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

Abstract

The application discloses a cross-floor transportation method of a robot, a terminal device and a readable storage medium. The method comprises the following steps: if a material is detected at a starting floor of a lifting device, acquiring a transportation task corresponding to the material and task information of the transportation task, wherein 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; determining a carrying state of the material according to the transportation task and the associated transportation task corresponding thereto; if the carrying state of the material is a carryable state, allocating a target robot for the material at the target floor, so that the target robot carries the material after the material is transported to the target floor by the lifting device. The application aims to solve the problems of low accuracy and low efficiency of material carrying in the cross-floor material carrying scene.

Description

Technical Field

[0001] This application relates to the field of artificial intelligence, and more particularly to a method for cross-floor transportation of robots, a terminal device, and a readable storage medium. Background Technology

[0002] A robot is a device that can move automatically without human intervention. Nowadays, most robots are capable of transporting materials. In cross-floor material handling scenarios, a robot on the starting floor typically transports the materials to a lifting device, which then transports the materials to the target floor. Finally, a robot on the target floor removes the materials from the lifting device, thus achieving cross-floor material handling.

[0003] However, in actual cross-floor material handling scenarios, due to the large number of handling tasks, robots on the target floor may cut in line and compete for materials, resulting in materials being transported to different destinations, which in turn affects the accuracy and efficiency of material handling. Summary of the Invention

[0004] This application provides a method for cross-floor transportation of robots, a terminal device, and a computer-readable storage medium, which solves the problems of low accuracy and efficiency in material handling scenarios across floors.

[0005] In a first aspect, this application provides a method for cross-floor transportation by a robot, the method comprising:

[0006] If material is detected at the starting floor of the lifting equipment, the transportation task corresponding to the material and the task information of the transportation task are obtained, including the target floor.

[0007] The associated transportation tasks of the transportation task are determined based on the starting floor and the target floor;

[0008] The handling status of the materials is determined based on the transportation task and its corresponding associated transportation tasks;

[0009] If the material is in a transportable state, a target robot is assigned to the material on the target floor so that the material is transported to the target floor by the lifting equipment, and then the target robot is controlled to transport the material.

[0010] Secondly, this application also provides a terminal device, the terminal device including a memory and a processor; the memory is used to store a computer program; the processor is used to execute the computer program and, when executing the computer program, implement the steps of the robot cross-floor transportation method provided in the embodiments of this application.

[0011] Thirdly, this application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to implement the steps of the robot cross-floor transportation method provided in the embodiments of this application.

[0012] The cross-floor transportation method, terminal device, and readable storage medium provided in this application embodiment detect material on the starting floor of the lifting device, then obtain the corresponding transportation task and task information of the transportation task, including the target floor; determine the associated transportation task based on the starting floor and the target floor; determine the material handling status based on the transportation task and its corresponding associated transportation task; if the material handling status is handleable, then assign 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. Therefore, in cross-floor material handling scenarios, the corresponding robot can be accurately and orderly assigned to handle the material on the target floor, effectively avoiding queue jumping and thus improving the accuracy and efficiency of material handling. Attached Figure Description

[0013] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 This is a schematic diagram illustrating an application scenario of a robot-based cross-floor transportation method provided in an embodiment of this application.

[0015] Figure 2 This is a flowchart illustrating the steps of a robot's cross-floor transportation method provided in an embodiment of this application;

[0016] Figure 3 This is a flowchart illustrating the steps of another method for cross-floor transportation of a robot provided in an embodiment of this application;

[0017] Figure 4 This is a schematic block diagram of the structure of a terminal device provided in an embodiment of this application. Detailed Implementation

[0018] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0019] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the order described. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

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

[0021] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0022] Nowadays, in cross-floor material handling scenarios such as factory environments, material handling is achieved through collaborative operation between users and robots. It also includes transportation and transmission 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, robots on the target floor may cut in line and compete for materials. For example, if the target floor is the 2nd floor, and there are tasks from the 4th floor to the 2nd floor and tasks from the 1st floor to the 2nd floor, since the robots on the 2nd floor receive material handling tasks, robots may cut in line and compete for materials, resulting in materials being transported to different destinations, thus affecting the accuracy and efficiency of material handling.

[0024] The robot cross-floor transportation method disclosed in this application can accurately and orderly arrange corresponding robots to transport materials on the target floor in cross-floor material handling scenarios, effectively avoiding queue jumping and thus improving the accuracy and efficiency of material handling.

[0025] This method can be applied to servers or terminal devices, including fixed terminals such as mobile phones, tablets, and personal digital assistants (PDAs). The server can be a single server or a server cluster. However, for ease of understanding, the following embodiments will describe in detail a method for cross-floor transportation using a robot applied to a server.

[0026] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0027] like Figure 1 As shown, the robot cross-floor transportation method provided in this application embodiment can be applied to, for example... Figure 1 The application environment shown includes a robot 110, a lifting device 120, and a server 130. The robot 110 can communicate with the server 130 via a network. Specifically, when the lifting device 120 detects material at its starting floor, the server 130 obtains the corresponding transportation task and task information, including the target floor. It then determines the associated transportation tasks based on the starting and target floors, and determines the material's handling status based on the transportation task and its associated tasks. If the material's handling status is acceptable, a target robot is assigned to the material at the target floor so that the material can be transported to the target floor via the lifting device 120, and the target robot is controlled to handle the material. The server 130 can be a standalone server or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content delivery networks (CDN), and big data and artificial intelligence platforms. Robot 110 can be an industrial robot capable of handling materials, such as an Automated Guided Vehicle (AGV), and is not specifically limited herein. Robot 110 and server 130 can be connected directly or indirectly via wired or wireless communication, and this application does not impose any restrictions on this.

[0028] Please see Figure 2 , Figure 2 This is a schematic flowchart illustrating a robot-based cross-floor transportation method provided in this application embodiment. This robot-based cross-floor transportation method can accurately and orderly assign corresponding robots to transport materials on the target floor in cross-floor material handling scenarios, effectively avoiding queue-jumping and thus improving the accuracy and efficiency of material handling.

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

[0030] S101. If material is detected at the starting floor of the lifting equipment, the corresponding transportation task and task information of the transportation task are obtained, including the target floor.

[0031] The lifting equipment can be a lift, elevator, or other device used to transport materials up and down floors, such as a freight elevator. The transportation task can indicate the starting and ending points for the material. Task information can include the starting and target floors for the material. The starting floor indicates the floor before the material is transported using the lifting equipment, and the target floor indicates the floor after the material is transported using the lifting equipment.

[0032] For example, the lifting equipment may include a camera. If the lifting equipment is at the starting floor, the camera can capture an image of the elevator entrance of the lifting equipment to determine whether there are materials on the starting floor of the lifting equipment. If it is determined that there are materials to be transported on the starting floor of the lifting equipment, the transportation task and task information corresponding to the materials can be obtained.

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

[0034] S102. Determine the associated transportation tasks based on the starting floor and the target floor.

[0035] The associated transportation task can include transportation tasks related to the transportation task corresponding to the material, specifically including a first associated transportation task and a second associated transportation task. The first associated transportation task can be a mutually exclusive task with an initial floor, meaning the starting floor of the transportation task corresponding to the material is the same as the target floor of the associated transportation task. The second associated transportation task can be a time-related transportation task with a target floor, meaning the target floor of the transportation task corresponding to the material is the same as the target floor of the associated transportation task.

[0036] In some embodiments, a first associated transport task is determined from the transport task list of the lifting equipment based on the starting floor; a second associated transport task is determined from the transport task list of the lifting equipment based on the target floor. This allows for accurate determination of the first and second associated transport tasks from the transport task list of the lifting equipment.

[0037] The handling task list can include a list of handling 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 a first associated transport task is determined from the transport task list of the lifting equipment based on the starting floor of the transport task corresponding to the material; at the same time, a second associated transport task is determined from the transport task list of the lifting equipment based on the target floor of the transport task corresponding to the material.

[0039] For example, 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 the 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 based on the starting floor and the target floor of the transport task corresponding to the material.

[0040] In some embodiments, the target floor of each transport task in the handling task list is obtained; 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 taken as the first associated transport task. This allows for accurate determination of the first associated transport task from the handling task list of the lifting equipment.

[0041] Specifically, obtain the target floor of each transportation task in the transportation task list; if the target floor of a transportation task in the transportation task list is the same as the starting floor corresponding to the material, then the transportation task in the transportation task list is taken as the first associated transportation task; if the target floor of a transportation task in the transportation task list is different from the starting floor corresponding to the material, then traverse the next transportation task.

[0042] For example, if the handling task list includes transport task A and transport task B, and their corresponding target floors are floor 1 and floor 3 respectively, if the starting floor of the handling task corresponding to the material is floor 1, then the target floor of transport task A is the same as the starting floor of the handling task corresponding to the material. Therefore, 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 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 regarded as the second associated transport task. This allows for accurate determination of the second associated transport task from the handling task list of the lifting equipment.

[0044] Specifically, obtain the target floor of each transportation task in the transportation task list; if the target floor of a transportation task in the transportation task list is the same as the target floor corresponding to the material, then the transportation task in the transportation task list is used as the second associated transportation task; if the target floor of a transportation task in the transportation task list is different from the target floor corresponding to the material, then traverse the next transportation task.

[0045] For example, if the handling task list includes transport task C and transport task D, and their corresponding target floors are the 2nd floor and the 4th floor 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. Therefore, transport task C is the second associated transport task.

[0046] S103. Determine the material handling status based on the transportation task and its corresponding associated transportation task.

[0047] The handling status can include a handleable status, a lifting waiting status, and a handling waiting status. The handleable status indicates that there are no pending tasks ahead of the material's corresponding transport task. The lifting waiting status indicates that there are pending tasks ahead of the material's corresponding transport task with different target floors. The handling waiting status indicates that there are pending tasks ahead of the material's corresponding transport task with the same target floor.

[0048] In some embodiments, the task creation time of the transportation task and the associated transportation task are obtained; if the task creation time of the transportation task is earlier than the task creation time of the associated transportation task, the material's handling status is determined to be a handleable status; if the task creation time of the transportation task is not earlier than the task creation time of the associated transportation task, and the associated transportation task is a first associated transportation task, the material's handling status is determined to be a lifting / lowering waiting status; if the task creation time of the transportation task is not earlier than the task creation time of the associated transportation task, and the associated transportation task is a second associated transportation task, the material's handling status is determined to be a handling waiting status. Thus, the handling status of the material can be accurately determined based on the transportation task and the associated transportation task.

[0049] For example, if the associated transportation tasks include transportation task a, transportation task b, and transportation task c, and transportation task a is the first associated transportation task, and transportation task b and transportation task c are the second associated transportation tasks; if the task creation time of the transportation tasks corresponding to the material is earlier than the task creation time of transportation task a, transportation task b, and transportation task c, then the material's handling status is determined to be a handleable status.

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

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

[0052] In some embodiments, after determining the material handling status based on the transportation task and its corresponding associated transportation task, if the material handling status is a lifting / waiting state, the corresponding transportation task is suspended until the associated transportation task is completed, at which point the handling status is switched from the lifting / waiting state to the handling-ready state. This avoids pre-assigning robots to target floors, thus preventing a waste of robot power.

[0053] Specifically, since the handling status is in the lifting waiting state, that is, the target floor of the associated transportation task is the same as the starting floor of the transportation task corresponding to the material. At the same time, since the creation time of the associated transportation task is earlier than that of the transportation task corresponding to the material, the lifting equipment prioritizes the associated transportation task. Therefore, the transportation task corresponding to the material is suspended until the associated transportation task is completed, and then the handling status is switched from the lifting waiting state to the handling state.

[0054] For example, if the material's handling status is in the lifting / waiting state, the corresponding transportation task is suspended until the associated transportation task created earlier is completed. Then, the handling status is switched from the lifting / waiting state to the handling-ready state. Since the associated transportation task needs to be executed first, the material's corresponding transportation task can be suspended, eliminating the need to pre-assign robots to the target floor and thus saving robot power.

[0055] In some embodiments, after determining the material handling status based on the transportation task and its corresponding associated transportation tasks, if the material handling status is a handling waiting state, a target robot is assigned to the material on the target floor; the task waiting order is determined based on the task creation time of the transportation task and associated transportation tasks; the target robot is controlled to move to the waiting area and wait based on the task waiting order. This allows robots corresponding to transportation tasks with later task creation times to wait based on the task waiting order, effectively avoiding queue jumping and improving the accuracy and efficiency of material handling.

[0056] The target robot is the robot used to perform the transportation task corresponding to the material, and the waiting area is the queuing area for the target robot. The task waiting order indicates the order in which the tasks for each transportation task were created.

[0057] Specifically, since the handling state is in the handling waiting state, meaning that the target floor of the associated transportation task is the same as the target floor of the transportation task corresponding to the material, and since the creation time of the associated transportation task is earlier than that of the material's transportation task, the lifting equipment prioritizes the handling of the associated transportation task. Because 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 task creation time of the transportation task and the associated transportation task; finally, the target robot is controlled to move to the waiting area and waits based on the task waiting order.

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

[0059] It should be noted that there can be one or more target robots for a transportation task; no specific limitation is made here.

[0060] S104. If the material is in a transportable state, then assign a target robot to the target floor so that the material is transported to the target floor by the lifting equipment, and then control the target robot to transport the material.

[0061] The "transportable" status indicates that no associated transportation task precedes the transportation task corresponding to this material; therefore, the lifting equipment prioritizes handling the transportation task corresponding to this material. The target robot can be any robot that performs the transportation task corresponding to this material.

[0062] In some embodiments, the working and usage status of the robots on the target floor are acquired; the robots to be assigned are determined based on the working and usage status; the location information of the robots to be assigned is determined; and the target robot is identified from the robots to be assigned based on the location information. This allows for accurate assignment of the corresponding target robot to materials on the target floor, thereby improving the accuracy and efficiency of material handling.

[0063] The working status can include running status and idle status. The usage status can be determined by factors such as the robot's battery level, wear and tear, and robot type, and can specifically include a ready-to-use status and a prohibited-use status. A robot to be assigned can be a robot whose working status is idle and whose usage status is ready-to-use.

[0064] For example, it is possible to detect whether each robot on the target floor is performing a task. If a robot on the target floor is detected to be performing a task, the robot's working state is determined to be running. If a robot on the target floor is detected not performing a task, the robot's working state is determined to be idle.

[0065] For example, the battery level of each robot on the target floor can be obtained. If the battery level of a robot exceeds a preset battery threshold, the robot is determined to be in a ready-to-use state. If the battery level of a robot on the target floor does not exceed the preset battery threshold, the robot is determined to be in a prohibited-use state.

[0066] For example, the wear and tear level of each robot on the target floor can be obtained. If the wear and tear level of a robot exceeds a preset wear and tear value, the robot's usage status is determined to be prohibited. If the wear and tear level of a robot on the target floor does not exceed the preset wear and tear value, the robot's usage status is determined to be available for use.

[0067] For example, the robot type of each robot on the target floor can be obtained, and the suitability of each robot on the target floor for transporting the material can be determined based on factors such as the type and weight of the material. The usage status of the robots that are suitable for transporting the material can be set to the ready-to-use status, and the usage status of the robots that are not suitable for transporting the material can be set to the prohibited-use status.

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

[0069] Specifically, the location information of each robot to be assigned is obtained, the distance between each robot to be assigned and the lifting equipment is determined based on the location information of each robot to be assigned, and the robot to be assigned with the shortest distance to the lifting equipment is selected as the target robot. This can avoid calling robots that are far away, thus avoiding waste of resources. After the target robot is assigned to the material, once the material is transported to the target floor by the lifting equipment, the target robot will move to the stairwell of the target floor and carry the material.

[0070] Please see Figure 3 , Figure 3 This is a schematic flowchart illustrating another method for cross-floor transportation of a robot provided in an embodiment of this application. Figure 3 As shown, the method for transporting goods across floors using a robot may include the following steps:

[0071] S201. Determine whether the starting floor of the lifting equipment has detected materials. If yes, proceed to S203; otherwise, proceed to S202.

[0072] S202. Continuously monitor whether materials are detected at the starting floor of the lifting equipment.

[0073] S203. Determine if there is a first associated transportation task for the current transportation task. If it exists, proceed to S204; otherwise, proceed to S205.

[0074] S204. Suspend the current transportation task and do not assign a robot to the target floor for the current transportation task.

[0075] S205. Assign a robot to the target floor for the current transportation task.

[0076] S206. Determine whether there is a second associated transportation task for the current transportation task. If there is, proceed to S207; if not, proceed to S208.

[0077] S207. Control the robot to move to the waiting area to queue up.

[0078] S208: Control the robot to move to the stairwell of the target floor and transport materials.

[0079] The cross-floor transportation method for robots provided in this application involves detecting materials on the starting floor of the lifting device, obtaining the corresponding transportation task and task information, including the target floor; determining associated transportation tasks based on the starting and target floors; determining the material's handling status based on the transportation task and its associated tasks; and assigning a target robot to the material on the target floor if the material is in a handleable state. This allows the target robot to handle the material after it has been transported to the target floor via the lifting device. This enables accurate and orderly assignment of corresponding robots to handle materials on the target floor in cross-floor material handling scenarios, effectively avoiding queue-jumping and improving the accuracy and efficiency of material handling.

[0080] Please see Figure 4 , Figure 4 This is 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, which are connected via a bus 303, such as an I2C (Inter-integrated Circuit) bus.

[0082] In one exemplary embodiment, processor 301 can be used to provide computing and control capabilities to support the operation of the entire terminal device. Processor 301 can be a Central Processing Unit (CPU), but it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

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

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

[0085] The processor 301 is used to run a computer program stored in a memory, and to implement any 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 configured to run a computer program stored in a memory, and when executing the computer program, perform the following steps: if material is detected at the starting floor of the lifting device, then acquire 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 based on the starting floor and the target floor; determine the handling status of the material based on the transportation task and its corresponding associated transportation task; if the handling status of the material is a handleable state, then assign a target robot to the material at the target floor, so that after the material is transported to the target floor by the lifting device, control the target robot to handle the material.

[0087] In one embodiment, when the processor 301 implements the process of determining the associated transportation task of the transportation task based on the starting floor and the target floor, it is configured to: determine a first associated transportation task from the transport task list of the lifting equipment based on the starting floor; and determine a second associated transportation task from the transport task list of the lifting equipment based on the target floor.

[0088] In one embodiment, when the processor 301 determines the first associated transportation task from the transportation task list of the lifting device based on the starting floor, it is configured to: obtain the target floor of each transportation task in the transportation task list; if there is a transportation task in the transportation task list whose target floor is the same as the starting floor corresponding to the material, then the transportation task in the transportation task list is taken as the first associated transportation task.

[0089] In one embodiment, when the processor 301 determines the second associated transportation task from the transportation task list of the lifting device based on the target floor, it is configured to: obtain the target floor of each transportation task in the transportation task list; if there is a transportation task in the transportation task list whose target floor is the same as the target floor corresponding to the material, then the transportation task in the transportation task list is taken as the second associated transportation task.

[0090] In one embodiment, when the processor 301 determines the handling status of the material based on the transportation task and its corresponding associated transportation task, it is configured to: obtain the task creation time of the transportation task and the associated transportation task; if the task creation time of the transportation task is earlier than the task creation time of the associated transportation task, then determine that the handling status of the material is a handleable status; if the task creation time of the transportation task is not earlier than the task creation time of the associated transportation task, and the associated transportation task is a first associated transportation task, then determine that the handling status of the material is a lifting and lowering waiting status; if the task creation time of the transportation task is not earlier than the task creation time of the associated transportation task, and the associated transportation task is a second associated transportation task, then determine that the handling status of the material is a handling waiting status.

[0091] In one embodiment, after the processor 301 determines the handling status of the material based on the transportation task and its corresponding associated transportation task, it is configured to: if the handling status of the material is a lifting and lowering waiting state, then suspend the transportation task corresponding to the material until the associated transportation task is completed, and then switch the handling status from the lifting and lowering waiting state to the handling state.

[0092] In one embodiment, after determining the handling status of the material based on the transportation task and its corresponding associated transportation task, the processor 301 is configured to: if the handling status of the material is a handling waiting status, assign a target robot to the material on the target floor; determine the task waiting order based on the task creation time of the transportation task and the associated transportation task; control the target robot to move to the waiting area and wait based on the task waiting order.

[0093] In one embodiment, after the processor 301 assigns a target robot to the material on the target floor, it is configured to: acquire the working status of the robot on the target floor; determine the robot to be assigned based on the working status; determine the location information of the robot to be assigned; and determine the target robot from the robots to be assigned based on the location information.

[0094] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the terminal device described above can be referred to the corresponding process in the foregoing embodiments, and will not be repeated here.

[0095] The embodiments of this application also provide a computer-readable storage medium storing a computer program, which includes program instructions. A processor executes the program instructions to implement any of the cross-floor transportation methods for the detection robot provided in the embodiments of this application.

[0096] For example, when the program is loaded by the processor, it can perform the following steps:

[0097] If material is detected at the starting floor of the lifting equipment, 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 task of the transportation task is determined according to the starting floor and the target floor; the handling status of the material is determined according to the transportation task and its corresponding associated transportation task; if the handling status of the material is a handleable state, a target robot is assigned to the material at the target floor, so that after the material is transported to the target floor by the lifting equipment, the target robot is controlled to handle the material.

[0098] The computer-readable storage medium can be an internal storage unit of the terminal device described in the foregoing embodiments, such as a hard disk or memory of the terminal device. Alternatively, the computer-readable storage medium can be an external storage device of the terminal device, such as a plug-in hard disk, smart media card (SMC), secure digital card (SD card), flash card, etc., provided on the terminal device.

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

[0100] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A cross-floor transport method of a robot, characterized by, The method comprises: If the material is detected at the starting floor of the lifting device, obtaining a transportation task corresponding to the material and task information of the transportation task, the task information comprising a target floor; determining an associated transportation task of the transportation task according to the starting floor and the target floor; determining a carrying state of the material according to the transportation task and the associated transportation task corresponding thereto; if the carrying state of the material is a carryable state, assigning a target robot to the material at the target floor, so that the target robot carries the material after the material is transported to the target floor by the lifting device; the determining of the carrying state of the material according to the transportation task and the associated transportation task corresponding thereto comprises: obtaining the task creation time of the transportation task and the associated transportation task; if the task creation time of the transportation task is earlier than the task creation time of the associated transportation task, determining that the carrying state of the material is a carryable state; if the task creation time of the transportation task is not earlier than the task creation time of the associated transportation task, and the associated transportation task is a first associated transportation task, determining that the carrying state of the material is a lifting waiting state; if the task creation time of the transportation task is not earlier than the task creation time of the associated transportation task, and the associated transportation task is a second associated transportation task, determining that the carrying state of the material is a carrying waiting state.

2. The method of claim 1, wherein, the determining of the associated transportation task of the transportation task according to the starting floor and the target floor comprises: determining a first associated transportation task from a carrying task list of the lifting device according to the starting floor; determining a second associated transportation task from the carrying task list of the lifting device according to the target floor.

3. The method of claim 2, wherein, the determining of the first associated transportation task from the carrying task list of the lifting device according to the starting floor comprises: obtaining the target floor of each transportation task in the carrying task list; if the target floor of a transportation task in the carrying task list is the same as the starting floor corresponding to the material, the transportation task in the carrying task list is taken as the first associated transportation task.

4. The method of claim 2, wherein, the determining of the second associated transportation task from the carrying task list of the lifting device according to the target floor comprises: obtaining the target floor of each transportation task in the carrying task list; if the target floor of a transportation task in the carrying task list is the same as the target floor corresponding to the material, the transportation task in the carrying task list is taken as the second associated transportation task.

5. The method of claim 1, wherein, after the determining of the carrying state of the material according to the transportation task and the associated transportation task corresponding thereto, further comprising: if the carrying state of the material is a lifting waiting state, suspending the transportation task corresponding to the material until the associated transportation task is executed, and then switching the carrying state from the lifting waiting state to the carryable state.

6. The method of claim 1, wherein, after the determining of the carrying state of the material according to the transportation task and the associated transportation task corresponding thereto, further comprising: If the carrying state of the material is a carrying waiting state, the target robot is assigned to the material at the target floor; determining a task waiting order according to the transportation task and a task creation time of the associated transportation task; controlling the target robot to move to a waiting area and wait based on the task waiting order.

7. The method according to any one of claims 1 to 6, characterized in that, The assigning of the target robot to the material at the target floor comprises: acquiring a working state of a robot at the target floor; determining a to-be-assigned robot according to the working state; determining position information of the to-be-assigned robot, and determining a target robot from the to-be-assigned robot according to the position information.

8. A terminal device, comprising: The terminal device comprises a memory, a processor, and a sensor; The sensor is configured to collect point cloud data. The memory is configured to store a computer program. The processor is configured to execute the computer program and implement the cross-floor transportation method of the robot according to any one of claims 1 to 7 when executing the computer program.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the computer program is executed by the processor to enable the processor to implement the cross-floor transportation method of the robot according to any one of claims 1 to 7.

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