Automatic transportation method

Abstract

The embodiment of the invention discloses an automatic transportation method, and the method comprises the steps: determining a target transportation route based on a transportation task, dividing the target transportation route into a plurality of sub-transportation routes through a movement waiting point, and transmitting the sub-transportation routes to an intelligent robot, and the intelligent robot moves to the target transportation starting point according to the sub-transportation route to obtain the to-be-transported target article, and moves to the movement waiting point according to the sub-transportation route after obtaining the target article. And when the intelligent robot arrives at the movement waiting point, receiving a first movement in-place notification sent by the intelligent robot, and sending a first continuous movement instruction to the intelligent robot, so that the intelligent robot responds to the first continuous movement instruction to continuously move according to the sub-transportation route until the target article is transported to the target transportation end point, and the efficiency and the reliability of the automatic transportation process are effectively improved.

Description

Technical Field

[0001] The present disclosure relates to the field of automation technology, and in particular to an automated transportation method. Background Art

[0002] In actual applications, since the items to be transported are usually in different locations, workers need to use carts and other tools to transport the items to the corresponding destinations. However, this traditional transportation method requires a lot of manual intervention in the transportation process, significantly increases labor costs, and has the problem of low transportation efficiency. Summary of the invention

[0003] The following is a summary of the subject matter of the detailed description of the present disclosure. This summary is not intended to limit the scope of the claims.

[0004] The embodiments of the present disclosure provide an automated transportation method, which effectively improves the efficiency and reliability of the automated transportation process.

[0005] In one aspect, an embodiment of the present disclosure provides an automated transportation method, comprising:

[0006] Determine a target transportation route based on the transportation task, wherein the target transportation route includes a target transportation starting point, a target transportation end point, and at least one mobile waiting point located between the target transportation starting point and the target transportation end point, and the target transportation route is divided into a plurality of sub-transportation routes via the mobile waiting point;

[0007] Sending the sub-transportation route to the intelligent robot, so that the intelligent robot moves to the target transportation starting point according to the sub-transportation route to obtain the target object to be transported, and moves to the mobile waiting point according to the sub-transportation route after obtaining the target object;

[0008] Whenever the intelligent robot arrives at the moving waiting point, it receives a first moving-in-place notification sent by the intelligent robot, and sends a first continuing moving instruction to the intelligent robot, so that the intelligent robot responds to the first continuing moving instruction and continues to move according to the sub-transport route until the target item is transported to the target transportation destination.

[0009] On the other hand, the embodiment of the present disclosure further provides an automated transportation method, which is applied to an intelligent robot, comprising:

[0010] Receiving a target transportation route determined based on the transportation task and sent by a server, wherein the target transportation route includes a target transportation starting point, a target transportation end point, and at least one mobile waiting point located between the target transportation starting point and the target transportation end point, and the target transportation route is divided into a plurality of sub-transportation routes via the mobile waiting point;

[0011] Move to the target transport starting point according to the sub-transportation route to obtain the target item to be transported, and after obtaining the target item, move to the mobile waiting point according to the sub-transportation route;

[0012] Whenever the moving waiting point is reached, a moving-in-place notification is sent to the server, and a continuing moving instruction is received from the server in response to the moving-in-place notification;

[0013] In response to the continue movement instruction, the vehicle continues to move according to the sub-transportation route until the target item is transported to the target transportation destination.

[0014] The disclosed embodiments include at least the following beneficial effects: determining a target transportation route based on a transportation task; since the target transportation route includes a target transportation starting point, a target transportation end point, and at least one mobile waiting point between the target transportation starting point and the target transportation end point, a specific and accurate transportation route can be planned according to the target transportation starting point, the target transportation end point, and the at least one mobile waiting point; dividing the target transportation route into a plurality of sub-transportation routes according to the mobile waiting points, ensuring that the target transportation route can provide clear guidance for the intelligent robot; sending the sub-transportation routes to the intelligent robot, so that the intelligent robot moves to the target transportation starting point according to the sub-transportation routes to obtain the target item to be transported, and moves to the mobile waiting point according to the sub-transportation routes after obtaining the target item; whenever the intelligent robot arrives at the mobile waiting point, the server receives a first moving position notification sent by the intelligent robot, and sends a first continuing moving instruction to the intelligent robot; the real-time and efficient instruction interaction mechanism between the intelligent robot and the server not only improves the fluency of the automated transportation, but also ensures that the intelligent robot can respond to each operation instruction, so that the intelligent robot responds to the first continuing moving instruction and continues to move according to the sub-transportation route until the target item is transported to the target transportation end point, effectively improving the efficiency and reliability of the automated transportation process.

[0015] Other features and advantages of the present disclosure will be set forth in the following description, and in part will be apparent from the description, or may be learned by practicing the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings are used to provide further understanding of the technical solution of the present disclosure and constitute a part of the specification. Together with the embodiments of the present disclosure, they are used to explain the technical solution of the present disclosure and do not constitute a limitation on the technical solution of the present disclosure.

[0017] Figure 1 A schematic diagram of an optional implementation environment provided for an embodiment of the present disclosure;

[0018] Figure 2An optional flow chart of an automated transportation method provided by an embodiment of the present disclosure;

[0019] Figure 3 An optional structural diagram of an intelligent robot provided in an embodiment of the present disclosure;

[0020] Figure 4 An optional schematic diagram of a blood transport system provided by an embodiment of the present disclosure;

[0021] Figure 5 An optional schematic diagram of transporting from a component assembly line interface to a red blood cell inspection bank provided in an embodiment of the present disclosure;

[0022] Figure 6 An optional schematic diagram of 2.4G wireless network channel bandwidth division provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the present disclosure more clear, the present disclosure is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present disclosure and are not used to limit the present disclosure.

[0024] It should be noted that in various specific embodiments of the present disclosure, when it comes to the need to perform relevant processing based on data related to the characteristics of the target object such as the target object attribute information or attribute information set, the permission or consent of the target object will be obtained first, and the collection, use and processing of these data will comply with relevant laws, regulations and standards. Among them, the target object can be a user. In addition, when the embodiment of the present disclosure needs to obtain the attribute information of the target object, the separate permission or separate consent of the target object will be obtained through a pop-up window or by jumping to a confirmation page. After clearly obtaining the separate permission or separate consent of the target object, the necessary target object-related data used to enable the normal operation of the embodiment of the present disclosure will be obtained.

[0025] In the embodiments of the present disclosure, the term "module" or "unit" refers to a computer program or a part of a computer program with a predetermined function, and works together with other related parts to achieve a predetermined goal, and can be implemented in whole or in part by using software, hardware (such as processing circuits or memories) or a combination thereof. Similarly, a processor (or multiple processors or memories) can be used to implement one or more modules or units. In addition, each module or unit can be part of an overall module or unit that includes the function of the module or unit.

[0026] To facilitate understanding of the technical solution provided by the embodiments of the present disclosure, some key terms used in the embodiments of the present disclosure are explained here:

[0027] Intelligent transport robot: a mechanical device that integrates machine learning, artificial intelligence and automation technologies. It obtains environmental information through perception technology and can perform transportation tasks based on this information. It is designed to simplify logistics and warehousing operations and is mostly used in production lines, warehouses, pharmaceutical factories, laboratories, blood station testing departments and other scenarios.

[0028] Access Control System: A security system used to manage and control the entry and exit of personnel or intelligent robots into specific areas or facilities, and can return access control status in real time.

[0029] Wireless LAN: A network system that uses wireless communication technology to connect various devices to achieve data transmission and resource sharing. This network system does not require wired connections and can communicate through radio waves (such as Wi-Fi, Bluetooth, etc.), facilitating communication between devices.

[0030] Channel: It is a channel for information transmission, composed of various physical media (such as cables, optical fibers, air, etc.), used for signal transmission and exchange. According to the transmission media, it can be divided into wired channels, wireless channels, optical channels, magnetic channels, and electromagnetic channels.

[0031] In practical applications, the transportation of blood products is a vital link in the blood station operation system. At present, the transportation of blood products often relies on manual intervention, such as point-by-point delivery using traditional transportation tools such as carts. However, traditional transportation methods significantly increase labor costs, which not only increases transportation costs, but also may lead to low transportation efficiency. On the other hand, although intelligent transport robots can realize automated transportation, they cannot monitor the transportation progress of intelligent transport robots in real time. In addition, the method of relying on positioning marks to plan transportation routes limits the flexibility of planning routes. More importantly, when the positioning mark becomes blurred or unrecognizable, the intelligent transport robot will not be able to continue moving, resulting in interruptions and delays in transportation tasks.

[0032] Based on this, the embodiments of the present disclosure provide an automated transportation method, which effectively improves the efficiency and reliability of the automated transportation process.

[0033] Reference Figure 1 , Figure 1A schematic diagram of an optional implementation environment provided by an embodiment of the present disclosure, the implementation environment includes an intelligent robot 101 and a server 102. Specifically, a transportation task is sent to the server 102, and the server 102 determines a target transportation route based on the transportation task, and the target transportation route includes a target transportation starting point, a target transportation end point, and at least one mobile waiting point located between the target transportation starting point and the target transportation end point. The server 102 divides the target transportation route into multiple sub-transportation routes according to the mobile waiting point, and then sends the sub-transportation route to the intelligent robot 101, so that the intelligent robot 101 moves to the target transportation starting point according to the sub-transportation route to obtain the target item to be transported, and moves to the mobile waiting point according to the sub-transportation route after obtaining the target item. Whenever the intelligent robot 101 arrives at the mobile waiting point, a first moving in place notification is sent to the server 102, and the server 102 receives the first moving in place notification sent by the intelligent robot 101, and sends a first continuing moving instruction to the intelligent robot 101, so that the intelligent robot 101 responds to the first continuing moving instruction and continues to move according to the sub-transportation route until the target item is transported to the target transportation end point.

[0034] Reference Figure 2 , Figure 2 An optional flow chart of an automated transportation method provided by an embodiment of the present disclosure may specifically include but not be limited to the following steps S201 to S203:

[0035] Step S201: Determine a target transportation route based on the transportation task.

[0036] The target transportation route includes a target transportation starting point, a target transportation end point, and at least one mobile waiting point between the target transportation starting point and the target transportation end point, and the target transportation route is divided into multiple sub-transportation routes via the mobile waiting points. The target transportation starting point is the starting point of the target transportation route, and is the storage location of the target object to be transported; the target transportation end point is the end point of the target transportation route, and is the location where the items to be transported need to be delivered; the mobile waiting point is a preset location where the intelligent robot pauses its movement during transportation and sends notifications or receives instructions; the target transportation route is a transportation route that includes the entire journey, and the sub-transportation route is a transportation route with short-distance segments, and the sub-transportation route can be a route from the target transportation starting point to the mobile waiting point, a route from the current mobile waiting point to the next mobile waiting point, or a route from the mobile waiting point to the target transportation end point.

[0037] Specifically, the transport site is preset with multiple mobile waiting points. After receiving the transport task, the server determines the target transport starting point and the target transport end point according to the transport task, and then plans multiple transport routes according to the target transport starting point and the target transport end point. According to the transport route, the mobile waiting point that needs to be temporarily stopped during the transport process is selected, and the candidate transport route is composed based on the target transport starting point, the target transport end point and the mobile waiting point. The target transport starting point, the target transport end point and the mobile waiting point in each candidate transport route are regarded as nodes. Starting from the target transport starting point, the distance between two adjacent nodes is calculated, and the score is calculated for the node according to the distance. The closer the distance, the higher the score. The candidate transport route with the highest score is selected from multiple candidate transport routes as the target transport route, and the remaining candidate transport routes that are not selected will be used as the alternative transport routes for this transport task. It should be noted that when selecting the shortest route as the target transport route, other path planning algorithms can also be used to plan and select the transport route, for example, ant colony algorithm, genetic algorithm, particle swarm optimization algorithm, etc., which are not specifically limited in this application. Then, the target transport route is divided into multiple sub-transport routes according to the mobile waiting point, so that the intelligent robot can gradually perform the transport task according to the sub-transport route.

[0038] Since a certain area in a transportation site may be prohibited from passing during a certain period of time, when selecting the target transportation route, in addition to only considering the shortest route, some specific situations need to be considered. When a transportation task is received during a prohibited period of time, the shortest route needs to pass through the prohibited area. At this time, the candidate transportation route with the highest score that does not pass through the area needs to be selected as the target transportation route.

[0039] By planning the target transportation route and dividing it into multiple sub-transportation routes, it is ensured that the target transportation route can provide clear guidance for the movement of the intelligent robot, thereby improving the accuracy of transportation. In addition, a score is calculated for each candidate transportation route, and the target transportation route with the shortest moving distance is selected according to the score, so that the intelligent robot can quickly transport the target items to the target transportation destination according to the target transportation route, effectively improving the transportation efficiency. On this basis, the shorter transportation time can also reduce the risk of damage to the target items during transportation, thereby ensuring the integrity and transportation quality of the target items.

[0040] It should also be noted that the server mentioned in this application refers to an intelligent robot server that interacts with an intelligent robot, is used to dispatch appropriate intelligent robots to perform transportation tasks, can remotely control elevators and access control systems by sending instructions, and monitor the status of elevators, access control systems, and intelligent robots.

[0041] Step S202: Send the sub-transportation route to the intelligent robot, so that the intelligent robot moves to the target transportation starting point according to the sub-transportation route to obtain the target object to be transported, and moves to the mobile waiting point according to the sub-transportation route after obtaining the target object.

[0042] Among them, the intelligent robot is used to transport the target items, and is composed of a mobile chassis and an item shelf. The mobile chassis is used to send and receive instructions and control the movement trajectory of the intelligent robot; the item shelf is used to hand over and place the target items, and is composed of an automatic handover module, an electric control door, and a human-computer interaction interface. Figure 3 , Figure 3 An optional structural diagram of an intelligent robot provided in an embodiment of the present disclosure.

[0043] In a possible implementation, after the intelligent robot obtains the target item, in the process of moving to the mobile waiting point according to the sub-transportation route, the sub-transportation route may be sent to the intelligent robot so that the intelligent robot moves to the target transportation starting point according to the sub-transportation route, a second moving-in-place notification sent by the intelligent robot is received, a first handover instruction is sent to the first handover interface of the target item so that the first handover interface transfers the target item to the intelligent robot, a receiving completion notification sent by the intelligent robot is received, and a second continuing moving instruction is sent to the intelligent robot so that the intelligent robot responds to the second continuing moving instruction and moves to the mobile waiting point according to the sub-transportation route. Among them, the second moving-in-place notification is used to indicate that the intelligent robot has arrived at the target transportation starting point, the first handover instruction is used to indicate that the first handover interface transfers the target item to the intelligent robot; the first handover interface is the handover interface of the target transportation starting point, and is used to transfer the target item to the intelligent robot; the receiving completion notification is used to indicate that the intelligent robot has received the target item in place, and the second continuing moving instruction is used to indicate that the intelligent robot moves from the target transportation starting point to the mobile waiting point.

[0044] Specifically, the server sends the target transportation route to the intelligent robot. After receiving the target transportation route, the intelligent robot moves to the target transportation starting point according to the target transportation route, and sends a second moving position notification to the server at the target transportation starting point. Then, the server sends a first handover instruction to the first handover interface of the target object. After receiving the first handover instruction, the first handover interface transfers the target object to the intelligent robot. After receiving the target object, the intelligent robot sends a completion instruction to the server. Based on the received reception completion notification, the server sends a second continuing movement instruction to the intelligent robot, so that the intelligent robot responds to the second movement instruction and moves to the moving waiting point according to the sub-transportation route.

[0045] In order to ensure that the target items can be transferred safely and reliably, the intelligent robot is equipped with a laser radar. The laser radar can be configured on the body of the intelligent robot or on the bottom of the intelligent robot. The specific configuration position of the laser radar can be adjusted according to actual needs. By scanning the surrounding environment with the laser radar, the current position of the intelligent robot can be obtained in real time. At the same time, setting a positioning mark at the starting point of the target transportation can guide the intelligent robot to accurately dock at the position marked by the positioning mark. By combining laser radar technology with the positioning mark, the intelligent robot can use the laser radar to identify the positioning mark to further confirm the docking position, which not only improves the docking accuracy of the intelligent robot, but also significantly enhances the accuracy, safety and reliability of the transfer of target items, avoiding the risk of target items slipping due to inaccurate docking position of the intelligent robot.

[0046] In a possible implementation, the intelligent robot includes a mobile chassis and an item shelf. In the process of sending a first handover instruction to a first handover interface of a target item and moving the target item to the intelligent robot through the first handover interface, the second move-in-place notification sent by the mobile chassis may be received, and the second move-in-place notification may be forwarded to the item shelf so that the item shelf starts receiving preparations, and a first reception readiness notification sent by the item shelf is received, and a first handover instruction is sent to the first handover interface of the target item so that the first handover interface transfers the target item to the intelligent robot. Among them, the first reception readiness notification is used to indicate that the item shelf of the intelligent robot has entered a receiving state; the mobile chassis of the intelligent robot is used to send a move-in-place notification and receive a continue moving instruction, the item shelf of the intelligent robot is used to place the target item, and the item shelf is also configured with an electric control door and a first automatic handover module, the electric control door is used to prevent the target item from accidentally falling during transportation, and the first automatic handover module is configured in the intelligent robot and is used to receive the target item, which may be a conveyor belt, a telescopic plate, or an external automatic mechanical gripper.

[0047] Specifically, after the intelligent robot moves to the target transportation starting point, the second moving in place notification is sent to the server through the mobile chassis of the intelligent robot at the target transportation starting point, and the server forwards the received second moving in place notification to the item shelf. After receiving the second moving in place notification, the item shelf opens the electric control door of the item shelf, starts the first automatic handover module to enter the receiving state, and sends the first receiving ready notification to the server. Based on the received first receiving ready notification, the server sends the first handover instruction to the first handover interface of the target item, and the first handover interface starts the second automatic handover module after receiving the first handover instruction, wherein the second automatic handover module is configured in the first handover interface, for handing over the target item, and may include a conveyor belt or a telescopic plate, in addition, it may further include an automatic manipulator, which may be independently configured or connected to the telescopic plate. Then, the second automatic handover module transfers the target item to the first automatic handover module, and when the handover operation is completed, the second automatic handover module and the first automatic handover module are stopped, and the electric control door is closed to complete the operation of handing over the target item to the intelligent robot from the first handover interface. It should also be noted that sensors can be configured in the first automatic handover module and the second automatic handover module. When the sensor in the second automatic handover module senses that the target object has been completely handed over, that is, when the target object is not on the second automatic handover module, the second automatic handover module is stopped, and when the sensor in the first automatic handover module senses that the target object has been received in place, the first automatic handover module is stopped and the electric control door is closed. The intelligent robot receives instructions sent by the server and gradually performs precise operations of opening the electric control door, receiving the target object, and closing the electric control door, ensuring that the target object can be safely handed over to the intelligent robot and properly kept in the intelligent robot, thereby ensuring the reliability and safety of the intelligent robot's transportation.

[0048] In a possible implementation, when the second automatic handover module is configured with an automatic manipulator, the intelligent robot's item shelf does not need to be configured with the first automatic handover module and the electric control door. Similarly, when the first automatic handover module is configured with an automatic manipulator, the second automatic handover module can be a conveyor belt or a telescopic plate, and the second automatic handover module does not need to be configured with an automatic manipulator.

[0049] Step S203: Whenever the intelligent robot arrives at the moving waiting point, a first moving-in-place notification sent by the intelligent robot is received, and a first continuing moving instruction is sent to the intelligent robot, so that the intelligent robot responds to the first continuing moving instruction and continues to move according to the sub-transport route until the target item is transported to the target transportation destination.

[0050] Among them, the first move-in-place notification is used to indicate that the intelligent robot has arrived at any move waiting point, and the first continue move instruction is used to instruct the intelligent robot to move from the current move waiting point to the next move waiting point.

[0051] In a possible implementation, at least one mobile waiting point includes a first door-front waiting point and a first door-back waiting point of a first access control system at the target transportation starting point. Whenever the intelligent robot reaches the mobile waiting point, it receives a first mobile in-place notification sent by the intelligent robot, and sends a first mobile continuation instruction to the intelligent robot so that the intelligent robot continues to move according to the sub-transportation route in response to the first continued movement instruction. Specifically, when the intelligent robot reaches the first door-back waiting point, it receives a first mobile in-place notification corresponding to the first door-back waiting point sent by the intelligent robot, and sends a first door opening instruction to the first access control system. It receives a first door opening in-place notification sent by the access control system, and sends a first continued movement instruction corresponding to the first door-back waiting point to the intelligent robot, so that the intelligent robot continues to move to the first door-front waiting point according to the sub-transportation route in response to the first continued movement instruction corresponding to the first door-back waiting point. When the intelligent robot reaches the first door-front waiting point, it receives a first mobile in-place notification corresponding to the first door-front waiting point sent by the intelligent robot, sends a first door closing instruction to the first access control system, and sends a first continued movement instruction corresponding to the first door-front waiting point to the intelligent robot, so that the intelligent robot continues to move according to the sub-transportation route in response to the first continued movement instruction corresponding to the first door-back waiting point. Among them, the module used to receive and send instructions in the access control system is the automatic door control terminal, which is used to control the state of the automatic door; the first access control system is a system that controls the first automatic door that the intelligent robot passes through when leaving the target item acquisition area according to the sub-transportation route; the first door opening instruction is used to instruct the opening of the first automatic door and to keep the first automatic door in a normally open state.

[0052] Specifically, when the intelligent robot reaches the waiting point behind the first door of the first access control system, the first moving position notification corresponding to the waiting point behind the first door is sent to the server through the mobile chassis of the intelligent robot. Based on the received first moving position notification corresponding to the waiting point behind the first door, the server sends a first door opening instruction to the first access control system, and the automatic door control terminal of the first access control system controls the first automatic door to perform the door opening operation according to the first door opening instruction. When the first automatic door is fully opened, the first door opening position notification is sent to the server. In response to the received first door opening position notification, the server sends the first continuing movement instruction corresponding to the waiting point behind the first door to the intelligent robot. The transport chassis of the intelligent robot responds to the first continuing movement instruction corresponding to the waiting point behind the first door, and controls the intelligent robot to move from the waiting point behind the first door to the waiting point in front of the first door, that is, to pass through the first automatic door. When the intelligent robot reaches the waiting point in front of the first door, the first moving position notification corresponding to the waiting point in front of the first door is sent to the server through the mobile chassis of the intelligent robot. Based on the received first moving position notification corresponding to the first waiting point in front of the door, the server sends the first door closing instruction to the first access control system. The automatic door control terminal of the first access control system controls the first automatic door to perform the door closing operation according to the first door closing instruction. At the same time, the server sends the first continuing moving instruction corresponding to the first waiting point in front of the door to the intelligent robot. The mobile chassis of the intelligent robot responds to the first continuing moving instruction corresponding to the waiting point in front of the door, and controls the intelligent robot to continue to move from the first waiting point in front of the door to the next moving waiting point or the target transportation end point based on the sub-transportation route. By sending the first door opening instruction to the automatic door control terminal of the access control system, the first automatic door is in a normally open state, which allows the intelligent robot to pass through the first automatic door without hindrance. This measure effectively prevents the inability to pass through the first automatic door due to delays in receiving instructions, and also eliminates the risk of the intelligent robot being added due to accidental closure of the door body when passing through the automatic door, ensuring the safety of the target items inside the robot, thereby ensuring the safety and smoothness of the transportation process.

[0053] In a possible implementation, at least one moving waiting point includes a first elevator waiting point on the floor where the target transportation starting point is located, a second elevator waiting point in the elevator, and a third elevator waiting point on the floor where the target transportation end point is located. The first moving position notification sent by the intelligent robot is received, and in the process of sending a first continuing moving instruction to the intelligent robot so that the intelligent robot continues to move according to the sub-transportation route in response to the first continuing moving instruction, specifically, when the intelligent robot reaches the first elevator waiting point, the first moving position notification corresponding to the first elevator waiting point sent by the intelligent robot is received, and a second door opening instruction is sent to the elevator. The second door opening position notification sent by the elevator is received, and a first continuing moving instruction corresponding to the first elevator waiting point is sent to the intelligent robot so that the intelligent robot continues to move to the second elevator waiting point according to the sub-transportation route in response to the first continuing moving instruction corresponding to the first elevator waiting point. When the intelligent robot reaches the second elevator waiting point, the first moving position notification corresponding to the second elevator waiting point sent by the intelligent robot is received, and a second door closing instruction is sent to the elevator. Among them, the module in the elevator for receiving and sending instructions is the elevator control terminal, and the elevator control terminal is used to control the elevator door state and the elevator lifting and lowering floors; the second door opening instruction includes the first elevator lifting sub-instruction and the door opening sub-instruction, the first elevator lifting sub-instruction is used to call the elevator from other floors to the floor where the target transportation starting point is located, and the door opening sub-instruction is used to control the elevator door to perform the door opening operation and keep the elevator door in a normally open state; the second door closing instruction includes the second elevator lifting sub-instruction and the door closing sub-instruction, the second elevator lifting sub-instruction is used to control the elevator to move from the floor where the target transportation starting point is located to the floor where the target transportation end point is located, and the door closing sub-instruction is used to control the elevator door to perform the door closing operation.

[0054] Specifically, when the intelligent robot reaches the first elevator waiting point, the first moving position notification corresponding to the first elevator waiting point is sent to the server through the mobile chassis of the intelligent robot. Based on the received first moving position notification corresponding to the first elevator waiting point, the server sends a second door opening instruction to the elevator control terminal, and the elevator control terminal performs corresponding operations according to the current floor of the elevator. When the elevator is located at the floor where the target transportation starting point is located, the elevator control terminal controls the elevator door to perform the door opening operation according to the door opening sub-instruction in the second door opening instruction; when the elevator is located at a floor other than the floor where the target transportation starting point is located, the elevator is called to the floor where the target transportation starting point is located according to the elevator lifting sub-instruction in the second door opening instruction. When the elevator reaches the floor where the target transportation starting point is located from other floors, the second door opening instruction at this time may only include the elevator lifting sub-instruction. After the elevator reaches the target floor in response to the elevator lifting sub-instruction, the elevator door can be automatically opened without the door opening sub-instruction. When the elevator door is fully opened, the elevator door is in a normally open state, and a second door opening notification is sent to the server through the elevator control terminal. Based on the received second door opening instruction, the server sends the first continuing movement instruction corresponding to the first elevator waiting point to the intelligent robot. The transport chassis of the intelligent robot responds to the first continuing movement instruction corresponding to the first elevator waiting point, and controls the intelligent robot to move from the first elevator waiting point to the second elevator waiting point, that is, to enter the elevator from outside the elevator. When the intelligent robot reaches the second elevator waiting point, the first moving position notification corresponding to the second elevator waiting point is sent to the server through the mobile chassis of the intelligent robot. Based on the received first moving position notification corresponding to the second elevator waiting point, the server sends a second door closing instruction to the elevator control terminal. The elevator control terminal controls the elevator door to perform the door closing operation according to the door closing sub-instruction of the second door closing instruction, and then controls the elevator to move from the floor where the target transportation starting point is located to the floor where the target transportation end point is located according to the second elevator lifting sub-instruction of the second door closing instruction. At this time, the second door closing instruction can be an elevator release instruction, so that the elevator can automatically close the door.

[0055] Next, the third door opening notification sent by the elevator is received, and the first continuous movement instruction corresponding to the second elevator waiting point is sent to the intelligent robot, so that the intelligent robot responds to the first continuous movement instruction corresponding to the second elevator waiting point and continues to move to the third elevator waiting point according to the sub-transportation route. When the intelligent robot arrives at the third elevator waiting point, the first movement notification corresponding to the third elevator waiting point sent by the intelligent robot is received, the third door closing instruction is sent to the elevator, and the first continuous movement instruction corresponding to the third elevator waiting point is sent to the intelligent robot, so that the intelligent robot responds to the first continuous movement instruction corresponding to the third elevator waiting point and continues to move according to the sub-transportation route. Specifically, when the elevator reaches the floor where the target transportation terminal is located, the elevator door is automatically opened, and when the elevator door is fully opened, the elevator door is in a normally open state, the elevator control terminal sends the third door opening notification to the server, and the server sends the first continuous movement instruction corresponding to the second elevator waiting point to the intelligent robot based on the received third door opening notification, and the mobile chassis of the intelligent robot responds to the first continuous movement instruction corresponding to the second elevator waiting point, and controls the intelligent robot to move from the second elevator waiting point to the third elevator waiting point. When the intelligent robot arrives at the third elevator waiting point, it sends the first moving position notification corresponding to the third elevator waiting point to the server. Based on the received first moving position notification corresponding to the third elevator waiting point, the server sends the third door closing instruction to the elevator control terminal. The elevator control terminal controls the elevator to perform the door closing operation according to the third door closing instruction. Similarly, the third door closing instruction can also be an elevator release instruction so that the elevator can automatically close the door. At the same time, the first continuing moving instruction corresponding to the third elevator waiting point is sent to the intelligent robot. The mobile chassis of the intelligent robot responds to the first continuing moving instruction corresponding to the third elevator waiting point, and controls the intelligent robot to move from the third elevator waiting point to the next moving waiting point or the target transportation destination based on the sub-transportation route.

[0056] It should be noted that the door closing sub-instruction of the second door closing instruction and the third door closing instruction sent by the server may actually be an elevator release instruction. When the elevator receives the elevator release instruction, it automatically closes the elevator door.

[0057] In a possible implementation, the server will first control the door control system or elevator action, and then notify the robot to move after the conditions are met. When the conditions are determined to be met, the door control system or elevator may be in a normally open door state, or the door control system or elevator confirms receipt of the command sent by the server. For example, the first continue movement command is used to instruct the intelligent robot to move from other mobile waiting points to the first elevator waiting point. When the server sends the first continue movement command to the intelligent robot, it also sends the second door opening command to the elevator. When the elevator is located at the floor where the target transportation starting point is located, the elevator door is opened and the elevator door is in a normally open door state; when the elevator is located at a floor other than the floor where the target transportation starting point is located, according to the elevator lifting sub-command in the second door opening command, the elevator is called to the floor where the target transportation starting point is located, and the elevator door is opened and the elevator door is in a normally open door state. When the intelligent robot arrives at the first elevator waiting point, the first moving position notification corresponding to the first elevator waiting point is sent to the server through the mobile chassis of the intelligent robot. Based on the received first moving position notification corresponding to the first elevator waiting point, the server sends the first continuing moving instruction corresponding to the first elevator waiting point to the intelligent robot. The transport chassis of the intelligent robot responds to the first continuing moving instruction corresponding to the first elevator waiting point, and controls the intelligent robot to move from the first elevator waiting point to the second elevator waiting point, that is, to enter the elevator from outside the elevator. Alternatively, when the elevator door is opened and the elevator door is in a normally open state, a moving instruction that can directly move from the first elevator waiting point to the second elevator waiting point is sent to the intelligent robot. After the intelligent robot arrives at the first elevator waiting point, it can directly move from the first elevator waiting point to the second elevator waiting point according to the moving instruction, without sending the first moving position notification corresponding to the first elevator waiting point to the server. When the server sends the instruction to move to the first elevator waiting point to the intelligent robot, the elevator is called to the floor where the target transportation starting point is located, which can save the time of the intelligent robot waiting for the elevator at the first elevator waiting point, and effectively improve the transportation efficiency.

[0058] In addition, in addition to moving from other mobile waiting points to the first elevator waiting point, when the intelligent robot needs to pass through the automatic door, it can also be when the server sends the first continue moving instruction to the automatic door to the intelligent robot, and at the same time sends a door opening instruction to the access control system, and puts the automatic door in a normally open state. At this time, when the automatic robot reaches the automatic door, it does not need to stop in front of the automatic door and wait for the automatic door to open, and can move directly through the automatic door to the next mobile waiting point or the target transportation destination.

[0059] In a possible implementation, at least one mobile waiting point includes a second door-front waiting point and a second door-back waiting point of the second access control system where the target transport destination is located. Whenever the intelligent robot arrives at the mobile waiting point, it receives a first mobile position notification sent by the intelligent robot, and sends a first continuous movement instruction to the intelligent robot, so that the intelligent robot responds to the first continuous movement instruction and continues to move according to the sub-transportation route. Specifically, when the intelligent robot arrives at the second door-front waiting point, it receives a first mobile position notification corresponding to the second door-front waiting point sent by the intelligent robot, and sends a third door opening instruction to the second access control system. It receives a fourth door opening position notification sent by the second access control system, and sends a first continuous movement instruction corresponding to the second door-front waiting point to the intelligent robot, so that the intelligent robot responds to the first continuous movement instruction corresponding to the second door-front waiting point and continues to move to the second door-back waiting point according to the sub-transportation route. Among them, the second access control system is a system for controlling the intelligent robot to enter the second automatic door through which the target item is transferred according to the sub-transportation route; the third door opening instruction is used to control the second automatic door to perform the door opening operation and keep the second automatic door in a normally open state.

[0060] Specifically, when the intelligent robot arrives at the waiting point in front of the second door, it sends a first moving position notification corresponding to the waiting point in front of the second door to the server. Based on the received first moving position notification corresponding to the waiting point in front of the second door, the server sends a third door opening instruction to the automatic door control terminal of the second access control system. The automatic door control terminal of the second access control system controls the second automatic door to perform the door opening operation according to the third door opening instruction. When the second automatic door is fully opened, the automatic door control terminal of the second access control system sends a fourth door opening position notification to the server. Based on the received fourth door opening position notification, the server sends a first continuing moving instruction corresponding to the waiting point in front of the second door to the intelligent robot. The mobile chassis of the intelligent robot responds to the first continuing moving instruction corresponding to the waiting point in front of the second door, and controls the intelligent robot to move from the waiting point in front of the second door to the waiting point behind the second door based on the sub-transportation route, that is, to pass through the second automatic door.

[0061] Then, when the intelligent robot arrives at the waiting point behind the second door, it receives the first moving position notification corresponding to the waiting point behind the second door sent by the intelligent robot, sends the fourth door closing instruction to the second access control system, and sends the first continuing movement instruction corresponding to the waiting point behind the second door to the intelligent robot, so that the intelligent robot responds to the first continuing movement instruction corresponding to the waiting point behind the second door to continue moving according to the sub-transportation route. Specifically, when the intelligent robot arrives at the waiting point behind the second door, the first moving position notification corresponding to the waiting point behind the second door is sent to the server through the mobile chassis of the intelligent robot, and the server sends the fourth door closing instruction to the automatic door control terminal of the second access control system based on the received first moving position notification corresponding to the waiting point behind the second door, and the automatic door control terminal of the second access control system controls the second automatic door to perform the door closing operation according to the fourth door closing instruction, and at the same time, sends the first continuing movement instruction corresponding to the waiting point behind the second door to the intelligent robot, and the mobile chassis of the intelligent robot responds to the first continuing movement instruction corresponding to the waiting point behind the second door, and controls the intelligent robot to move from the waiting point behind the second door to the next moving waiting point or the target transportation end point based on the sub-transportation route.

[0062] In a possible implementation, when the intelligent robot transports the target transport item to the target transport destination, specifically, when the intelligent robot arrives at the target transport destination, it receives the third move-in-place notification sent by the intelligent robot, and sends a second handover instruction to the second handover interface of the target item, so that the second handover interface starts receiving preparations. Receive the second receiving readiness notification sent by the second handover interface, and send a second handover instruction to the intelligent robot, so that the intelligent robot transfers the target item to the second handover interface. The second handover interface is the handover interface of the target transport destination, which is used to receive the target item transferred by the intelligent robot; the second handover instruction is used to instruct the second handover interface to enter the receiving state, and instruct the intelligent robot to transfer the target item to the second handover interface.

[0063] Specifically, when the intelligent robot reaches the target transportation destination, the mobile chassis of the intelligent robot sends a third moving-in-place notification to the server. Based on the received third moving-in-place notification, the server sends a second handover instruction to the second handover interface of the target item. After the second handover interface receives the second handover instruction, the second automatic handover module of the second handover interface is started to prepare for receiving, and a second receiving ready notification is sent to the server. Based on the received second receiving ready notification, the server sends a second handover instruction to the intelligent robot. After the item shelf of the intelligent robot receives the second handover instruction, the electric control door of the item shelf is opened, and the first automatic handover module is started to enter the handover state, and the target item is handed over from the first automatic handover module to the second automatic handover module of the second handover interface. When the handover operation is completed, the first automatic handover module and the second automatic handover module are closed, and the electric control door is closed. The intelligent robot or the second handover interface sends a handover completion notification to the server to complete the transportation task of the target item.

[0064] In a possible implementation, after completing the transport task, a handover completion notification sent by the intelligent robot is received, and a third continuing movement instruction is sent to the intelligent robot to move the intelligent robot to an idle waiting point. The handover completion notification is used to instruct the intelligent robot to complete the current transport task, and the idle waiting point is the location of the intelligent robot without a transport task, and there may be one or more idle waiting points; the third continuing movement instruction is used to instruct the intelligent robot to move from the target transport terminal to the idle waiting point.

[0065] Specifically, after completing the transportation task, the intelligent robot sends a handover completion notification to the server. Based on the received handover completion notification, the server sends a third continuing movement instruction to the intelligent robot. The mobile chassis of the intelligent robot responds to the third continuing movement instruction. When there is only one idle waiting point, the intelligent robot is controlled to move from the target transportation terminal to the idle waiting point; when there are multiple idle waiting points, the intelligent robot is controlled to move from the target transportation terminal to the idle waiting point closest to the target transportation terminal. When the intelligent robot moves to the idle waiting point, the intelligent robot is instructed to complete the current transportation task and wait at the idle waiting point to receive the target transportation route corresponding to the next transportation task. By concentrating the intelligent robots without transportation tasks at the idle waiting points, the intelligent robots without transportation tasks can be concentrated for unified management, avoiding the phenomenon of intelligent robots being parked randomly in the transportation area, thereby reducing the interference of intelligent robots with other key tasks. At the same time, centralized management also helps intelligent robots respond quickly to new transportation tasks and improve overall transportation efficiency.

[0066] In a possible implementation, there are multiple idle waiting points, and the intelligent robot without a transportation task stays at the idle waiting point closest to the last target transportation terminal to wait for the assignment of a transportation task. When the server receives a transportation task, the target transportation route is determined according to the transportation task, and the intelligent robot that stops at the idle waiting point closest to the target transportation starting point is found according to the target transportation starting point of the target transportation route. When there is one intelligent robot at the idle waiting point, the transportation task is assigned to the intelligent robot, and when there are multiple intelligent robots, the transportation task is randomly assigned to one of the intelligent robots. Since the target transportation starting point and the target transportation terminal will change according to different transportation tasks, multiple idle waiting points are set at the transportation site, so that the intelligent robot moves to the idle waiting point closest to the target transportation terminal after completing the transportation task, or the transportation task is assigned to the intelligent robot at the idle waiting point closest to the target transportation starting point, while reducing the energy consumption of the intelligent robot, it also further improves the speed of the intelligent robot responding to new transportation tasks and improves the overall transportation efficiency.

[0067] In a possible implementation, when the execution subject is an intelligent robot, the automated transportation method may specifically be to receive the target transportation route determined based on the transportation task sent by the server, move to the target transportation starting point according to the sub-transportation route to obtain the target item to be transported, and move to the mobile waiting point according to the sub-transportation route after obtaining the target item. Whenever the mobile waiting point is reached, a move-in-place notification is sent to the server, and a continue-movement instruction is received from the server in response to the move-in-place notification, and the target item is transported to the target transportation destination. Specifically, after receiving the sub-transportation route divided by the target transportation route determined based on the transportation task sent by the server, the intelligent robot moves to the target transportation starting point according to the sub-transportation route, and receives the target item to be transported from the first handover interface at the target transportation starting point. After obtaining the target item, a target item acquisition notification is sent to the server, and the server sends a continue-movement instruction to the intelligent robot based on the received target item notification, and the mobile chassis of the intelligent robot controls the intelligent robot to move from the target transportation starting point to the mobile waiting point according to the sub-transportation route based on the received continue-movement instruction. Whenever it arrives at a moving waiting point, it sends a moving-in-place notification to the server. Based on the received moving-in-place notification, the server sends a continue moving instruction to the intelligent robot. The mobile chassis of the intelligent robot responds to the continue moving instruction and controls the intelligent robot to move from the current moving waiting point to the next moving waiting point according to the sub-transport route until the target item is transported to the target transportation destination.

[0068] In a possible implementation, when the intelligent robot detects a moving obstacle ahead during movement, it moves to an obstacle avoidance waiting point. When the target condition is met, it starts from the obstacle avoidance waiting point and continues to move according to the sub-transportation route until the target item is transported to the target transportation destination. Among them, the moving obstacle is a person or other intelligent robot that hinders the action of the intelligent robot on the target transportation route; the obstacle avoidance waiting point is a waiting point where the intelligent robot temporarily stays when encountering a moving obstacle, which can be a preset waiting point or a waiting point selected in real time according to actual conditions; the target condition is a condition that allows the intelligent robot to start from the obstacle avoidance waiting point, which can be the distance between the detected moving obstacle and the moving obstacle is greater than or equal to the preset distance threshold, or the waiting time at the obstacle avoidance waiting point exceeds the preset time threshold.

[0069] Specifically, when the intelligent robot detects that there is a moving obstacle ahead and cannot pass immediately during the movement according to the sub-transportation route, it moves to the obstacle avoidance waiting point to wait. When the intelligent robot detects that the distance between it and the moving obstacle is greater than or equal to the preset distance threshold, it starts from the obstacle avoidance waiting point, returns to the sub-transportation route, and continues to move according to the sub-transportation route until the target item is transported to the target transportation destination; when the intelligent robot detects that the distance between it and the moving obstacle is continuously less than the distance threshold, and the waiting time at the obstacle avoidance waiting point exceeds the preset time, the obstacle avoidance strategy can be activated, for example, broadcasting through a loudspeaker to remind personnel to move to other locations, or sending an avoidance signal to the surroundings so that other intelligent robots that receive the avoidance signal move to other locations. When the obstacle avoidance strategy does not work, a notification of impassability is sent to the server, and the server responds to the notification of impassability, re-plans the transportation route with the current obstacle avoidance waiting point as the transportation starting point, and sends the re-planned transportation route to the intelligent robot so that the intelligent robot performs the transportation task based on the re-planned transportation route. By setting obstacle avoidance waiting points, the intelligent robot can safely and stably pause its movement when encountering a moving obstacle, avoiding collision with the moving obstacle, ensuring the safety of the target objects inside the robot, and thus improving the safety and stability of the transportation process.

[0070] In order to make the transportation process smoother, when the moving obstacle is another intelligent robot, it can be determined whether the current intelligent robot needs to move to the obstacle avoidance waiting point based on the priority of the current intelligent robot's transportation task and the transportation tasks of other intelligent robots. When the priority of the current intelligent robot's transportation task is greater than the transportation tasks of other intelligent robots, or other intelligent robots have no transportation tasks, movement information is sent to other intelligent robots to move other intelligent robots to other locations, and the current intelligent robot can continue to move according to the sub-transportation route; when the priority of the current intelligent robot's transportation task is lower than or equal to the transportation tasks of other intelligent robots, obstacle avoidance information is sent to other intelligent robots, and the current intelligent robot moves to the obstacle avoidance waiting point.

[0071] Alternatively, when the moving obstacle is another person, the robot stops moving and sends an avoidance broadcast through the speaker to remind other people to move to other locations. In addition, when the obstacle is a static obstacle, that is, an obstacle that cannot move autonomously, a broadcast to clear the obstacle is sent to the surrounding area to remind relevant personnel to deal with the obstacle. If there are no relevant personnel around and the waiting time exceeds the preset time, a notification to clear the obstacle is sent to the server, and the server sends a reminder to clear the obstacle based on the notification; or, a notification to clear the obstacle is sent directly to the server, and the server sends a reminder to clear the obstacle based on the notification to relevant personnel, so that the intelligent robot can quickly resume operation.

[0072] It should also be noted that when setting obstacle avoidance waiting points, obstacle avoidance waiting points can be set in areas prone to collision. When the intelligent robot encounters moving obstacles in these areas, it automatically goes to the obstacle avoidance waiting points to avoid obstacles. Alternatively, the intelligent robot can be equipped with sensors to sense the surrounding environment through the sensors and send the surrounding environment information to the server, which performs real-time analysis to set obstacle avoidance waiting points and sends the obstacle avoidance waiting points to the intelligent robot.

[0073] In a possible implementation, when the application scenario of the intelligent robot is a blood bank, refer to Figure 4 , Figure 4 An optional schematic diagram of a blood transport system provided in an embodiment of the present disclosure, Figure 4The automatic handover system for component assembly lines, the automatic handover system for red blood cell warehouses to be inspected, the automatic handover system for red blood cell finished product warehouses, the automatic handover system for assembly lines in the laboratory, the automatic handover system for blood distribution in the blood supply department, and the automatic handover system for unmanned transport aircraft are systems for controlling the automatic handover modules for interacting with the intelligent transport robots for target items in different office areas of the blood station. In the automated blood transport system, the elevator control terminal, the automatic door control terminal, and multiple intelligent transport robots are connected to the switch through a wireless access point, and then communicate with the robot server, the blood management system, and each automatic handover system through the switch to perform automated blood transport tasks.

[0074] Specifically, refer to Figure 5 , Figure 5 An optional schematic diagram of transporting from the component assembly line handover interface to the red blood cell waiting warehouse provided by the embodiment of the present disclosure, when the server receives the transportation task of transporting the blood frame from the component assembly line to the red blood cell waiting warehouse, the target transportation route is determined to be "A→B→C→D→E→F→G→H→I" based on the target transportation starting point component assembly line and the target transportation end point red blood cell waiting warehouse, and the target transportation route is sent to the intelligent transportation robot located at the idle waiting point O. After receiving the target transportation route, the intelligent transportation robot moves from the idle waiting point to the assembly line docking point A (i.e., the target transportation starting point) through the automatic guidance of the transportation chassis, and accurately docks at the assembly line docking point A through laser navigation and positioning identification. When the intelligent transportation robot docks accurately, the automatic guidance of the transportation chassis of the intelligent transportation robot sends a moving position notification to the server, and the server responds to the moving position notification and sends a handover instruction to the intelligent transportation robot. After receiving the handover instruction, the shelf master control module of the intelligent transportation robot opens the electric control door, starts the robot automatic handover module to enter the receiving state, and sends the robot automatic handover module to the server. The ready notification of receiving is sent. After the automatic handover interface of the component assembly line receives the robot automatic handover module receiving the ready notification forwarded by the server, the automatic handover module of the component assembly line is started to transfer the blood frame to the robot automatic handover module. The assembly line automatic handover module automatically stops after the sensor senses that the blood frame has been completely transferred. After the shelf main control module senses that the blood frame has been received in place through the sensor, it closes the electric control door and sends a reception completion notification to the server. The server responds to the reception completion notification and sends a continue moving instruction to the intelligent transport robot. The intelligent transport robot is controlled by the automatic guided transport chassis of the intelligent transport robot to move from the assembly line docking point A to the waiting point B behind the door, that is, to the first access control.

[0075] When the intelligent transport robot arrives at the waiting point B behind the door, it sends a moving position notification to the server through the automatic guided transport chassis. The server responds to the moving position notification and sends a door opening instruction to the automatic door control terminal of the first access control system. The automatic door control terminal of the first access control system responds to the door opening instruction to automatically open the first access control. When the first access control is fully opened, it sends a door opening position notification to the server. The server responds to the door opening position notification and sends a continue moving instruction to the intelligent transport robot. The intelligent transport robot is controlled by the automatic guided transport chassis of the intelligent transport robot to move from the waiting point B behind the door to the waiting point C in front of the door, that is, through the first access control. When the intelligent transport robot moves to the waiting point C in front of the door, it sends a moving position notification to the server. The server responds to the moving position notification and sends a door closing instruction to the automatic door control terminal of the first access control system. The automatic door control terminal of the first access control system responds to the door closing instruction to automatically close the first access control. Then, the server sends a continue moving instruction to the intelligent transport robot, and controls the intelligent transport robot to move from the waiting point C in front of the door to the elevator waiting point D through the automatic guided transport chassis of the intelligent transport robot, that is, to the elevator.

[0076] When the intelligent transport robot arrives at the elevator waiting point D, it sends a move-in-place notification to the server. The server responds to the move-in-place notification and sends an elevator call command to the elevator control terminal. The elevator control terminal controls the elevator to run to the 4th floor according to the elevator call command and automatically opens the elevator door. After the elevator door is in the normally open state, it sends a door opening in place notification to the server. The server responds to the door opening in place notification and sends a continue moving instruction to the intelligent transport robot. The intelligent transport robot is controlled by the automatic guided transport chassis of the intelligent transport robot to move from the elevator waiting point D to the elevator bridge E, that is, to enter the elevator. When the intelligent transport robot arrives at the elevator bridge E, it sends a move-in-place notification to the server. The server responds to the move-in-place notification and sends a door closing instruction to the elevator control terminal. The elevator control terminal controls the elevator to close the elevator door and go up to the 5th floor according to the door closing instruction. When the elevator stops on the 5th floor, it automatically opens the elevator door and sends a door opening in place notification to the server. When the server receives the door opening in place notification sent by the elevator control terminal, it sends a continue moving instruction to the intelligent transport robot. The intelligent transport robot is controlled by the automatic guided transport chassis of the intelligent transport robot to move from the elevator bridge E to the elevator waiting point F, that is, to leave the elevator.

[0077] In addition, the time interval for sending instructions in advance can be calculated based on the distance between the first access control system and the elevator, and an elevator call instruction can be sent to the elevator control terminal in advance based on the time interval, thereby shortening the time the intelligent transport robot waits for the elevator.

[0078] When the intelligent transport robot arrives at the elevator waiting point F, it sends a move-in-place notification to the server. The server responds to the move-in-place notification and sends a door closing instruction to the elevator control terminal. The elevator control terminal controls the elevator to close the elevator door according to the door closing instruction. At the same time, it sends a continue moving instruction to the intelligent transport robot, controls the intelligent transport robot to move from the elevator waiting point F to the door waiting point G through the automatic guided transport chassis of the intelligent transport robot, sends a move-in-place notification to the server, and the server responds to the move-in-place notification and sends a door opening instruction to the automatic door control terminal of the second access control system. The automatic door control terminal of the second access control system opens the automatic door according to the door opening instruction. When the server receives the door opening in-place notification, it sends a continue moving instruction to the intelligent transport robot, controls the intelligent transport robot to move from the door waiting point G to the door waiting point H through the automatic guided transport chassis of the intelligent transport robot, that is, through the second access control, and sends a move-in-place notification to the server. The server responds to the notification of movement into position and sends a door closing instruction to the automatic door control terminal of the second access control system. The automatic door control terminal of the second access control system closes the automatic door according to the door closing instruction. At the same time, it sends a continue moving instruction to the intelligent transport robot, which controls the intelligent transport robot through the automatic guided transport chassis of the intelligent transport robot to move from the waiting point H behind the door to the docking point I of the red blood cell inspection warehouse (the target transport end point).

[0079] After the intelligent transport robot accurately docks at the red blood cell inspection warehouse docking point I, the intelligent transport robot sends a moving-in-place notification to the server through the automatically guided transport chassis of the intelligent transport robot, and the server forwards the moving-in-place notification to the automatic handover interface of the red blood cell inspection warehouse. After the automatic handover interface of the red blood cell inspection warehouse receives the moving-in-place notification from the intelligent transport robot, the automatic handover module of the red blood cell inspection warehouse automatic handover interface is started to enter the receiving state, and a receiving readiness notification of the automatic handover module of the inspection warehouse is sent to the server. The server responds to the receiving readiness notification of the automatic handover module of the inspection warehouse and sends a handover instruction to the intelligent transport robot. The shelf master control module of the intelligent transport robot responds to the handover instruction, and the shelf master control module of the intelligent transport robot opens the electric control door according to the handover instruction, and starts the robot's automatic handover module to transfer the blood frame to the automatic handover module of the inspection warehouse. When the robot's automatic handover module senses through the sensor that the blood frame has been completely transferred, it automatically stops the robot's automatic handover module and closes the electric control door, and sends a handover completion notification to the server. The server responds to the handover completion notification and sends a continue moving instruction to the intelligent transport robot. The intelligent transport robot is controlled by the automatic guided transport chassis of the intelligent transport robot to move from the red blood cell inspection warehouse docking point I to the idle waiting point O to complete this transportation task.

[0080] According to the above embodiment, when the intelligent robot is used in the blood station, it is transported across floors (through automatic access control and elevator). In addition, the cross-floor transportation task of the intelligent robot can also be only through the elevator, or the intelligent robot can also be transported on the same floor, that is, only through the automatic access control. The method steps of only through the elevator or only through the automatic access control can refer to the above embodiment, and will not be repeated here.

[0081] It should also be noted that when the intelligent robot interacts with the server for instructions, the intelligent robot can communicate with the server through a wireless local area network. Specifically, a wireless local area network is deployed on the transportation routes of all intelligent robots, and a fixed and staggered channel allocation strategy is ensured between adjacent wireless access points to minimize communication interference. For example, referring to Figure 6 , Figure 6 An optional schematic diagram of channel division provided for the embodiment of the present disclosure, for a wireless network in the 2.4GHz frequency band, every 2MHz is divided into a channel, and the bandwidth is 22MHz. When the frequency bands of channels 1 and 2 are selected for communication, since the frequency bands of channels 1 and 2 intersect with each other, the communication between the two channels is interfered. Therefore, non-overlapping channels 1, 6, and 11, or non-overlapping channels 2, 7, and 12 can be selected for deployment. For example, when laying out wireless access points, wireless access point A can select channel 1, wireless access point B can select channel 6, and wireless access point C can select channel 11. The channel configurations of adjacent wireless access points are staggered to obtain a more stable wireless network environment. In addition, for wireless networks in the 5.8GHz frequency band, more dispersed channels such as 149, 153, 157, 161, and 165 can be selected for deployment to ensure that the frequency bands between adjacent wireless access points do not interfere with each other, thereby reducing signal conflicts and delays during the communication process between the intelligent robot and the server. In addition, the intelligent robot is also equipped with a wireless roaming function, which can switch wireless access points according to the signal strength of surrounding wireless access points to maintain the stability of communication with the server, effectively improving the quality and efficiency of command interaction between the intelligent robot and the server, and further improving the smoothness and reliability of the entire transportation process.

[0082] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate to describe the embodiments of the present disclosure, such as being able to be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0083] It should be understood that in the present disclosure, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0084] It should be understood that in the description of the embodiments of the present disclosure, the meaning of multiple (or multiple items) is more than two, greater than, less than, exceed, etc. are understood to not include the number, and above, below, within, etc. are understood to include the number.

[0085] In the several embodiments provided in the present disclosure, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0086] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0087] In addition, each functional unit in each embodiment of the present disclosure may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0088] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present disclosure is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the various embodiments of the present disclosure. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM), disk or optical disk and other media that can store program codes.

[0089] It should also be understood that the various implementations provided in the embodiments of the present disclosure can be combined arbitrarily to achieve different technical effects.

[0090] The above is a specific description of the preferred implementation of the present disclosure, but the present disclosure is not limited to the above-mentioned implementation mode. Technical personnel familiar with the field can also make various equivalent deformations or substitutions under the shared conditions without violating the spirit of the present disclosure. These equivalent deformations or substitutions are all included in the scope defined by the claims of the present disclosure.

Claims

1. An automated transportation method, characterized in that: Applied to a server, the automated transportation method comprises: Determine a target transportation route based on the transportation task, wherein the target transportation route includes a target transportation starting point, a target transportation end point, and at least one mobile waiting point located between the target transportation starting point and the target transportation end point, and the target transportation route is divided into a plurality of sub-transportation routes via the mobile waiting point; Sending the sub-transportation route to the intelligent robot, so that the intelligent robot moves to the target transportation starting point according to the sub-transportation route to obtain the target object to be transported, and moves to the mobile waiting point according to the sub-transportation route after obtaining the target object; Whenever the intelligent robot arrives at the moving waiting point, it receives a first moving-in-place notification sent by the intelligent robot, and sends a first continuing moving instruction to the intelligent robot, so that the intelligent robot responds to the first continuing moving instruction and continues to move according to the sub-transport route until the target item is transported to the target transportation destination.

2. The automated transportation method according to claim 1, characterized in that: The sending of the sub-transportation route to the intelligent robot so that the intelligent robot moves to the target transportation starting point according to the sub-transportation route to obtain the target item to be transported, and moves to the mobile waiting point according to the sub-transportation route after obtaining the target item, includes: Sending the sub-transportation route to the intelligent robot, so that the intelligent robot moves to the target transportation starting point according to the sub-transportation route; receiving a second moving-in-place notification sent by the intelligent robot, and sending a first handover instruction to a first handover interface of the target object, so that the first handover interface transfers the target object to the intelligent robot; Receive a receiving completion notification sent by the intelligent robot, and send a second continuing movement instruction to the intelligent robot, so that the intelligent robot responds to the second continuing movement instruction and moves to the moving waiting point according to the sub-transport route.

3. The automated transportation method according to claim 2, characterized in that: The intelligent robot includes a mobile chassis and an item shelf, and the receiving of a second moving-in-place notification sent by the intelligent robot and sending a first handover instruction to a first handover interface of the target item so that the first handover interface transfers the target item to the intelligent robot includes: receiving a second moving-in-place notification sent by the mobile chassis, and forwarding the second moving-in-place notification to the item shelf, so that the item shelf starts receiving preparation; A first receiving ready notification is received from the item shelf, and a first handover instruction is sent to a first handover interface of the target item, so that the first handover interface transfers the target item to the intelligent robot.

4. The automated transportation method according to claim 1, characterized in that: At least one of the mobile waiting points includes a first door-front waiting point and a first door-back waiting point of a first access control system where the target transportation starting point is located, and whenever the intelligent robot arrives at the mobile waiting point, receiving a first moving position notification sent by the intelligent robot, and sending a first continuing movement instruction to the intelligent robot, so that the intelligent robot responds to the first continuing movement instruction and continues to move according to the sub-transportation route, including: When the intelligent robot arrives at the waiting point behind the first door, receiving a first moving-to-position notification corresponding to the waiting point behind the first door sent by the intelligent robot, and sending a first door opening instruction to the first access control system; receiving a first door opening notification sent by the first access control system, and sending a first continuing movement instruction corresponding to the waiting point behind the first door to the intelligent robot, so that the intelligent robot responds to the first continuing movement instruction corresponding to the waiting point behind the first door and continues to move to the waiting point in front of the first door according to the sub-transportation route; When the intelligent robot arrives at the first waiting point in front of the door, it receives the first movement into position notification corresponding to the first waiting point in front of the door sent by the intelligent robot, sends the first door closing instruction to the first access control system, and sends the first continue movement instruction corresponding to the first waiting point in front of the door to the intelligent robot, so that the intelligent robot responds to the first continue movement instruction corresponding to the first waiting point in front of the door and continues to move according to the sub-transport route.

5. The automated transportation method according to claim 1, characterized in that: At least one of the moving waiting points includes a first elevator waiting point on the floor where the target transportation starting point is located, a second elevator waiting point in the elevator, and a third elevator waiting point on the floor where the target transportation end point is located, receiving a first moving in place notification sent by the intelligent robot, and sending a first continuing moving instruction to the intelligent robot, so that the intelligent robot responds to the first continuing moving instruction and continues to move according to the sub-transportation route, including: When the intelligent robot arrives at the first elevator waiting point, receiving a first moving-in-place notification corresponding to the first elevator waiting point sent by the intelligent robot, and sending a second door opening instruction to the elevator; receiving a second door opening arrival notification sent by the elevator, and sending a first continuing movement instruction corresponding to the first elevator waiting point to the intelligent robot, so that the intelligent robot responds to the first continuing movement instruction corresponding to the first elevator waiting point and continues to move to the second elevator waiting point according to the sub-transportation route; When the intelligent robot arrives at the second elevator waiting point, the intelligent robot receives the first moving-in-place notification corresponding to the second elevator waiting point sent by the intelligent robot, and sends a second door closing instruction to the elevator; receiving a third door opening arrival notification sent by the elevator, and sending a first continuing movement instruction corresponding to the second elevator waiting point to the intelligent robot, so that the intelligent robot responds to the first continuing movement instruction corresponding to the second elevator waiting point and continues to move to the third elevator waiting point according to the sub-transportation route; When the intelligent robot arrives at the third elevator waiting point, it receives the first movement in place notification corresponding to the third elevator waiting point sent by the intelligent robot, sends a third door closing instruction to the elevator, and sends the first continue movement instruction corresponding to the third elevator waiting point to the intelligent robot, so that the intelligent robot responds to the first continue movement instruction corresponding to the third elevator waiting point and continues to move according to the sub-transport route.

6. The automated transportation method according to claim 1, characterized in that: At least one of the mobile waiting points includes a second door-front waiting point and a second door-back waiting point of a second access control system where the target transport destination is located, and whenever the intelligent robot arrives at the mobile waiting point, receiving a first moving-in-place notification sent by the intelligent robot, and sending a first continuing moving instruction to the intelligent robot, so that the intelligent robot responds to the first continuing moving instruction and continues to move according to the sub-transport route, including: When the intelligent robot arrives at the second door-front waiting point, receiving a first moving-in-place notification corresponding to the second door-front waiting point sent by the intelligent robot, and sending a third door-opening instruction to the second access control system; receiving a fourth door opening notification sent by the second access control system, and sending a first continuing movement instruction corresponding to the second door front waiting point to the intelligent robot, so that the intelligent robot responds to the first continuing movement instruction corresponding to the second door front waiting point and continues to move to the second door rear waiting point according to the sub-transport route; When the intelligent robot arrives at the waiting point behind the second door, it receives the first movement into place notification corresponding to the waiting point behind the second door sent by the intelligent robot, sends a fourth door closing instruction to the second access control system, and sends the first continue movement instruction corresponding to the waiting point behind the second door to the intelligent robot, so that the intelligent robot responds to the first continue movement instruction corresponding to the waiting point behind the second door and continues to move according to the sub-transport route.

7. The automated transportation method according to claim 1, characterized in that: The method of transporting the target item to the target transport destination includes: When the intelligent robot reaches the target transport destination, receiving a third moving-in-place notification sent by the intelligent robot, and sending a second handover instruction to the second handover interface of the target object, so that the second handover interface starts receiving preparation; A second receiving ready notification sent by the second handover interface is received, and a second handover instruction is sent to the intelligent robot so that the intelligent robot transfers the target object to the second handover interface.

8. The automated transportation method according to claim 1, characterized in that: The automated transportation method further comprises: Receive a handover completion notification sent by the intelligent robot, and send a third continue moving instruction to the intelligent robot to move the intelligent robot to an idle waiting point.

9. An automated transportation method, characterized in that: Applied to intelligent robots, the automated transportation method includes: Receiving a target transportation route determined based on the transportation task and sent by a server, wherein the target transportation route includes a target transportation starting point, a target transportation end point, and at least one mobile waiting point located between the target transportation starting point and the target transportation end point, and the target transportation route is divided into a plurality of sub-transportation routes via the mobile waiting point; Move to the target transport starting point according to the sub-transportation route to obtain the target item to be transported, and after obtaining the target item, move to the mobile waiting point according to the sub-transportation route; Whenever the moving waiting point is reached, a moving-in-place notification is sent to the server, and a continuing moving instruction is received from the server in response to the moving-in-place notification; Continue moving according to the sub-transportation route until the target item is transported to the target transportation destination.

10. The automated transportation method according to claim 9, characterized in that: The automated transportation method further comprises: When a moving obstacle is detected in front of the vehicle during movement, the vehicle moves to the obstacle avoidance waiting point; When the target condition is met, the vehicle starts from the obstacle avoidance waiting point and continues to move according to the sub-transportation route until the target item is transported to the target transportation destination.

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