Transportation Method, Device, Equipment and Storage Medium of Logistics Robot

Abstract

The present application provides a transportation method, device, equipment and storage medium for a logistics robot, belonging to the technical field of robot communication. This method is applied to a target logistics robot, and the logistics transportation system includes: a plurality of logistics robots and a plurality of servers, and each logistics robot and each server are communicatively connected to each other through an edge-cloud bus; the method includes: obtaining a logistics transportation instruction sent by a dispatching server through the edge-cloud bus, where the logistics transportation instruction is used to instruct the target logistics robot to move to a target position; determining a map identifier of a demand map based on the target position; determining whether the demand map is stored in the associated logistics robot based on the map identifier of the demand map; if so, obtaining the demand map from the associated logistics robot through the edge-cloud bus; and moving to the target position based on the demand map. The present application can achieve fast communication between logistics robots and improve the communication efficiency of robots.

Description

Technical Field

[0001] The present application relates to the technical field of robot communication. Specifically, it relates to a transportation method, device, equipment and storage medium for a logistics robot. Background Art

[0002] When a logistics robot conducts logistics transportation in a public place, it usually needs to communicate with other devices to implement functions such as authentication, map downloading, or data sharing.

[0003] In the prior art, if a logistics robot needs to interact with other logistics robots, it usually needs to rely on a server to complete information transmission. For example, the first logistics robot transmits information to the server, and then the server forwards it to the second logistics robot. The logistics robots cannot directly transmit data to each other.

[0004] This results in a more complex communication interaction process and lower communication efficiency when communication is required between logistics robots. Summary of the Invention

[0005] An object of the present application is to provide a transportation method, device, equipment and storage medium for a logistics robot, which can achieve fast communication between logistics robots and improve the communication efficiency of the robots.

[0006] The embodiments of the present application are implemented as follows:

[0007] On the one hand, an embodiment of the present application provides a transportation method for a logistics robot. This method is applied to a target logistics robot, and the target logistics robot is in a logistics transportation system. The logistics transportation system includes: multiple logistics robots and multiple servers. Each logistics robot and each server are communicatively connected to each other through an edge-cloud bus. The multiple logistics robots include: the target logistics robot and multiple associated logistics robots. The multiple servers include: a scheduling server. The method includes:

[0008] Obtain a logistics transportation instruction sent by the scheduling server through the edge-cloud bus. The logistics transportation instruction is used to instruct the target logistics robot to move to a target location;

[0009] Determine the map identifier of the required map based on the target location;

[0010] Determine whether the required map is stored in the associated logistics robots based on the map identifier of the required map;

[0011] If so, obtain the required map from the associated logistics robot through the edge-cloud bus;

[0012] Move to the target location based on the required map.

[0013] Optionally, determining whether a demand map is stored in an associated logistics robot based on the map identifier of the demand map includes:

[0014] Sending a map acquisition request to the associated logistics robot through the end-cloud bus, so that the associated logistics robot determines whether a demand map is stored based on the map acquisition request, and the map acquisition request includes the map identifier of the demand map;

[0015] Receiving response information sent by the associated logistics robot through the end-cloud bus, and determining whether a demand map is stored in the associated logistics robot based on the response information.

[0016] Optionally, acquiring the demand map stored in the associated logistics robot through the end-cloud bus includes:

[0017] Downloading the demand map uploaded by the sensing end of the associated logistics robot from the end-cloud bus by the sensing end of the target logistics robot.

[0018] Optionally, the multiple servers further include: an access control system server and an elevator system server; the positions indicated by the demand map include an access control position and an elevator position;

[0019] Moving to the target position based on the demand map includes:

[0020] If moving to the access control position before moving to the target position, sending a first authentication request to the access control system server through the end-cloud bus, and the first authentication request is used to request access control verification;

[0021] If moving to the elevator position before moving to the target position, sending a second authentication request to the elevator system server through the end-cloud bus, and the second authentication request is used to request elevator transportation verification.

[0022] Optionally, after moving to the target position based on the demand map, the method further includes:

[0023] Performing identity verification at the target position;

[0024] If the verification is successful, performing loading and unloading operations at the target position.

[0025] Optionally, the server further includes: an identity verification server, and performing identity verification at the target position includes:

[0026] Collecting authentication information through the identification sensor of the target logistics robot, and the authentication information includes: face authentication information, voice authentication information or item identification information;

[0027] Sending the authentication information to the identity verification server through the end-cloud bus for identity verification processing, and obtaining the verification result through the end-cloud bus.

[0028] Optionally, the method further includes:

[0029] Determining whether the target logistics robot is working properly;

[0030] If not, generating a work error message, which includes the robot parameters of the current target logistics robot and the current work node of the target logistics robot;

[0031] Sending the work error message to each associated logistics robot through the edge-cloud bus.

[0032] On the other hand, an embodiment of the present application provides a transportation device for a logistics robot. The device is applied to the target logistics robot. The target logistics robot is in a logistics transportation system, which includes: multiple logistics robots and multiple servers. Each logistics robot and each server are communicatively connected to each other through the edge-cloud bus. The multiple logistics robots include: the target logistics robot and multiple associated logistics robots. The multiple servers include: a scheduling server. The device includes: an instruction receiving module, a determining module, a judging module, a map obtaining module, and a navigation module;

[0033] The instruction receiving module is configured to obtain a logistics transportation instruction sent by the scheduling server through the edge-cloud bus. The logistics transportation instruction is used to instruct the target logistics robot to move to a target location;

[0034] The determining module is configured to determine the map identifier of the required map based on the target location;

[0035] The judging module is configured to determine whether the required map is stored in the associated logistics robots based on the map identifier of the required map;

[0036] The map obtaining module is configured to obtain the required map from the associated logistics robots through the edge-cloud bus when the determination result is yes;

[0037] The navigation module is configured to move to the target location based on the required map.

[0038] Optionally, the judging module is specifically configured to send a map obtaining request to the associated logistics robots through the edge-cloud bus, so that the associated logistics robots determine whether the required map is stored based on the map obtaining request. The map obtaining request includes the map identifier of the required map; receiving response information sent by the associated logistics robots through the edge-cloud bus, and determining whether the required map is stored in the associated logistics robots based on the response information.

[0039] Optionally, the map obtaining module is specifically configured to download the required map uploaded by the sensing end of the associated logistics robot from the edge-cloud bus by the sensing end of the target logistics robot.

[0040] Optionally, the multiple servers further include: an access control system server and an elevator system server; the locations indicated by the demand map include access control locations and elevator locations; the navigation module is specifically configured to, if moving to an access control location before moving to the target location, send a first authentication request to the access control system server through the terminal-cloud bus, where the first authentication request is used to request access control verification; if moving to an elevator location before moving to the target location, send a second authentication request to the elevator system server through the terminal-cloud bus, where the second authentication request is used to request elevator transportation verification.

[0041] Optionally, the device further includes: a verification module; the verification module is used to perform identity verification at the target location; if the verification is successful, perform loading and unloading operations at the target location.

[0042] Optionally, the verification module is specifically configured to collect authentication information through the identification sensor of the target logistics robot, where the authentication information includes: face authentication information, voice authentication information, or item identification information; send the authentication information to the identity authentication server through the terminal-cloud bus for identity authentication processing, and obtain the verification result through the terminal-cloud bus.

[0043] Optionally, the determination module is further used to determine whether the target logistics robot is working properly; if not, generate a work error message, where the work error message includes: the robot parameters of the current target logistics robot and the current work node of the target logistics robot; send the work error message to each associated logistics robot through the terminal-cloud bus.

[0044] On the other hand, an embodiment of the present application provides a computer device, including: a memory and a processor, where a computer program that can run on the processor is stored in the memory, and when the processor executes the computer program, the steps of the transportation method of the logistics robot are implemented.

[0045] On the other hand, an embodiment of the present application provides a computer-readable storage medium, where a computer program is stored on the storage medium, and when the computer program is executed by the processor, the steps of the transportation method of the logistics robot are implemented.

[0046] The beneficial effects of the embodiments of the present application include:

[0047] In a transportation method, device, equipment, and storage medium of a logistics robot provided by an embodiment of the present application, communication between various logistics robots or between a logistics robot and various servers can be realized through the terminal-cloud bus, avoiding the need to additionally set up a server for forwarding communication messages, improving the efficiency of communication transmission, so that the logistics robot can more quickly obtain the demand map stored on other associated logistics robots, and correspondingly, the transportation efficiency of the logistics robot in the logistics transportation process can be improved. Description of the Drawings

[0048] To more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the accompanying drawings required in the embodiments. It should be understood that the following drawings only show some embodiments of the present application and should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0049] Figure 1 It is a schematic structural diagram of the logistics transportation system provided by the embodiments of the present application;

[0050] Figure 2 It is a schematic flowchart of the transportation method of the logistics robot provided by the embodiments of the present application;

[0051] Figure 3 It is another schematic flowchart of the transportation method of the logistics robot provided by the embodiments of the present application;

[0052] Figure 4 It is another schematic flowchart of the transportation method of the logistics robot provided by the embodiments of the present application;

[0053] Figure 5 It is another schematic flowchart of the transportation method of the logistics robot provided by the embodiments of the present application;

[0054] Figure 6 It is another schematic flowchart of the transportation method of the logistics robot provided by the embodiments of the present application;

[0055] Figure 7 It is a schematic structural diagram of the transportation device of the logistics robot provided by the embodiments of the present application;

[0056] Figure 8 It is a schematic structural diagram of the computer device provided by the embodiments of the present application. Detailed implementation manners

[0057] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are some, rather than all, of the embodiments of the present application. Usually, the components of the embodiments of the present application described and shown in the accompanying drawings here can be arranged and designed in various different configurations.

[0058] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application claimed, but merely represents the selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present application.

[0059] It should be noted that similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0060] In the description of the present application, it should be noted that the terms "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be construed as indicating or implying relative importance.

[0061] In the prior art, when logistics robots are working, they usually need to interact with multiple servers, such as a scheduling server, a verification server, a message transmission server, etc. In each communication, they need to interact with the corresponding server for information, and moreover, the logistics robots cannot directly interact with each other for information.

[0062] This results in that in the prior art, if information interaction between logistics robots needs to be implemented, it is necessary to forward messages through a message transmission server, and the involved process is relatively troublesome, reducing the efficiency of message transmission.

[0063] To solve the above problems existing in the prior art, an embodiment of the present application provides a transportation method for a logistics robot. Next, the specific structure of the logistics transportation system to which the transportation method of the logistics robot is applied will be specifically explained.

[0064] Figure 1 For the structural schematic diagram of the logistics transportation system provided by the embodiment of the present application, please refer to Figure 1 , the logistics transportation system includes: a plurality of logistics robots 100 and a plurality of servers 200. Each logistics robot 100 and each server 200 are communicatively connected to each other through an edge-cloud bus 300. The plurality of logistics robots include: a target logistics robot 110 and a plurality of associated logistics robots 120. The plurality of servers include: a scheduling server 210.

[0065] Optionally, the logistics robot 100 can be any type of robot for logistics transportation, such as a wheeled logistics robot, a bipedal logistics robot, etc., which is not limited herein. The target logistics robot 110 and the plurality of associated logistics robots 120 can both be robots of the same type.

[0066] It should be noted that a sensing end can be provided on each logistics robot. Through this sensing end, it can be connected to the edge-cloud bus 300, and thus data can be uploaded to the edge-cloud bus 300 or downloaded from the edge-cloud bus 300.

[0067] The multiple servers 200 may include any type of servers, such as cluster servers, independent servers, etc., without specific limitation. Different servers may be configured with different functions. For example, the scheduling server 210 may be used to implement the scheduling of robot logistics transportation. Figure 1 In addition to the servers shown in the figure, other types of servers may also be included, such as identity authentication servers, access control system servers, elevator system servers, etc. All servers required for use in logistics and transportation scenarios may be configured to be connected to the end-cloud bus 300.

[0068] Optionally, the end-cloud bus 300 can specifically be a data distribution service bus (DDS, Data Distribution Service), which can associate all the above-mentioned logistics robots 100 and servers 200, thereby establishing a communication network to realize shared transmission of data.

[0069] It should be noted that the above-mentioned logistics transportation system can specifically be a transportation system used in scenarios where logistics robots are required for logistics transportation in hospitals, factories or any large places. The hospital is taken as an example in the embodiments of this application.

[0070] The following explains the specific implementation process of the logistics robot transportation method provided in the embodiment of the present application based on the structure of the above-mentioned logistics transportation system.

[0071] Figure 2 For a flow chart of the transportation method of the logistics robot provided in the embodiment of the present application, please refer to Figure 2 , the method comprising:

[0072] S210: Obtaining the logistics transportation instructions sent by the scheduling server through the end-cloud bus.

[0073] Among them, the logistics transportation instruction is used to instruct the target logistics robot to move to the target location.

[0074] Optionally, the executor of the method can be a target logistics robot. The scheduling server can send logistics transportation instructions to the target logistics robot through the end-cloud bus. After receiving the logistics transportation instructions, the target logistics robot can parse the instructions to obtain the target position indicated in the logistics transportation instructions, and can move from the current position to the target position as a task that the target logistics robot needs to perform.

[0075] Specifically, in addition to the target location, the logistics transportation instruction may also include various types of messages, such as: order information such as order numbers, required arrival time, whether the target location is a loading point or an unloading point, etc. Moreover, a single logistics transportation instruction may also include multiple target locations. For example, the first target location is a loading point and the second target location is an unloading point. The target logistics robot needs to first move to the first target location for loading and then move to the second target location for unloading.

[0076] It should be noted that the logistics transportation instruction in the scheduling server can be pre-stored or directly sent after being manually established, and no specific restrictions are imposed here.

[0077] When the scheduling server sends a logistics transportation instruction, it can first determine the identification information of the target logistics robot, and then determine the corresponding target logistics robot based on the identification information, and send the logistics transportation instruction to the target logistics robot through the edge-cloud bus.

[0078] S220: Determine the map identification of the demand map based on the target location.

[0079] Optionally, when the target logistics robot moves to the target location, it can navigate based on the SLAM (Simultaneous Localization and Mapping) algorithm. The target logistics robot needs to map the surrounding environment. To save the time for mapping, it can obtain the map established by other logistics robots and navigate based on the established map.

[0080] The current position and the target location of the logistics robot can be used as the map identification to determine the demand map where these two positions exist.

[0081] That is to say, the target logistics robot needs a map containing the current position and the target location of the target logistics robot to navigate to the target location.

[0082] S230: Determine whether the demand map is stored in the associated logistics robots based on the map identification of the demand map.

[0083] Optionally, after determining the map identification of the above demand map, it can be determined whether the map has been established in other associated logistics robots under the same edge-cloud bus as the target logistics robot.

[0084] Optionally, since there are usually multiple associated logistics robots, it can be determined whether the corresponding demand map exists in each associated logistics robot respectively.

[0085] For an associated logistics robot, if a map of the corresponding area has been created, the map can be saved, and the relevant positions (i.e., the above-mentioned map identifiers) can be saved. It is possible to determine whether the required map is stored in the associated logistics robot based on whether the map identifiers match.

[0086] S240: If so, obtain the required map from the associated logistics robot through the end-cloud bus.

[0087] Optionally, if it is determined that the required map exists in the associated logistics robot, the target logistics robot can directly obtain the required map stored in the associated logistics robot through the end-cloud bus.

[0088] Among them, since each logistics robot is directly connected through the end-cloud bus, data transmission can be directly achieved through the sensing end set on the robot without the need to rely on a server, which can improve the efficiency of message transmission.

[0089] S250: Move to the target location based on the required map.

[0090] Optionally, after the target logistics robot obtains the required map, it can move from the current location to the target location based on the above-mentioned SLAM algorithm for navigation using the required map.

[0091] In the transportation method of a logistics robot provided by an embodiment of the present application, communication between each logistics robot or between a logistics robot and various servers can be achieved through the end-cloud bus, avoiding the need to additionally set up a server for forwarding communication messages, improving the efficiency of communication transmission, so that the logistics robot can more quickly obtain the required map stored on other associated logistics robots. Correspondingly, the transportation efficiency of the logistics robot during the logistics transportation process can also be improved.

[0092] Next, a specific implementation process of the transportation method of the logistics robot provided by an embodiment of the present application will be specifically explained.

[0093] Figure 3 For another flow diagram of the transportation method of the logistics robot provided by an embodiment of the present application, please refer to Figure 3 , determining whether the required map is stored in the associated logistics robot based on the map identifier of the required map, includes:

[0094] S310: Send a map acquisition request to the associated logistics robot through the end-cloud bus, so that the associated logistics robot determines whether it stores the required map based on the map acquisition request.

[0095] Among them, the map acquisition request includes the map identifier of the required map.

[0096] Optionally, the target logistics robot can send a map acquisition request to each associated logistics robot via the end-cloud bus. The map acquisition request may include the map identifier of the required map, that is, it may include the current position and target position of the specific target logistics robot. After receiving the map acquisition request, each associated logistics robot can query the relevant maps stored in itself. Specifically, it can check whether the positions corresponding to the map identifier are included in each map. If such a map exists, the corresponding map can be used as the required map, and a corresponding response message can be generated and sent to the target logistics robot.

[0097] Among them, the response message may specifically include the result of the request. For example, it may include that there is a required map in the associated logistics robot, or there is no required map in the associated logistics robot.

[0098] S320: Receive the response message sent by the associated logistics robot via the end-cloud bus, and determine whether there is a required map stored in the associated logistics robot based on the response message.

[0099] Optionally, the target logistics robot can receive the response messages sent by each associated logistics robot via the end-cloud bus, and can determine whether there is a required map stored in each associated logistics robot based on the corresponding information.

[0100] Specifically, if it is determined that there is a required map in any associated logistics robot, the required map in the associated logistics robot can be obtained. If there are required maps in multiple associated logistics robots, any one of them can be selected to obtain the required map.

[0101] Optionally, obtaining the required map stored in the associated logistics robot via the end-cloud bus includes: downloading the required map uploaded by the sensing end of the associated logistics robot from the end-cloud bus by the sensing end of the target logistics robot.

[0102] Among them, after determining the associated logistics robot, the associated logistics robot can upload the required map to the end-cloud bus through its sensing end, and the target logistics robot can download it from the end-cloud bus through its sensing end, so as to obtain the required map.

[0103] It should be noted that the above method for obtaining the required map is only one example. In the actual implementation process, the required map can also be directly sent to the target logistics robot after the associated logistics robot determines that there is a required map. The specific implementation method can be selected according to actual needs and is not limited thereto.

[0104] Optionally, the multiple servers further include: an access control system server and an elevator system server; the locations indicated by the demand map include access control locations and elevator locations; moving to the target location based on the demand map includes: if moving to an access control location before moving to the target location, sending a first authentication request to the access control system server through the edge-cloud bus, where the first authentication request is used to request access control verification; if moving to an elevator location before moving to the target location, sending a second authentication request to the elevator system server through the edge-cloud bus, where the second authentication request is used to request elevator transportation verification.

[0105] Among them, the access control system server can be a server used for access control verification. For example, when the target logistics robot is near the access control, after passing the verification of the access control system server, it can pass through the access control, otherwise it cannot pass through the access control.

[0106] Exemplarily, if the target logistics robot moves to the access control location before moving to the target location, the target logistics robot can send a first authentication request to the access control system server through the edge-cloud bus, and verify whether the target logistics robot can pass through the access control at the current time period through the first authentication request. If the verification passes, the access control system server can control the access control to open, so that the target logistics robot can pass through the access control; on the contrary, if the verification fails, the access control system server can not control the access control to open, so that the access control remains closed and the target logistics robot cannot pass through the access control.

[0107] The elevator system server can be a server used for hierarchical transportation of robots. For example, when the target logistics robot enters the elevator, it needs to send a movement message to the elevator system server, so as to control the elevator to perform hierarchical transportation and move the target logistics robot to the required target floor.

[0108] Exemplarily, if the target logistics robot moves to the elevator location before moving to the target location, the target logistics robot can send a second authentication request to the elevator system server through the edge-cloud bus, verify and determine the floor that the target logistics robot needs to go to through the second authentication request, and then after the verification is completed, the elevator system server can send a transportation instruction to the corresponding elevator to transport the target logistics robot to the target floor.

[0109] Next, a specific implementation process of the transportation method of the logistics robot provided in the embodiment of the present application will be specifically explained.

[0110] Figure 4 For another process schematic diagram of the transportation method of the logistics robot provided in the embodiment of the present application, please refer to Figure 4 , after moving to the target location based on the demand map, the method further includes:

[0111] S410: Perform identity verification at the target location.

[0112] Optionally, after the target logistics robot moves to the target location, identity verification can be performed first. Specifically, it can be to verify the identification of the loading and unloading box at the target location. If there are staff at the loading and unloading point, the identities of these staff can also be verified to improve the security of logistics transportation.

[0113] S420: If the verification is successful, perform the loading and unloading work at the target location.

[0114] Optionally, after the verification, if the verification is successful, the loading and unloading work can be performed at the target location; correspondingly, if the verification fails, the loading and unloading work cannot be performed.

[0115] Next, the specific implementation process of identity verification in the transportation method of the logistics robot provided in the embodiments of the present application will be specifically explained.

[0116] Figure 5 Another process schematic diagram of the transportation method of the logistics robot provided in the embodiments of the present application, please refer to Figure 5 , the server further includes: an identity verification server, which performs identity verification at the target location, including:

[0117] S510: Collect authentication information through the identification sensor of the target logistics robot.

[0118] Among them, the authentication information includes: face authentication information, voice authentication information or item identification information.

[0119] Optionally, after the target logistics robot arrives at the target location, identity verification can be performed at the target location. Specifically, the authentication information can be collected through the identification sensor of the target logistics robot. The identification sensor can include: a binocular camera, an audio sensor, etc. Face authentication information can be collected through the binocular camera, voice authentication information can be collected through the audio sensor, and item identification information can also be collected through the binocular camera.

[0120] Among them, the item identification information can specifically be a two-dimensional code identification set on the item box, etc., and no specific limitation is made here.

[0121] One or more of the above methods can be selected for collecting the authentication information, and no specific limitation is made here.

[0122] S520: Send the authentication information to the identity verification server through the terminal-cloud bus for identity verification processing, and obtain the verification result through the terminal-cloud bus.

[0123] Optionally, after obtaining the above authentication information, the target logistics robot can send the corresponding authentication information to the verification server through the terminal-cloud bus. There can be one or more verification servers. For example, for different types of authentication information, it can be sent to different identity verification servers for different verifications.

[0124] After receiving the authentication information, the identity verification server can perform corresponding identity verification, and after obtaining the verification result, it can return the verification result to the target logistics robot through the terminal-cloud bus.

[0125] Next, a further specific implementation process of the transportation method of the logistics robot provided in the embodiments of the present application will be specifically explained.

[0126] Figure 6 For another process schematic diagram of the transportation method of the logistics robot provided in the embodiments of the present application, please refer to Figure 6 , the method further includes:

[0127] S610: Determine whether the target logistics robot is working properly.

[0128] Optionally, the target logistics robot can detect whether it is working properly within a preset time period. Specifically, it can be determined whether the time to complete a certain task exceeds a preset threshold. For example, for elevator transportation during logistics transportation, the preset threshold is 5 minutes. If the elevator transportation process has not been completed after more than five minutes, it can be determined that the target logistics robot cannot work properly.

[0129] S620: If not, generate a work error message.

[0130] The work error message includes: the robot parameters of the current target logistics robot and the current working node of the target logistics robot.

[0131] Optionally, after determining that the target logistics robot cannot work properly, a corresponding work error message can be generated. The work error message can specifically record the robot parameters of the previous target logistics robot and the current working node of the target logistics robot.

[0132] For example, during the process of logistics transportation, if the target logistics robot cannot work properly during loading and unloading verification, the robot parameters of the current target logistics robot can be obtained, such as: the positions of each servo, or the current coordinates, etc.; the current working node of the target logistics robot can also be obtained. At this time, the working node is the loading and unloading verification node. Based on the robot parameters of the current target logistics robot and the current working node of the target logistics robot, a work error message can be obtained.

[0133] It should be noted that the above work error data is only one example of the corrections. In the actual work process, relevant data can be selected as work error data according to actual needs, and it is not limited to this.

[0134] S630: Send the work error information to each associated logistics robot through the edge-cloud bus respectively.

[0135] Optionally, after obtaining the work error information, the work error information can be sent to each associated logistics robot through the edge-cloud bus respectively. Each associated logistics robot can store the work error information and avoid corresponding errors when performing corresponding work.

[0136] For example: When the target logistics robot makes an error during loading and unloading at location A, after sharing the above work error information, the associated logistics robots can avoid performing loading and unloading at location A according to the work error information.

[0137] In the transportation method of a logistics robot provided in the embodiments of the present application, the target logistics robot can be connected to multiple servers through the edge-cloud bus respectively, such as: an identity authentication server, an access control system server, an elevator system server, etc., so as to more quickly realize information interaction with these servers, avoid the need to establish connection relationships with different servers multiple times for information interaction during the execution of the logistics transportation task, improve the information transmission efficiency of the logistics robot, and increase the integrity of the entire logistics system.

[0138] The following describes the device, equipment, storage medium, etc. corresponding to the transportation method of the logistics robot provided by the present application for execution. For the specific implementation process and technical effects, refer to the above, and the following will not be elaborated.

[0139] Figure 7 For the structural schematic diagram of the transportation device of the logistics robot provided by the embodiments of the present application, please refer to Figure 7 This device includes: an instruction receiving module 710, a determination module 720, a judgment module 730, a map acquisition module 740, and a navigation module 750;

[0140] The instruction receiving module 710 is used to obtain the logistics transportation instruction sent by the dispatching server through the edge-cloud bus. The logistics transportation instruction is used to instruct the target logistics robot to move to the target location;

[0141] The determination module 720 is used to determine the map identifier of the required map based on the target location;

[0142] The judgment module 730 is used to determine whether the required map is stored in the associated logistics robots based on the map identifier of the required map;

[0143] A map acquisition module 740, configured to obtain a demand map from an associated logistics robot through an edge-cloud bus when the determination result is yes;

[0144] A navigation module 750, configured to move to a target location based on the demand map.

[0145] Optionally, the determination module 730 is specifically configured to send a map acquisition request to the associated logistics robot through the edge-cloud bus, so that the associated logistics robot determines whether it stores a demand map based on the map acquisition request, and the map acquisition request includes a map identifier of the demand map; receive response information sent by the associated logistics robot through the edge-cloud bus, and determine whether the associated logistics robot stores a demand map based on the response information.

[0146] Optionally, the map acquisition module 740 is specifically configured to download the demand map uploaded by the sensing end of the associated logistics robot from the edge-cloud bus by the sensing end of the target logistics robot.

[0147] Optionally, the multiple servers further include: an access control system server and an elevator system server; the positions indicated by the demand map include an access control position and an elevator position; the navigation module 750 is specifically configured to, if moving to the access control position before moving to the target location, send a first authentication request to the access control system server through the edge-cloud bus, where the first authentication request is used to request access control verification; if moving to the elevator position before moving to the target location, send a second authentication request to the elevator system server through the edge-cloud bus, where the second authentication request is used to request elevator transportation verification.

[0148] Optionally, the device further includes: a verification module 760; the verification module 760 is configured to perform identity verification at the target location; if the verification is successful, perform loading and unloading work at the target location.

[0149] Optionally, the verification module 760 is specifically configured to collect authentication information through an identification sensor of the target logistics robot, where the authentication information includes: face authentication information, voice authentication information, or item identification information; send the authentication information to an identity authentication server through the edge-cloud bus for identity authentication processing, and obtain a verification result through the edge-cloud bus.

[0150] Optionally, the determination module 730 is further configured to determine whether the target logistics robot is working properly; if not, generate a work error message, where the work error message includes: the robot parameters of the current target logistics robot and the current work node of the target logistics robot; send the work error message to each associated logistics robot through the edge-cloud bus.

[0151] The above device is used to execute the method provided in the foregoing embodiment, and its implementation principle and technical effects are similar, which will not be elaborated here.

[0152] The above-mentioned modules may be one or more integrated circuits configured to implement the above methods. For example, one or more Application Specific Integrated Circuits (ASICs), or one or more microprocessors, or one or more Field Programmable Gate Arrays (FPGAs), etc. Again, when a certain module above is implemented in the form of a processing element scheduling program code, the processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processors that can call program code. Again, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0153] Figure 8 For the structural schematic diagram of the computer device provided by the embodiments of the present application, please refer to Figure 8 , the computer device includes: a memory 810 and a processor 820. A computer program that can run on the processor 820 is stored in the memory 810. When the processor 820 executes the computer program, the steps of the transportation method of the logistics robot are implemented.

[0154] Optionally, the computer device may specifically be a robot controller on the target logistics robot or a robot controller on the associated logistics robot, and no specific limitation is made here.

[0155] On the other hand, an embodiment of the present application further provides a computer-readable storage medium. A computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the transportation method of the logistics robot are implemented.

[0156] In several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other may be through some interfaces. The indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.

[0157] The unit described as a separation component may or may not be physically separated, and the component shown as a unit may or may not be a physical unit, that is, it may be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0158] In addition, each functional unit in various embodiments of the present invention can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of a combination of hardware and software functional units.

[0159] The above-mentioned integrated units implemented in the form of software functional units can be stored in a computer-readable storage medium. The above-mentioned software functional units stored in a storage medium include several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute some steps of the methods in various embodiments of the present invention. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (abbreviated as ROM), random access memories (abbreviated as RAM), magnetic disks, or optical discs that can store program codes.

[0160] The above is only the specific implementation manner of this application, but the protection scope of this application is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in this application, and all should be covered by the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

[0161] The above is only the preferred embodiment of this application and is not used to limit this application. For those skilled in the art, this application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included in the protection scope of this application.

Claims

1. A transportation method for a logistics robot, characterized in that, The method is applied to a target logistics robot, which is in a logistics transportation system. The logistics transportation system includes: a plurality of logistics robots and a plurality of servers. Each of the logistics robots and each of the servers are communicatively connected to each other through an edge-cloud bus. The plurality of logistics robots includes: the target logistics robot and a plurality of associated logistics robots. The plurality of servers includes: a scheduling server. The method includes: Obtain a logistics transportation instruction sent by the scheduling server through the edge-cloud bus. The logistics transportation instruction is used to instruct the target logistics robot to move to a target location; Determine a map identifier of a demand map based on the target location; Determine whether the associated logistics robots store the demand map based on the map identifier of the demand map; If so, obtain the demand map from the associated logistics robots through the edge-cloud bus; Move to the target location based on the demand map; The determining whether the associated logistics robots store the demand map based on the map identifier of the demand map includes: Send a map acquisition request to the associated logistics robots through the edge-cloud bus, so that the associated logistics robots determine whether they store the demand map based on the map acquisition request. The map acquisition request includes the map identifier of the demand map; Receive response information sent by the associated logistics robots through the edge-cloud bus, and determine whether the associated logistics robots store the demand map based on the response information.

2. The transportation method of the logistics robot according to claim 1, characterized in that, The obtaining the demand map stored in the associated logistics robots through the edge-cloud bus includes: The sensing end of the target logistics robot downloads the demand map uploaded by the sensing end of the associated logistics robot from the edge-cloud bus.

3. The transportation method of the logistics robot according to claim 1, characterized in that, The plurality of servers further includes: an access control system server and an elevator system server. The positions indicated by the demand map include an access control position and an elevator position; The moving to the target location based on the demand map includes: If moving to the access control position before moving to the target location, send a first authentication request to the access control system server through the edge-cloud bus. The first authentication request is used to request access control verification; If moving to the elevator position before moving to the target location, send a second authentication request to the elevator system server through the edge-cloud bus. The second authentication request is used to request elevator transportation verification.

4. The transportation method of the logistics robot according to claim 1, characterized in that, After moving to the target location based on the demand map, the method further includes: Perform identity verification at the target location; If the verification is successful, perform loading and unloading work at the target location.

5. The transportation method of the logistics robot according to claim 4, characterized in that, The server further includes: an identity verification server. The performing identity verification at the target location includes: Collect authentication information through the identification sensor of the target logistics robot. The authentication information includes: face authentication information, voice authentication information, or item identification information; Send the authentication information to the identity verification server through the edge-cloud bus for identity verification processing, and obtain the verification result through the edge-cloud bus.

6. The transportation method of the logistics robot according to any one of claims 1-5, characterized in that The method further includes: Determine whether the target logistics robot is working properly; If not, generate a work error message, which includes the robot parameters of the current target logistics robot and the current working node of the target logistics robot; Send the work error message to each of the associated logistics robots through the edge-cloud bus.

7. A transportation device for a logistics robot, characterized in that, The device is applied to a target logistics robot, which is in a logistics transportation system. The logistics transportation system includes: multiple logistics robots and multiple servers. Each logistics robot and each server are communicatively connected to each other through an edge-cloud bus. The multiple logistics robots include: the target logistics robot and multiple associated logistics robots. The multiple servers include: a scheduling server. The device includes: an instruction receiving module, a determination module, a judgment module, a map acquisition module, and a navigation module; The instruction receiving module is configured to obtain a logistics transportation instruction sent by the scheduling server through the edge-cloud bus. The logistics transportation instruction is used to instruct the target logistics robot to move to a target location; The determination module is configured to determine the map identifier of the required map based on the target location; The judgment module is configured to determine whether the required map is stored in the associated logistics robots based on the map identifier of the required map; The map acquisition module is configured to, when the determination result is yes, obtain the required map from the associated logistics robots through the edge-cloud bus; The navigation module is configured to move to the target location based on the required map; Specifically, the judgment module is configured to: Send a map acquisition request to the associated logistics robots through the edge-cloud bus, so that the associated logistics robots determine whether the required map is stored based on the map acquisition request. The map acquisition request includes the map identifier of the required map; Receive a response message sent by the associated logistics robots through the edge-cloud bus, and determine whether the required map is stored in the associated logistics robots based on the response message.

8. A computer device, characterized in that, Includes: A memory and a processor. The memory stores a computer program that can run on the processor. When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium, characterized in that, A computer program is stored on the storage medium. When the computer program is executed by the processor, the steps of the method according to any one of claims 1 to 6 are implemented.

Images