Material handling methods, robots and storage media

Abstract

This invention relates to the field of robotics, and particularly to a material handling method, a robot, and a storage medium. The method includes: receiving a transport instruction for the materials to be processed; planning and outputting a travel path based on preset elevator stops and preset transfer locations, wherein the transport instruction includes preset elevator stop information and preset transfer location information, and the travel path passes through the preset elevator stops and preset transfer locations; controlling the robot to travel along the travel path, and controlling the robot to independently take the elevator to the preset elevator stop when it needs to take an elevator; and controlling the robot to enter a transfer vehicle after arriving at the preset transfer location, wherein the transfer vehicle is used to transfer the robot to a material handling station. Through the above method, this invention can select a safe transport method for the robot when transporting hazardous materials from indoors to outdoors.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a material handling method, a robot, and a storage medium. Background Technology

[0002] In daily life, various materials may be generated, such as medical contaminants and epidemic prevention supplies. These materials need to be centrally processed, and if precautions are not taken during the transportation of these materials to processing stations, leakage is highly likely. With the development of robotics technology, intelligent delivery robots can carry and transport these materials. The use of robots to transport materials is gradually replacing manual transportation. The application of robots can not only save labor costs but also improve work efficiency.

[0003] In the process of implementing the embodiments of the present invention, the inventors discovered that there is a safety risk in the robot delivery process when transporting potentially dangerous materials from indoors to outdoors. Currently, in the general process of material delivery, users often ignore the danger of the materials themselves. If the robot ignores the danger of the materials when delivering them, it is very likely that the materials will be leaked, causing incalculable harm to the environment and people. Summary of the Invention

[0004] The main technical problem addressed by the embodiments of the present invention is the safety risk that exists in the robot delivery process when transporting potentially hazardous materials from indoors to outdoors.

[0005] To solve the above-mentioned technical problems, one technical solution adopted in this invention is: providing a material handling method applied to a robot, the method comprising: receiving a transportation instruction for the materials to be processed; planning and outputting a driving path based on preset elevator stations and preset transfer locations, wherein the transportation instruction includes preset elevator station information and preset transfer location information, and the driving path passes through the preset elevator stations and preset transfer locations; controlling the robot to drive along the driving path; when the robot needs to take an elevator, controlling the robot to take the elevator independently to the preset elevator station; and after the robot reaches the preset transfer location, controlling the robot to enter a transfer vehicle, wherein the transfer vehicle is used to transfer the robot to a material handling station.

[0006] In some embodiments, the travel path includes a first path and a second path, a preset elevator station located on a floor connected to the outdoor ground, and a preset transfer location located in an outdoor area; receiving a transport instruction for processed materials, and planning and outputting a travel path based on the preset elevator station and the preset transfer location, includes: receiving a transport instruction for processed materials, determining the initial location of the target material based on the transport instruction, wherein the transport instruction further includes target material information and initial location information; the robot travels to the initial location and obtains the target material at the initial location; planning and outputting a first path from the initial location to the preset elevator station based on the initial location and the preset elevator station; and planning and outputting a second path from the preset elevator station to the preset transfer location based on the preset elevator station and the preset transfer location.

[0007] In some embodiments, controlling the robot to travel along a path, and controlling the robot to take the elevator independently to a preset elevator stop when the robot needs to take the elevator, includes: controlling the robot to travel along a first path, reserving a target elevator for a preset time period before reaching the current floor elevator boarding point, wherein during the preset time period, the robot does not respond to the operation commands of the crowd to the target elevator so that the target elevator does not allow the crowd to take the elevator; after the robot reaches the current floor elevator boarding point, controlling the elevator door of the target elevator to open, and the robot enters the car of the target elevator; taking the car of the target elevator to the floor where the preset elevator stop is located, wherein during the process of taking the target elevator, if there are no crowds in the car of the target elevator, the robot is controlled to run to the floor where the preset elevator stop is located so that the robot does not take the elevator with the crowd.

[0008] In some embodiments, controlling a robot to travel along a first path and reserve a target elevator for a preset time period before reaching the current floor elevator boarding point includes: controlling the robot to travel along the first path and calculating the travel time required to reach the current floor elevator boarding point; determining the target elevator among at least one elevator in the current building based on the travel time, reserving the target elevator for a preset time period, and stopping the car of the target elevator at the current floor, wherein the target elevator does not respond to the operation instructions of the crowd during the preset time period so that the target elevator does not allow the crowd to ride.

[0009] In some embodiments, after the robot reaches the current floor elevator boarding point, the elevator door of the target elevator is opened and the robot enters the target elevator car. This includes: during the robot's journey to the current floor elevator boarding point, obtaining the crowd gathering situation at the current floor elevator boarding point; if the crowd gathering situation is that the population density is greater than or equal to a preset value, then waiting outside a preset range from the current floor elevator boarding point until the population density is less than the preset value; if the crowd gathering situation is that the population density is less than the preset value, then moving towards the current floor elevator boarding point and controlling the elevator door of the target elevator to open to enter the target elevator car, wherein, during the period of controlling the elevator door of the target elevator to open to enter the target elevator car, other elevators related to the current floor elevator boarding point are controlled to temporarily delay opening their elevator doors so that passengers can temporarily stay in the car of the current floor or not stop at the current floor.

[0010] In some embodiments, after controlling the robot to ride the elevator alone to a preset elevator station, the method further includes: disinfecting the target elevator that the robot is riding; and releasing the target elevator for public use after a preset interval has elapsed since the robot left the target elevator car, wherein the target elevator does not respond to public operation commands during the robot's ride in the target elevator and during the preset interval since the robot left the target elevator car.

[0011] In some embodiments, after the robot reaches a preset transfer location, the robot enters the transfer vehicle, including: controlling the robot to travel along a second path to reach the preset transfer location; identifying the door structure of the transfer vehicle at the preset transfer location; and controlling the robot to drive into the transfer vehicle and stop according to the robot's positioning result and the door structure.

[0012] In some embodiments, after the step of controlling the robot to enter the transfer vehicle, the method further includes: the robot acquiring satellite positioning results; if the satellite positioning results indicate that the robot is located at a material processing station, then loading an environmental map corresponding to the material processing station; and navigating away from the transfer vehicle based on the environmental map.

[0013] According to another aspect of the present invention, a robot is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, is capable of implementing the steps of the material handling method as described above.

[0014] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing a computer program that, when executed by a processor, can implement the steps of the material processing method as described above.

[0015] Unlike related technologies, this invention provides a material handling method, a robot, and a storage medium. The method receives a transport instruction for the materials being processed, plans and outputs a travel path based on preset elevator stops and preset transfer locations. The transport instruction includes preset elevator stop information and preset transfer location information, and the travel path passes through both the preset elevator stops and preset transfer locations. The robot is controlled to travel along the path, and when the robot needs to take an elevator, it is controlled to take the elevator independently to the preset elevator stop. After arriving at the preset transfer location, the robot is controlled to enter a transfer vehicle, which is used to transfer the robot to a material handling station. This invention can select a safe transport route for the robot when transporting potentially hazardous materials from indoors to outdoors, improving transport safety. Attached Figure Description

[0016] One or more embodiments are illustrated by way of example with reference to the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements having the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0017] Figure 1 This is a schematic diagram of an application scenario provided by an embodiment of the present invention;

[0018] Figure 2 This is a flowchart of a material processing method provided in an embodiment of the present invention;

[0019] Figure 3 This is a flowchart of the method for planning a driving route provided in an embodiment of the present invention;

[0020] Figure 4 This is a flowchart of a method for controlling a robot to take an elevator to a preset elevator station, provided in an embodiment of the present invention.

[0021] Figure 5 This is a flowchart of the method for occupying a target elevator provided in an embodiment of the present invention;

[0022] Figure 6 This is a flowchart of a method for controlling a robot to enter a target elevator, provided in an embodiment of the present invention.

[0023] Figure 7 This is a flowchart of a method for transporting target materials by transfer vehicle according to an embodiment of the present invention;

[0024] Figure 8 This is a flowchart of a material processing method provided in another embodiment of the present invention;

[0025] Figure 9 This is a flowchart of a material processing method provided in another embodiment of the present invention;

[0026] Figure 10 This is a schematic diagram of the robot provided in an embodiment of the present invention. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0028] It should be noted that, unless otherwise specified, the various features in the embodiments of the present invention can be combined with each other, and all are within the protection scope of the present invention. Furthermore, although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different module division or in a different order than that shown in the device schematic diagram or the flowchart.

[0029] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0030] Please see Figure 1 , Figure 1 This is a schematic diagram of an application scenario provided by an embodiment of the present invention.

[0031] The application scenarios for the material handling method of this invention can be, but are not limited to, quarantine hotels for epidemic prevention, infectious disease departments of hospitals, etc., and the materials can be potentially hazardous materials, specifically including guests' changes of clothes, bed sheets, domestic waste, epidemic prevention materials, medical contaminants, etc. Figure 1 As shown, after receiving the delivery instruction for the materials, the robot acquires the materials and arrives at the preset elevator station. The robot is then controlled to travel from the preset elevator station to the preset transfer position and enter the transfer vehicle. The transfer vehicle transfers the entire robot to the material processing station, where the materials are processed. Specifically, the robot can be a delivery robot.

[0032] Example 1

[0033] This invention provides a material handling method applied to robots. Please refer to [link / reference]. Figure 2 , Figure 2 This is a flowchart of a material processing method provided by an embodiment of the present invention, which includes the following steps:

[0034] S11. Receive the transportation instruction for the processed materials, and plan and output the driving route according to the preset elevator station and preset transfer location. The transportation instruction includes the preset elevator station information and preset transfer location information, and the driving route passes through the preset elevator station and preset transfer location.

[0035] In this embodiment, when supplies need to be transported, the staff sends a transport instruction to the robot. For example, if the supplies to be transported are medical contaminants (e.g., disposable masks or clothing), the staff sends an instruction to the robot to transport the medical contaminants. This instruction includes information on preset elevator stops and preset transfer locations that need to be passed during the transport of the medical contaminants. After receiving the transport instruction, the robot plans and outputs a travel path from its current location to the supplies processing station based on the preset elevator stop and preset transfer location information. The current location is the location where the robot is when it receives the instruction to transport the medical contaminants, and the supplies processing station is a fixed processing station for handling medical contaminants. It is understood that the travel path is a fixed path, and the preset elevator stops and preset transfer locations are two fixed stops along the travel path. Optionally, the preset elevator stops and preset transfer locations are locations selected by the staff according to the application scenario. After the staff determines the preset elevator stops and preset transfer locations, they input them into the robot and include them in the transport instruction.

[0036] The travel path includes a first path and a second path. The preset elevator stops are located on floors that connect to the outdoor ground level, and the preset transfer locations are located in outdoor areas. Please refer to [link / reference]. Figure 3 Step S11: Receive the transport instruction for the processed materials, and plan and output the travel route based on the preset elevator station and preset transfer location, including:

[0037] S111. Receive and process the transportation instructions for materials, and determine the initial location of the target materials based on the transportation instructions. The transportation instructions also include target material information and initial location information.

[0038] The target material information refers to the information of the material to be processed. For example, if the material to be processed is a medical contaminant, then the target material is a medical contaminant. The initial location information refers to the original location of the material to be processed. For example, if the medical contaminant is in room 502 on the 5th floor of the hospital, then the initial location is room 502 on the 5th floor of the hospital.

[0039] S112. The robot travels to the initial position and retrieves the target supplies there.

[0040] Before the robot receives the instruction to transport materials, a global map of the hospital is pre-built based on laser and / or visual SLAM (Simultaneous Localization and Mapping). The global map includes multiple rooms, corridors, elevators, etc. of the hospital. After receiving the instruction to transport medical contaminants, the robot is controlled to move from its current position to its initial position according to the global map. For example, if the robot's current position is room 505 on the 5th floor of the hospital, the robot is positioned and navigated according to the global map to move from room 505 to room 502 on the 5th floor of the hospital. The medical contaminants are then placed into the robot's storage compartment by a robotic arm or by staff.

[0041] S113. Based on the initial position and the preset elevator station, plan and output the first path from the initial position to the preset elevator station.

[0042] The preset elevator station is located on a floor that connects to the outdoor ground. For example, the preset elevator station is located on the 1st floor of the hospital. After the robot reaches room 502 on the 5th floor of the hospital and obtains medical contamination, it controls the robot to move from room 502 on the 5th floor of the hospital to the 1st floor of the hospital according to the global map of the hospital, which is the first path.

[0043] S114. Based on the preset elevator station and preset transfer location, plan and output the second path from the preset elevator station to the preset transfer location.

[0044] The preset transfer location is located in an outdoor area. For example, if the preset transfer location is 50 meters away from the hospital, then the second path is to control the robot to move from the first floor of the hospital to the preset transfer location 50 meters away from the hospital based on the hospital's global map and a pre-built navigation map. Optionally, when the robot moves outdoors, it can use satellite positioning data, such as GPS or BeiDou satellite positioning data, for positioning.

[0045] S12. Control the robot to travel along the driving path. When the robot needs to take the elevator, control the robot to take the elevator to the preset elevator station on its own.

[0046] In this embodiment, after acquiring the target material, when controlling the robot to travel along the path, if the initial floor and the floor of the preset elevator stop are not the same, the robot needs to be controlled to take the elevator to the preset elevator stop. Please refer to [link / reference]. Figure 4 Step S12: Control the robot to travel along the path. When the robot needs to take an elevator, control the robot to take the elevator independently to the preset elevator station, including:

[0047] S121. Control the robot to travel along the first path and reserve the target elevator within a preset time period before reaching the elevator boarding point on the current floor. During the preset time period, the target elevator does not respond to the crowd's operation instructions so that the target elevator does not allow the crowd to board.

[0048] In practical applications, the specific value of the preset time can be automatically adjusted according to the actual situation. Specifically, it can be the time it takes for the robot to travel along the first path to reach the elevator boarding point on the current floor. The target elevator is the robot's dedicated elevator within the preset time.

[0049] Specifically, please refer to Figure 5 Step S121: Control the robot to travel along the first path and reserve the target elevator within a preset time before reaching the elevator boarding point on the current floor, including:

[0050] S1211. Control the robot to travel along the first path and calculate the travel time required to reach the elevator boarding point on the current floor.

[0051] The current floor refers to the floor where the target material is initially located. For example, if the target material is in room 502 on the 5th floor of a hospital, then the current floor is the 5th floor of the hospital. The elevator boarding point on the current floor is the specific location where the robot moves to the current floor to board the elevator. The distance between the initial location of the target material and different elevator boarding points varies, therefore the time it takes for the robot to reach different elevator boarding points varies, i.e., the required travel time is different. For example, if there are two elevators on the 5th floor of the hospital, elevator 1 and elevator 2, and it takes the robot 3 minutes to move from the initial location to elevator 1 boarding point and 2 minutes to move from the initial location to elevator 2 boarding point, then the travel time required to reach the current floor elevator boarding point is 3 minutes and 2 minutes respectively.

[0052] S1212. Based on the travel time, identify the target elevator among at least one elevator in the current building, reserve the target elevator for a preset time, and stop the car of the target elevator at the current floor. During the preset time, the target elevator does not respond to the operation commands of the crowd so that the crowd is not allowed to ride the target elevator.

[0053] In some embodiments, after determining the travel time required to reach the elevator boarding point on the current floor, the elevator with the shorter travel time can be prioritized as the target elevator. For example, elevator number 2 can be prioritized as the target elevator, and it can be controlled to move to the 5th floor to wait for the robot to board. Within a preset time, elevator number 2 can prevent people from boarding it by not opening its doors. In other embodiments, elevators farther from the crowd can be prioritized as the target elevator. For example, if the current floor is the 3rd floor of a hospital, and there are two elevators, elevator number 3 and elevator number 4, elevator number 3 is closer to the crowd and carries people more frequently, while elevator number 4 is farther away and carries people less frequently. Elevator number 4 can be prioritized as the target elevator, and it can be controlled to move to the 3rd floor to wait for the robot to board. Within a preset time, elevator number 4 can prevent people from boarding it by not responding to their commands and not opening its doors.

[0054] S122. After the robot arrives at the elevator boarding point on the current floor, the elevator door of the target elevator is opened and the robot enters the elevator car.

[0055] In this process, the robot is controlled to arrive at the elevator boarding point on the current floor from its initial position and interact with the target elevator. After the interaction is completed, the elevator door of the target elevator is opened to allow the robot to enter the elevator car and ride the elevator.

[0056] Specifically, please refer to Figure 6 Step S122: After the robot arrives at the current floor elevator boarding point, the elevator door of the target elevator is opened, and the robot enters the target elevator car, including:

[0057] S1221. During the process of the robot heading to the elevator boarding point on the current floor, obtain the crowd gathering situation at the elevator boarding point on the current floor.

[0058] Among these features, obtaining information on the crowd density at the elevator boarding point on the current floor facilitates action planning based on crowd concentration. Excessive crowd density can easily lead to the leakage of target materials, impacting the population. For example, if the target material is a medical contaminant, leakage could potentially cause disease transmission among the population.

[0059] S1222. If the crowd density is greater than or equal to a preset value, wait outside the preset range of the elevator boarding point on the current floor until the crowd density is less than the preset value.

[0060] The preset value and the preset range can be set according to the actual situation. For example, the preset value for personnel distribution density is 0.3 people / m². 2The preset range from the elevator boarding point on the current floor is 5 meters. For example, the personnel density at the elevator boarding point on the current floor is 0.8 people / m². 2 The robot is controlled to wait at a distance of 5 meters from the elevator boarding point on the current floor. Optionally, in situations where the population density is greater than or equal to a preset value, the robot is controlled to wait in a room or isolation area to avoid close contact with the crowd.

[0061] S1223. If the crowd density is less than a preset value, then the elevator will move to the current floor elevator boarding point and control the elevator door of the target elevator to open so that passengers can enter the target elevator car. During the period of controlling the elevator door of the target elevator to open so that passengers can enter the target elevator car, other elevators related to the current floor elevator boarding point will temporarily delay opening their elevator doors so that passengers can stay in the car of the current floor or not stop at the current floor.

[0062] While controlling the opening of the target elevator's door to allow entry into its car, other elevators associated with the current floor's boarding point are controlled to temporarily delay opening their doors, allowing passengers to remain in their cars on that floor or avoid stopping at that floor. This control of other elevators prevents the robot from encountering crowds or passing through densely populated areas. For example, if elevator number 2 on the 5th floor of a hospital is the target elevator, and elevator number 1 also arrives at the 5th floor while the robot is entering its car, elevator number 1 is controlled to either temporarily delay opening its doors or avoid stopping at the 5th floor to prevent the robot from encountering crowds.

[0063] S123. Take the target elevator car to the floor where the preset elevator stop is located. If there are no people in the target elevator car during the ride, control the target elevator to run to the floor where the preset elevator stop is located so that the robot does not ride the elevator with the people.

[0064] During the process of controlling the robot to ride the target elevator, if a crowd is detected inside the elevator car, the robot will exit the elevator and wait for its next ride, or use its voice device to remind the crowd to move away or avoid the elevator, thus preventing the robot from sharing the elevator with the crowd. After the robot rides the target elevator to the floor of the preset elevator stop, the elevator door opens to allow the robot to exit the elevator car. While the robot is exiting the elevator, the crowd density within a preset range is monitored in real time. If the density of people is found to be greater than a preset value, the robot can wait inside the elevator car to avoid the crowd until the density is less than the preset value.

[0065] S13. After the robot reaches the preset transfer location, the robot enters the transfer vehicle, which is used to transfer the robot to the material processing station.

[0066] In this embodiment, the transfer vehicle is located at a preset transfer position. The robot is controlled to move from a preset elevator stop to the preset transfer position, interact with the transfer vehicle, and then enter and park inside the vehicle. The transfer vehicle then transports the robot to the material processing station. In other embodiments, if the distance between the preset elevator stop and the material processing station is no greater than a preset distance, the robot can be controlled to move directly to the material processing station according to a pre-built navigation map. The preset distance can be set according to requirements, for example, a preset distance of 30 meters. During the process of controlling the robot to move directly to the material processing station, a reserved idle time is allowed on the road it passes through. The reserved idle time is determined based on the robot's speed and the distance between the preset elevator stop and the material processing station. The robot's voice device reminds pedestrians to avoid or stay away during the reserved idle time.

[0067] Specifically, please refer to Figure 7 Step S13: After the robot reaches the preset transfer location, the robot is controlled to enter the transfer vehicle, including:

[0068] S131. Control the robot to travel along the second path to reach the preset transfer location.

[0069] After the robot arrives at the floor where the preset elevator stop is located, it exits the target elevator car and moves to the preset transfer location according to the pre-built navigation map. For example, if the preset elevator stop is on the 1st floor of the hospital, the target elevator is elevator number 2 on the 5th floor of the hospital, and the preset transfer location is 50 meters away from the hospital, then the robot will take elevator number 2 to the 1st floor of the hospital, exit the elevator car, and travel through the lobby to the preset transfer location 50 meters away from the hospital.

[0070] S132. Identify the door structure of the transfer vehicle at the preset transfer location.

[0071] The door structure of the transfer vehicle reflects the characteristics of the transfer vehicle, making it easier for the robot to identify the transfer vehicle and enter it for material transportation. For example, the door structure of the transfer vehicle is frame-shaped.

[0072] S133. Based on the robot's positioning results and the structure of the warehouse door, control the robot to drive into the transfer vehicle and stop.

[0073] In this process, after the robot identifies the structure of the transfer vehicle's door, it controls the transfer vehicle to open the door. The robot acquires multiple frames of point cloud data to construct a local map containing the interior of the transfer vehicle. Based on the local map, it determines the vacant locations inside the transfer vehicle and controls the robot to enter and stop at the vacant locations inside the transfer vehicle. After the transfer vehicle recognizes that the robot has stopped, it controls the transfer vehicle to drive to the material processing station according to the pre-constructed navigation map.

[0074] In this embodiment of the invention, when materials need to be processed, a transport instruction is sent to the robot. After receiving the transport instruction, the robot plans a travel path according to the instruction. When an elevator is needed, the most suitable elevator is selected as the target elevator, and the robot avoids and waits by passing through the elevator car to prevent it from traveling with crowds or passing through crowded areas. After the robot travels along the path to the preset transfer location, it enters the transfer vehicle, which is used to transfer the robot to the material processing station. This embodiment of the invention addresses the transportation of materials from indoors to outdoors, avoiding the risks of delivering potentially hazardous materials indoors and outdoors from multiple aspects, and selecting a safe transportation method for the robot.

[0075] Example 2

[0076] Please see Figure 8 , Figure 8 This is a flowchart of a material processing method provided in another embodiment of the present invention, such as... Figure 8 As shown, the method includes the following steps:

[0077] S21. Receive the transportation instruction for the processed materials, and plan and output the driving route according to the preset elevator station and preset transfer location. The transportation instruction includes the preset elevator station information and preset transfer location information, and the driving route passes through the preset elevator station and preset transfer location.

[0078] S22. Control the robot to travel along the driving path. When the robot needs to take the elevator, control the robot to take the elevator to the preset elevator station on its own.

[0079] For details of steps S21 and S22, please refer to steps S11 and S12 in the above embodiments.

[0080] S23. Disinfect the target elevator that the robot is riding in.

[0081] In this embodiment, controlling the target elevator that the robot is riding to go to a fixed floor and disinfecting the elevator car can avoid the potential leakage of hazardous materials that could have a negative impact on the environment and people. The fixed floor is set according to the actual situation, and this invention does not make a specific limitation. For example, if the fixed floor is the 7th floor of a hospital, then after the robot leaves the target elevator car, the target elevator is controlled to move to the 7th floor of the hospital and the car is disinfected.

[0082] S24. After a preset interval following the robot's departure from the target elevator car, the target elevator is released for public use. During the robot's ride in the target elevator and within the preset interval following the robot's departure from the target elevator car, the target elevator does not respond to public commands for operation.

[0083] In this embodiment, the preset interval duration can be set according to the actual situation. Specifically, it can be the total time for controlling the target elevator to go to a fixed floor and disinfect the car. For example, after the target elevator that the robot takes arrives at the 1st floor of the hospital, the robot leaves the target elevator car and goes to a preset transfer location. The target elevator is then controlled to go from the 1st floor of the hospital to the fixed 7th floor to disinfect the target elevator car. After disinfection, it can be released to the public. Within the preset interval duration, the target elevator is controlled not to respond to the public's operation commands to the target elevator, so that the public is not allowed to ride in the elevator.

[0084] S25. After the robot reaches the preset transfer location, the robot enters the transfer vehicle, which is used to transfer the robot to the material processing station.

[0085] For details of step S25 above, please refer to step S13 in the above embodiment.

[0086] In this embodiment, after receiving a transport instruction for the materials to be processed, the robot plans a travel path according to the instruction. When an elevator is needed, it selects the most suitable elevator as the target elevator, avoids and waits in the target elevator car, and disinfects the car of the target elevator that the robot has ridden in. After controlling the robot to travel along the path to the preset transfer position, the robot enters the transfer vehicle, which is used to transfer the robot to the material processing station. This application addresses the transportation of materials from indoors to outdoors, avoiding the risks of potentially hazardous materials being distributed indoors and outdoors from multiple aspects, and selecting a safe transportation method for the robot.

[0087] Example 3

[0088] Please see Figure 9 , Figure 9 This is a flowchart of a material processing method provided in another embodiment of the present invention, such as... Figure 9 As shown, the method includes the following steps:

[0089] S31. Receive the transportation instruction for the processed materials, and plan and output the driving route according to the preset elevator station and preset transfer location. The transportation instruction includes the preset elevator station information and preset transfer location information, and the driving route passes through the preset elevator station and preset transfer location.

[0090] S32. Control the robot to travel along the driving path. When the robot needs to take the elevator, control the robot to take the elevator to the preset elevator station on its own.

[0091] S33. After the robot reaches the preset transfer location, the robot enters the transfer vehicle, which is used to transfer the robot to the material processing station.

[0092] For details of steps S31, S32 and S33 above, please refer to steps S11, S12 and S13 in the above embodiments.

[0093] S34. The robot obtains satellite positioning results.

[0094] In this embodiment, the satellite positioning includes GPS, Beidou positioning, etc. Satellite navigation signals received in an indoor environment with obstructions are easily reflected and diffracted, resulting in large ranging errors and affecting positioning accuracy. Therefore, these satellite positioning methods can only provide relatively accurate positioning in outdoor environments and cannot be applied to indoor scenarios with higher requirements.

[0095] S35. If the satellite positioning result indicates that the location is at the material processing station, then load the environmental map corresponding to the material processing station.

[0096] In this embodiment, when the satellite positioning result is located at the material processing station, the robot loads the environmental map of the application scenario, wherein the environmental map includes the processing station area to enable the robot to locate and navigate in the processing station. The environmental map of the material processing station can be pre-built using laser and / or visual SLAM.

[0097] S36. Navigate away from the transfer vehicle based on the environmental map.

[0098] The robot acquires multiple frames of point cloud data using a LiDAR sensor mounted on its body. The robot then estimates its current pose (i.e., the localization result) by matching the LiDAR with the environmental map. Generally, SLAM is used in indoor scenarios and can integrate more sensor data for localization, such as the odometer readings of an inertial navigation system. The robot plans and outputs a driving path based on the road in the environmental map, and controls the robot to drive to the material processing point to process the target material.

[0099] In this embodiment of the invention, after receiving the delivery instruction for the processed materials, the robot plans a driving path according to the delivery instruction; when it needs to take an elevator, it selects the most suitable elevator as the target elevator and avoids and waits by passing through the car of the target elevator; after controlling the robot to drive along the driving path to the preset transfer position, the robot is transferred to the material processing station area by the transfer vehicle, and the robot is repositioned in the material processing station area and the environmental map including the material processing station area is obtained, so as to control the robot to leave the transfer vehicle and go to the final material processing point. This application addresses the transportation of materials from indoors to outdoors, avoids the risk of potentially dangerous materials being delivered indoors and outdoors from multiple aspects, and selects a safe transportation method for the robot.

[0100] Example 4

[0101] This invention provides a robot; please refer to [link / reference]. Figure 10 It demonstrates the ability to execute Figures 2 to 9 The hardware structure of the robot used in the material handling method.

[0102] The robot 400 includes: at least one processor 41; and a memory 42 communicatively connected to the at least one processor 41. Figure 10 Taking a processor 41 as an example, the memory 42 stores instructions that can be executed by the at least one processor 41. The instructions are executed by the at least one processor 41 to enable the at least one processor 41 to perform the material processing method described in the above embodiments.

[0103] Processor 41 and memory 42 can be connected via a bus or other means. Figure 10 Taking the bus connection as an example, memory 42, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. Processor 41 executes various functional applications and data processing by running the non-volatile software programs, instructions, and modules stored in memory 42, thereby implementing the material processing method in the above embodiments.

[0104] The memory 42 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created by the robot. Furthermore, the memory 42 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 42 may optionally include a memory 42 remotely located relative to the processor 41. These remote memories can be connected to the robot 400 via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0105] The one or more modules are stored in the memory 42, and when executed by the one or more processors 41, they perform the material processing method in any of the above embodiments, for example, executing... Figures 2 to 9 The methods and steps in the text.

[0106] Example 5

[0107] This embodiment provides a non-volatile computer-readable storage medium storing computer-executable instructions that are executed by one or more processors, for example, executing the instructions described above. Figures 2 to 9 The method and steps.

[0108] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented using software and a general-purpose hardware platform, or of course, using hardware. Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc.

[0109] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; under the concept of the present invention, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the present invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A material handling method applied to a robot, characterized in that, include: The system receives and processes material transportation instructions, plans and outputs a driving route based on preset elevator stations and preset transfer locations. The transportation instructions include preset elevator station information and preset transfer location information, and the driving route passes through the preset elevator stations and preset transfer locations. The driving route includes a first route. Control the robot to travel along the driving path, and when the robot needs to take the elevator, control the robot to take the elevator to the preset elevator station on its own. After the robot reaches the preset transfer location, it enters the transfer vehicle, which is used to transfer the robot to the material processing station. The system controls the robot to travel along a designated path, and when the robot needs to take an elevator, it independently takes the elevator to a preset elevator stop. This includes: The robot is controlled to travel along a first path and reserve the target elevator within a preset time period before reaching the elevator boarding point on the current floor. During the preset time period, the robot does not respond to the operation commands of the people to the target elevator so that the target elevator does not allow people to ride. After the robot arrives at the elevator boarding point on the current floor, it controls the elevator door of the target elevator to open, and the robot enters the elevator car. The robot takes the target elevator car to the floor where the preset elevator stop is located. If there are no people in the target elevator car during the ride, the robot will control the target elevator to run to the floor where the preset elevator stop is located so that the robot does not ride the elevator with people. After the robot reaches the elevator boarding point on the current floor, it controls the elevator door of the target elevator to open, and the robot enters the elevator car, including: While the robot is moving to the elevator boarding point on the current floor, it obtains information on the crowd gathering at the elevator boarding point on the current floor. If the crowd density is greater than or equal to the preset value, wait outside the preset range from the elevator boarding point on the current floor until the crowd density is less than the preset value. If the crowd density is less than a preset value, the system will move towards the current floor elevator boarding point and control the elevator door of the target elevator to open so that passengers can enter the target elevator car. During the period when the elevator door of the target elevator is opened to enter the target elevator car, other elevators related to the current floor elevator boarding point will temporarily delay opening their elevator doors so that passengers can stay in the car of the current floor or not stop at the current floor.

2. The material handling method according to claim 1, characterized in that, The travel path also includes a second path, with the preset elevator station located on a floor that connects to the outdoor ground, and the preset transfer location located in the outdoor area; Receive and process material transportation instructions, plan and output travel routes based on preset elevator stops and preset transfer locations, including: Receive and process material transportation instructions, determine the initial location of the target material based on the transportation instructions, wherein the transportation instructions also include target material information and initial location information; The robot travels to the initial location and retrieves the target supplies there. Based on the initial position and the preset elevator station, plan and output the first path from the initial position to the preset elevator station; Based on the preset elevator station and preset transfer location, the second path from the preset elevator station to the preset transfer location is planned and output.

3. The material handling method according to claim 1, characterized in that, Control the robot to travel along the first path and reserve the target elevator within a preset time before reaching the elevator boarding point on the current floor, including: Control the robot to travel along the first path and calculate the travel time required to reach the elevator boarding point on the current floor; Based on the travel time, a target elevator is identified from at least one elevator in the current building, and a preset time is reserved for occupying the target elevator. The car of the target elevator is then stopped at the current floor. During the preset time, the target elevator does not respond to the user's operation commands, so that the user is not allowed to ride the target elevator.

4. The material handling method according to claim 1, characterized in that, After controlling the robot to independently ride the elevator to the preset elevator station, the following steps are also included: The target elevator that the robot was riding was disinfected; After a preset interval following the robot's departure from the target elevator car, the target elevator is released for public use. During the time the robot is riding the target elevator and during the preset interval following its departure from the target elevator car, the target elevator does not respond to any operational commands from the public.

5. The material handling method according to claim 1, characterized in that, After the robot reaches the preset transfer location, it enters the transfer vehicle, including: Control the robot to travel along the second path to reach the preset transfer location; The door structure of the transfer vehicle is identified at the preset transfer location; Based on the robot's positioning results and the structure of the warehouse door, the robot is controlled to drive into the transfer vehicle and stop.

6. The material handling method according to claim 1, characterized in that, After the steps of controlling the robot to enter the transfer vehicle, the following are also included: The robot obtains satellite positioning results; If the satellite positioning result indicates that the location is at a material processing station, then the corresponding environmental map for the material processing station will be loaded. Navigate to leave the transfer vehicle using an environmental map.

7. A robot comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the material processing method as described in any one of claims 1 to 6.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the material processing method as described in any one of claims 1 to 6.

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