboard robots for collaboration to improve the 'last mile' delivery efficiency. First, considering customer preferences, time windows, the vehicle capacity and the coordination between mobile parcel lockers and delivery robots, a route optimization model was built with the objective of carbon emissions minimization. Second, an adaptive large neighborhood search algorithm was developed to solve the corresponding routing problem. Finally, numerical experiment analyses were conducted using instances generated from a real case. The proposed algorithm obtained the same or better solution as the Gurobi solver under the time limit of 1 h on fifteen instances. Three out of ten instances obtained different solutions when taking cost minimization as objective. Among them, solutions under carbon emissions minimization were with about 0.3% higher cost and 2.41% lower carbon emissions. In terms of carbon emissions and delivery costs, the collaborative delivery using mobile parcel lockers and onboard robots could achieve a reduction of 53.29% and 33.38% when compared with truck-only system, a reduction of 41.85% and 62.01% when compared with the fixed parcel lockers system, and a reduction of 37.80% and 32.76% when compared with the vehicle mobile parking for the self-pickup system. Benefits of the proposed delivery system are validated. The proposed route optimization model and the designed solution algorithm can provide a valuable reference and decision support for building a low-carbon sustainable urban delivery system.