Cross-floor transportation method of robot, terminal equipment and readable storage medium

Abstract

The invention discloses a cross-floor transportation method of a robot, terminal equipment and a readable storage medium. The method comprises the steps that if a material is detected on a starting floor of the lifting equipment, a transportation task corresponding to the material and task information of the transportation task are obtained, and the task information comprises a target floor; determining an associated transportation task of the transportation task according to the starting floor and the target floor; the carrying state of the materials is determined according to the transportation task and the corresponding associated transportation task; and if the carrying state of the materials is a transportable state, a target robot is distributed to the materials on the target floor, so that after the materials are conveyed to the target floor through the lifting equipment, the target robot is controlled to carry the materials. The problem that in a cross-floor material carrying scene, the accuracy and efficiency of material carrying are low is solved.

Description

Technical Field

[0001] The present application relates to the field of artificial intelligence, and in particular to a robot cross-floor transportation method, terminal equipment and readable storage medium. Background Art

[0002] A robot is a device that can move automatically without manual operation. Nowadays, most robots have the ability to move materials. In the cross-floor material handling scenario, the robot on the starting floor is generally required to transport the materials to the lifting equipment, and then the lifting equipment is used to transport the materials to the target floor. The robot on the target floor then moves the materials in the lifting equipment, thereby realizing cross-floor material handling.

[0003] However, in actual cross-floor material handling scenarios, due to the large number of handling tasks, the robot on the target floor may jump the queue and grab materials, resulting in the materials being transported to different destinations, which in turn affects the accuracy and efficiency of material handling. Summary of the invention

[0004] The present application provides a robot cross-floor transportation method, a terminal device and a computer-readable storage medium, which solve the problems of low accuracy and efficiency of material handling in cross-floor material handling scenarios.

[0005] In a first aspect, the present application provides a cross-floor transportation method of a robot, the method comprising:

[0006] If a material is detected at the starting floor of the lifting device, a transportation task corresponding to the material and task information of the transportation task are obtained, wherein the task information includes a target floor;

[0007] Determine the associated transport task of the transport task according to the starting floor and the target floor;

[0008] Determining the transport status of the material according to the transport task and its corresponding associated transport tasks;

[0009] If the transport state of the material is a transportable state, a target robot is allocated to the material on the target floor, so that after the material is transported to the target floor by the lifting device, the target robot is controlled to transport the material.

[0010] In a second aspect, the present application also provides a terminal device, which includes a memory and a processor; the memory is used to store a computer program; the processor is used to execute the computer program and implement the steps of the robot cross-floor transportation method provided in the embodiment of the present application when executing the computer program.

[0011] In a third aspect, the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the processor implements the steps of the robot cross-floor transportation method provided in an embodiment of the present application.

[0012] The cross-floor transportation method, terminal device, and readable storage medium of the robot provided in the embodiment of the present application detect materials on the starting floor of the lifting device, and then obtain the transportation task corresponding to the material and the task information of the transportation task, the task information including the target floor; determine the associated transportation task of the transportation task according to the starting floor and the target floor; determine the material handling status according to the transportation task and its corresponding associated transportation task; if the material handling status is a transportable state, a target robot is allocated to the material on the target floor, so that after the material is transported to the target floor through the lifting device, the target robot is controlled to transport the material. In this way, in the cross-floor material handling scenario, the corresponding robot can be accurately and orderly arranged to carry the material on the target floor, effectively avoiding the situation of queuing and grabbing materials, thereby improving the accuracy and efficiency of material handling. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0014] Figure 1 This is a schematic diagram of an application scenario of a cross-floor transportation method of a robot provided in an embodiment of the present application;

[0015] Figure 2 It is a schematic diagram of the steps of a cross-floor transportation method of a robot provided in an embodiment of the present application;

[0016] Figure 3 It is a schematic diagram of the steps of another robot cross-floor transportation method provided in an embodiment of the present application;

[0017] Figure 4 A schematic block diagram of the structure of a terminal device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0019] The flowcharts shown in the accompanying drawings are only examples and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may also be decomposed, combined or partially merged, so the actual execution order may change according to actual conditions.

[0020] It should be understood that the terms used in this application specification are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in this application specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0021] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0022] Nowadays, in cross-floor material handling scenarios such as factory environments, material handling is achieved through the collaborative operation of users and robots, which also includes transportation and delivery interactions between equipment. For example, when transporting materials across floors, lifting equipment is used to transport materials from the starting floor to the target floor.

[0023] However, in actual cross-floor material handling scenarios, due to the large number of handling tasks, the robot on the target floor may cut in line to grab materials. For example, the target floor is the 2nd floor, and there is a task of transferring from the 4th floor to the 2nd floor and a task of transferring from the 1st floor to the 2nd floor. Since the robots on the 2nd floor have all received material handling tasks, they may cut in line to grab materials, resulting in the materials being transported to different destinations, which in turn affects the accuracy and efficiency of material handling.

[0024] The cross-floor transportation method of the robot disclosed in the embodiment of the present application can accurately and orderly arrange corresponding robots to transport materials on the target floor in a cross-floor material handling scenario, effectively avoiding the situation of cutting in line to grab materials, thereby improving the accuracy and efficiency of material handling.

[0025] The method can be applied to a server, and of course can also be applied to a terminal device, wherein the terminal device can include a fixed terminal such as a mobile phone, a tablet computer, a personal digital assistant (PDA), etc. The server can be, for example, a separate server or a server cluster. However, for ease of understanding, the following embodiment will be described in detail with a robot cross-floor transportation method applied to a server.

[0026] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0027] like Figure 1 As shown, the cross-floor transportation method of the robot provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown. The application environment includes a robot 110, a lifting device 120 and a server 130, wherein the robot 110 can communicate with the server 130 through a network. Specifically, when the server 130 detects a material on the starting floor of the lifting device 120, it obtains the transportation task corresponding to the material and the task information of the transportation task, and the task information includes the target floor; determines the associated transportation task of the transportation task according to the starting floor and the target floor; determines the material handling state according to the transportation task and its corresponding associated transportation task; if the material handling state is a transportable state, a target robot is allocated to the material on the target floor, so that after the material is transported to the target floor by the lifting device 120, the target robot is controlled to handle the material. Among them, the server 130 can be an independent server, or it can be a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (CDNs), and big data and artificial intelligence platforms. The robot 110 may be an industrial robot capable of transporting materials, such as an Automated Guided Vehicle (AGV), which is not specifically limited here. The robot 110 and the server 130 may be directly or indirectly connected via wired or wireless communication, which is not limited here.

[0028] See also Figure 2 , Figure 2 This is a schematic flow chart of a robot cross-floor transportation method provided in an embodiment of the present application. In the cross-floor material handling scenario, the robot cross-floor transportation method can accurately and orderly arrange corresponding robots for materials on the target floor to carry them, effectively avoiding the situation of queue jumping and material grabbing, thereby improving the accuracy and efficiency of material handling.

[0029] like Figure 2 As shown, the cross-floor transportation method of the robot includes steps S101 to S104.

[0030] S101. If a material is detected at the starting floor of the lifting device, a transportation task corresponding to the material and task information of the transportation task are obtained, where the task information includes a target floor.

[0031] The lifting equipment may be equipment such as lifts and elevators used to transport materials up and down floors, such as freight elevators. The transportation task may be used to indicate the transportation starting point and transportation destination of the material. The task information may include the starting floor and target floor corresponding to the material. The starting floor indicates the floor before the material is transported by the lifting equipment, and the target floor indicates the floor after the material is transported by the lifting equipment.

[0032] Exemplarily, the lifting equipment may include a camera. If the lifting equipment is at the starting floor, the camera can be used to capture an image of the ladder opening of the lifting equipment to determine whether there is material on the starting floor of the lifting equipment. If it is determined that there is material to be transported on the starting floor of the lifting equipment, the transportation task corresponding to the material and its task information can be obtained.

[0033] Exemplarily, the lifting equipment may include a gravity detection device. If the lifting equipment is at the starting floor, the gravity detection device can be used to detect the gravity change at the ladder entrance of the lifting equipment, so as to determine whether there is material on the starting floor of the lifting equipment. If it is determined that there is material to be transported on the starting floor of the lifting equipment, the transportation task corresponding to the material and its task information can be obtained.

[0034] S102: Determine the associated transport tasks of the transport task according to the starting floor and the target floor.

[0035] The associated transport task may include a transport task associated with the transport task corresponding to the material, and may specifically include a first associated transport task and a second associated transport task. The first associated transport task may be a mutually exclusive task of the initial floor, that is, the starting floor of the transport task corresponding to the material is the same as the target floor of the associated transport task. The second associated transport task may be a time-associated transport task of the target floor, that is, the target floor of the transport task corresponding to the material is the same as the target floor of the associated transport task.

[0036] In some embodiments, the first associated transport task is determined from the transport task list of the lifting device according to the starting floor, and the second associated transport task is determined from the transport task list of the lifting device according to the target floor. Thus, the first associated transport task and the second associated transport task can be accurately determined from the transport task list of the lifting device.

[0037] The transport task list may include a task list consisting of transport tasks that require the use of lifting equipment.

[0038] Specifically, the target floors of each transport task in the transport task list of the lifting equipment are traversed, and the first associated transport task is determined from the transport task list of the lifting equipment according to the starting floor of the transport task corresponding to the material; at the same time, the second associated transport task is determined from the transport task list of the lifting equipment according to the target floor of the transport task corresponding to the material.

[0039] Exemplarily, the target floors of each transport task in the transport task list of the lifting equipment are traversed to determine whether the target floors of each transport task in the transport task list are the same as the starting floor and target floor of the transport task corresponding to the material; if they are the same, the first associated transport task and the second associated transport task are determined according to the starting floor and target floor of the transport task corresponding to the material.

[0040] In some embodiments, the target floor of each transport task in the transport task list is obtained; if the target floor of a transport task in the transport task list is the same as the starting floor corresponding to the material, the transport task in the transport task list is used as the first associated transport task. In this way, the first associated transport task can be accurately determined from the transport task list of the lifting device.

[0041] Specifically, obtain the target floor of each transport task in the handling task list; if there is a transport task in the handling task list whose target floor is the same as the starting floor corresponding to the material, then the transport task in the handling task list will be used as the first associated transport task; if the target floor of the transport task in the handling task list is not the same as the starting floor corresponding to the material, then traverse the next transport task.

[0042] For example, if the handling task list includes transport task A and transport task B, their corresponding target floors are the 1st floor and the 3rd floor respectively. If the starting floor of the handling task corresponding to the material is the 1st floor, then the target floor of transport task A is the same as the starting floor of the handling task corresponding to the material, so transport task A is the first associated transport task.

[0043] In some embodiments, the target floor of each transport task in the handling task list is obtained; if the target floor of a transport task in the handling task list is the same as the target floor corresponding to the material, the transport task in the handling task list is used as the second associated transport task. In this way, the second associated transport task can be accurately determined from the handling task list of the lifting device.

[0044] Specifically, obtain the target floor of each transport task in the handling task list; if there is a transport task in the handling task list whose target floor is the same as the target floor corresponding to the material, then the transport task in the handling task list will be used as the second associated transport task; if the target floor of the transport task in the handling task list is not the same as the target floor corresponding to the material, then traverse the next transport task.

[0045] For example, if the handling task list includes transport task C and transport task D, their corresponding target floors are the 2nd and 4th floors respectively. If the target floor of the handling task corresponding to the material is the 2nd floor, then the target floor of transport task C is the same as the target floor of the handling task corresponding to the material, so transport task C is the second associated transport task.

[0046] S103: Determine the material handling status according to the transportation task and its corresponding associated transportation tasks.

[0047] The transport status may include a transportable status, a lifting waiting status, and a transport waiting status. The transportable status indicates that there is no waiting transport task before the transport task corresponding to the material, the lifting waiting status indicates that there is a waiting transport task of a different target floor before the transport task corresponding to the material, and the transport waiting status indicates that there is a waiting transport task of the same target floor before the transport task corresponding to the material.

[0048] In some embodiments, the task creation time of the transport task and the associated transport task is obtained; if the task creation time of the transport task is earlier than the task creation time of the associated transport task, the material handling state is determined to be a transportable state; if the task creation time of the transport task is not earlier than the task creation time of the associated transport task, and the associated transport task is the first associated transport task, the material handling state is determined to be a lifting waiting state; if the task creation time of the transport task is not earlier than the task creation time of the associated transport task, and the associated transport task is the second associated transport task, the material handling state is determined to be a handling waiting state. In this way, the material handling state can be accurately determined based on the transport task and the associated transport task.

[0049] Exemplarily, if the associated transport tasks include transport task a, transport task b and transport task c, and transport task a is the first associated transport task, and transport task b and transport task c are the second associated transport tasks; if the task creation time of the transport tasks corresponding to the material are all earlier than the task creation time of transport task a, transport task b and transport task c, then the handling status of the material is determined to be a transportable status.

[0050] Exemplarily, if the associated transport tasks include transport task a, transport task b and transport task c, and transport task a is the first associated transport task, and transport task b and transport task c are the second associated transport tasks; if the task creation time of the transport task corresponding to the material is not earlier than the task creation time of transport task a, since transport task a is the first associated transport task, the handling status of the material is determined to be the lifting and waiting status.

[0051] Exemplarily, if the associated transport tasks include transport task a, transport task b and transport task c, and transport task a is the first associated transport task, and transport task b and transport task c are the second associated transport tasks; if the task creation time of the transport task corresponding to the material is not earlier than the task creation time of transport task b or transport task c, since transport task b and transport task c are the second associated transport tasks, the handling status of the material is determined to be the handling waiting status.

[0052] In some embodiments, after determining the transport state of the material according to the transport task and its corresponding associated transport task, if the transport state of the material is a lifting waiting state, the transport task corresponding to the material is suspended until the associated transport task is completed, and then the transport state is switched from the lifting waiting state to the transportable state. This can avoid allocating a robot to the target floor in advance, thereby wasting the robot's power.

[0053] Specifically, since the handling status is in the lifting and waiting state, that is, at this time there is an associated transport task whose target floor is the same as the starting floor of the transport task corresponding to the material, and since the creation time of the associated transport task is earlier than the transport task corresponding to the material, the lifting equipment gives priority to the associated transport task, so the transport task corresponding to the material is suspended until the associated transport task is completed, and then the handling status is switched from the lifting and waiting state to the transportable state.

[0054] For example, if the material's handling status is in the lifting waiting state, the transportation task corresponding to the material is suspended until the associated transportation task with an earlier task creation time is completed, and then the handling status is switched from the lifting waiting state to the handling state. Since the associated transportation task needs to be executed first, the transportation task corresponding to the material can be suspended, and there is no need to allocate a robot to the target floor in advance, thereby saving the robot's power.

[0055] In some embodiments, after determining the material handling status according to the transport task and its corresponding associated transport task, if the material handling status is a handling waiting status, a target robot is allocated to the material on the target floor; the task waiting order is determined according to the task creation time of the transport task and the associated transport task; the target robot is controlled to move to the waiting area and wait based on the task waiting order. In this way, the robot corresponding to the transport task with a later task creation time can be made to wait based on the task waiting order, thereby effectively avoiding the situation of queue jumping and material grabbing, thereby improving the accuracy and efficiency of material handling.

[0056] The target robot is a robot used to perform the transportation task corresponding to the material, and the waiting area is an area where the target robot queues and waits. The task waiting order is used to indicate the time order of task creation of each transportation task.

[0057] Specifically, since the transport state is in the transport waiting state, that is, at this time there is an associated transport task whose target floor is the same as the target floor of the transport task corresponding to the material, and since the creation time of the associated transport task is earlier than the transport task corresponding to the material, the lifting equipment gives priority to the associated transport task. Since the target floors are the same, the target robot can be assigned to the material on the target floor first; then the task waiting order is determined according to the transport task and the task creation time of the associated transport task; finally, the target robot is controlled to move to the waiting area and wait based on the task waiting order.

[0058] For example, if the transport task corresponding to the material is transport task A, and its corresponding second associated transport tasks include transport task B and transport task C, and the task creation time of transport task B is earlier than that of transport task A, and the task creation time of transport task A is earlier than that of transport task C, then robots a, b and c can be respectively assigned to transport task A, transport task B and transport task C on the target floor. Since the task creation time of transport task B is earlier than that of transport task A, robot b moves to the staircase of the lifting equipment to carry the material corresponding to transport task B. At the same time, since the task creation time of transport task A is earlier than that of transport task C, robot a moves to the waiting area to wait, waiting for robot b to carry the material corresponding to transport task B before executing transport task A. Robot c also moves to the waiting area and queues behind robot a, waiting for robot a to carry the material corresponding to transport task A before executing transport task C, and so on. In this way, the robots corresponding to the transport tasks with later task creation times can be made to wait based on the task waiting order, thereby effectively avoiding the situation of queue jumping and material grabbing, thereby improving the accuracy and efficiency of material handling.

[0059] It should be noted that the target robot corresponding to the transport task can be one or more, and is not specifically limited here.

[0060] S104: If the material is in a transportable state, a target robot is allocated to the material on the target floor, so that after the material is transported to the target floor through the lifting device, the target robot is controlled to transport the material.

[0061] The transportable state is used to indicate that there is no associated transport task earlier than the transport task corresponding to the material, so the lifting device preferentially processes the transport task corresponding to the material. The target robot may be a robot that performs the transport task corresponding to the material.

[0062] In some embodiments, the working status and use status of the robots on the target floor are obtained; the robots to be assigned are determined according to the working status and use status; the position information of the robots to be assigned is determined, and the target robot is determined from the robots to be assigned according to the position information. In this way, the corresponding target robot can be accurately assigned to the material on the target floor, thereby improving the accuracy and efficiency of material handling.

[0063] The working state may include a running state and an idle state, and the use state may be determined by factors such as the robot's power, wear and tear, and robot type, and may specifically include a ready-to-use state and a prohibited-to-use state. The robot to be assigned may be a robot whose working state is an idle state and whose use state is a ready-to-use state.

[0064] Exemplarily, it can be detected whether each robot on the target floor is performing a task. If it is detected that the robot on the target floor is performing a task, the working state of the robot is determined to be a running state. If it is detected that the robot on the target floor is not performing a task, the working state of the robot is determined to be an idle state.

[0065] Exemplarily, the power level of each robot on the target floor can be obtained. If it is detected that the power level of the robot exceeds a preset power threshold, the usage status of the robot is determined to be a standby status. If it is detected that the power level of the robot on the target floor does not exceed the preset power threshold, the usage status of the robot is determined to be a prohibited use status.

[0066] Exemplarily, the degree of wear of each robot on the target floor can be obtained. If it is detected that the degree of wear of the robot exceeds a preset wear value, the usage status of the robot is determined to be a prohibited use status. If it is detected that the degree of wear of the robot on the target floor does not exceed the preset wear value, the usage status of the robot is determined to be a wait-for-use status.

[0067] Exemplarily, the robot type of each robot on the target floor can be obtained, and whether each robot on the target floor is suitable for transporting the material can be determined based on factors such as the type and weight of the material. The use status of the robots that are suitable for transporting the material can be set to a standby state, and the use status of the robots that are not suitable for transporting the material can be set to a prohibited use state.

[0068] It should be noted that the usage status of the robot can be determined by any one of the robot's power, degree of wear, and robot type, or by a combination of the above, and no specific limitation is made here.

[0069] Specifically, the position information of each robot to be assigned is obtained, and the distance between each robot to be assigned and the lifting equipment is determined according to the position information of each robot to be assigned, and the robot to be assigned with the shortest distance from the lifting equipment is used as the target robot. This can avoid calling long-distance robots, thereby wasting resources. After the target robot is assigned to the material, once the material is transported to the target floor through the lifting equipment, the target robot will move to the stairwell of the target floor and carry the material.

[0070] See also Figure 3 , Figure 3 FIG. 1 is a schematic flow chart of another cross-floor transportation method of a robot provided in an embodiment of the present application. Figure 3 As shown, the cross-floor transportation method of the robot may include the following steps:

[0071] S201, determine whether materials are detected at the starting floor of the lifting equipment, if so, go to S203; if not, go to S202.

[0072] S202, continuously monitoring whether materials are detected at the starting floor of the lifting device.

[0073] S203, determine whether there is a first associated transport task of the current transport task, if yes, go to S204; if not, go to S205.

[0074] S204: Suspend the current transport task and temporarily do not assign a robot to the current transport task on the target floor.

[0075] S205. Allocate a robot for the current transport task on the target floor.

[0076] S206, determine whether there is a second associated transport task of the current transport task, if yes, go to S207; if not, go to S208.

[0077] S207, controlling the robot to move to the waiting area to queue and wait.

[0078] S208, controlling the robot to move to the stairwell of the target floor to transport materials.

[0079] The cross-floor transportation method of the robot provided in the embodiment of the present application detects the material on the starting floor of the lifting device, then obtains the transportation task corresponding to the material and the task information of the transportation task, the task information includes the target floor; determines the associated transportation task of the transportation task according to the starting floor and the target floor; determines the material handling state according to the transportation task and its corresponding associated transportation task; if the material handling state is a transportable state, allocates a target robot to the material on the target floor, so that after the material is transported to the target floor through the lifting device, the target robot is controlled to transport the material. In this way, in the cross-floor material handling scenario, the corresponding robot can be accurately and orderly arranged to carry the material on the target floor, effectively avoiding the situation of queuing and grabbing materials, thereby improving the accuracy and efficiency of material handling.

[0080] See also Figure 4 , Figure 4 A schematic block diagram of the structure of a terminal device provided in an embodiment of the present invention.

[0081] like Figure 4 As shown, the terminal device 300 may include a processor 301 and a memory 302, and the processor 301 and the memory 302 are connected via a bus 303, such as an I2C (Inter-integrated Circuit) bus.

[0082] In an exemplary embodiment, the processor 301 can be used to provide computing and control capabilities to support the operation of the entire terminal device. The processor 301 can be a central processing unit (CPU), and the processor 301 can also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc.

[0083] Specifically, the memory 302 may be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a mobile hard disk.

[0084] Those skilled in the art will understand that Figure 4The structure shown in the figure is only a block diagram of a partial structure related to the embodiment of the present invention, and does not constitute a limitation on the terminal device to which the embodiment of the present invention is applied. The specific server may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0085] The processor 301 is used to run a computer program stored in the memory, and implement any one of the cross-floor transportation methods of the robot provided in the embodiments of the present invention when executing the computer program.

[0086] In one embodiment, the processor 301 is used to run a computer program stored in a memory, and implement the following steps when executing the computer program: if a material is detected on the starting floor of the lifting device, obtain the transportation task corresponding to the material and the task information of the transportation task, wherein the task information includes the target floor; determine the associated transportation task of the transportation task according to the starting floor and the target floor; determine the handling status of the material according to the transportation task and its corresponding associated transportation task; if the handling status of the material is a transportable state, allocate a target robot to the material on the target floor, so that after the material is transported to the target floor by the lifting device, the target robot is controlled to handle the material.

[0087] In one embodiment, when the processor 301 implements the method of determining the associated transport tasks of the transport task according to the starting floor and the target floor, it is used to implement: determining the first associated transport task from the handling task list of the lifting equipment according to the starting floor; and determining the second associated transport task from the handling task list of the lifting equipment according to the target floor.

[0088] In one embodiment, when the processor 301 implements the determination of the first associated transport task from the handling task list of the lifting equipment according to the starting floor, it is used to implement: obtaining the target floor of each transport task in the handling task list; if there is a transport task in the handling task list whose target floor is the same as the starting floor corresponding to the material, then the transport task in the handling task list is used as the first associated transport task.

[0089] In one embodiment, when the processor 301 implements the determination of the second associated transport task from the handling task list of the lifting equipment according to the target floor, it is used to implement: obtaining the target floor of each transport task in the handling task list; if there is a transport task in the handling task list whose target floor is the same as the target floor corresponding to the material, then the transport task in the handling task list is used as the second associated transport task.

[0090] In one embodiment, when the processor 301 implements the determination of the material handling status according to the transport task and its corresponding associated transport task, it is used to implement: obtaining the task creation time of the transport task and the associated transport task; if the task creation time of the transport task is earlier than the task creation time of the associated transport task, determining that the material handling status is a transportable status; if the task creation time of the transport task is not earlier than the task creation time of the associated transport task, and the associated transport task is the first associated transport task, determining that the material handling status is a lifting and lowering waiting status; if the task creation time of the transport task is not earlier than the task creation time of the associated transport task, and the associated transport task is the second associated transport task, determining that the material handling status is a handling waiting status.

[0091] In one embodiment, after the processor 301 implements the determination of the material's transport status based on the transport task and its corresponding associated transport task, it is used to implement: if the material's transport status is a lifting and waiting state, the transport task corresponding to the material is suspended until the associated transport task is completed, and then the transport status is switched from the lifting and waiting state to the transportable state.

[0092] In one embodiment, after determining the transport status of the material according to the transport task and its corresponding associated transport task, the processor 301 is used to implement: if the transport status of the material is a transport waiting state, assigning a target robot to the material on the target floor; determining the task waiting order according to the task creation time of the transport task and the associated transport task; controlling the target robot to move to the waiting area, and waiting based on the task waiting order.

[0093] In one embodiment, after allocating a target robot to the material on the target floor, the processor 301 is used to implement: obtaining the working status of the robot on the target floor; determining the robot to be allocated according to the working status; determining the position information of the robot to be allocated, and determining the target robot from the robots to be allocated according to the position information.

[0094] It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the terminal device described above can refer to the corresponding process in the aforementioned embodiment and will not be repeated here.

[0095] A computer-readable storage medium is also provided in an embodiment of the present application. The computer-readable storage medium stores a computer program. The computer program includes program instructions. The processor executes the above program instructions to implement any cross-floor transportation method of the detection robot provided in the embodiment of the present application.

[0096] For example, the program is loaded by the processor and may execute the following steps:

[0097] If a material is detected on the starting floor of the lifting device, the transportation task corresponding to the material and the task information of the transportation task are obtained, and the task information includes the target floor; the associated transportation tasks of the transportation task are determined according to the starting floor and the target floor; the handling state of the material is determined according to the transportation task and its corresponding associated transportation tasks; if the handling state of the material is a transportable state, a target robot is allocated to the material on the target floor, so that after the material is transported to the target floor by the lifting device, the target robot is controlled to carry the material

[0098] The computer-readable storage medium may be an internal storage unit of the terminal device in the aforementioned embodiment, such as a hard disk or memory of the terminal device. The computer-readable storage medium may also be an external storage device of the terminal device, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital card (Secure Digital Card, SD Card), a flash card (Flash Card), etc. equipped on the terminal device.

[0099] Furthermore, the computer-readable storage medium may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, programs required for at least one function, etc.; the data storage area may store data created according to each program, etc.

[0100] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A robot cross-floor transportation method, characterized in that: The method comprises: If a material is detected at the starting floor of the lifting device, a transportation task corresponding to the material and task information of the transportation task are obtained, wherein the task information includes a target floor; Determine the associated transport task of the transport task according to the starting floor and the target floor; Determining the transport status of the material according to the transport task and its corresponding associated transport tasks; If the transport state of the material is a transportable state, a target robot is allocated to the material on the target floor, so that after the material is transported to the target floor by the lifting device, the target robot is controlled to transport the material.

2. The method according to claim 1, characterized in that The determining of the associated transport task of the transport task according to the starting floor and the target floor includes: Determining a first associated transport task from a transport task list of the lifting device according to the starting floor; A second associated transport task is determined from the transport task list of the lifting device according to the target floor.

3. The method according to claim 2, characterized in that The determining the first associated transport task from the handling task list of the lifting device according to the starting floor includes: Obtain the target floor of each transport task in the handling task list; If there is a transport task in the handling task list whose target floor is the same as the starting floor corresponding to the material, the transport task in the handling task list is used as the first associated transport task.

4. The method according to claim 2, characterized in that: The determining the second associated transport task from the handling task list of the lifting device according to the target floor includes: Obtain the target floor of each transport task in the handling task list; If there is a transport task in the handling task list whose target floor is the same as the target floor corresponding to the material, the transport task in the handling task list is used as the second associated transport task.

5. The method according to claim 1, characterized in that The determining the material handling status according to the transport task and its corresponding associated transport task includes: Obtaining the task creation time of the transport task and the associated transport tasks; If the task creation time of the transport task is earlier than the task creation time of the associated transport task, determining that the transport status of the material is a transportable status; If the task creation time of the transport task is not earlier than the task creation time of the associated transport task, and the associated transport task is the first associated transport task, determining that the material handling state is a lifting waiting state; If the task creation time of the transport task is not earlier than the task creation time of the associated transport task, and the associated transport task is the second associated transport task, it is determined that the transport status of the material is a transport waiting status.

6. The method according to claim 1, characterized in that After determining the transport status of the material according to the transport task and its corresponding associated transport task, the method further includes: If the material handling state is the lifting waiting state, the transportation task corresponding to the material is suspended until the associated transportation task is completed, and then the handling state is switched from the lifting waiting state to the handling state.

7. The method according to claim 1, characterized in that After determining the material handling status according to the transport task and its corresponding associated transport task, the method further includes: If the transport state of the material is a transport waiting state, assigning a target robot to the material on the target floor; Determine the task waiting order according to the task creation time of the transport task and the associated transport task; The target robot is controlled to move to the waiting area and wait based on the task waiting order.

8. The method according to any one of claims 1 to 7, characterized in that: The allocating a target robot to the material on the target floor includes: Obtaining the working status of the robot on the target floor; Determine the robot to be assigned according to the working status; The position information of the robots to be assigned is determined, and a target robot is determined from the robots to be assigned according to the position information.

9. A terminal device, characterized in that: The terminal device includes a memory, a processor, and a sensor; The sensor is used to collect point cloud data; The memory is used to store computer programs; The processor is used to execute the computer program and implement the cross-floor transportation method of the robot as described in any one of claims 1 to 8 when executing the computer program.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor enables the processor to implement the cross-floor transportation method of the robot according to any one of claims 1 to 8.

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