Automated transport method

Abstract

The embodiment of the present disclosure discloses an automatic transportation method, determines a target transportation route based on a transportation task, divides the target transportation route into a plurality of sub-transportation routes via a mobile waiting point, sends the sub-transportation route to an intelligent robot, so that the intelligent robot moves to a target transportation starting point to obtain a target object to be transported according to the sub-transportation route, and moves to the mobile waiting point after obtaining the target object according to the sub-transportation route. Whenever the intelligent robot arrives at the mobile waiting point, a first movement-to-position notification sent by the intelligent robot is received, a first continue-to-move instruction is sent to the intelligent robot, so that the intelligent robot continues to move according to the sub-transportation route in response to the first continue-to-move instruction until the target object is transported to a target transportation ending point, effectively improving the efficiency and reliability of the automatic transportation process.

Description

Technical Field

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

[0002] In practical applications, since the items to be transported are usually located in different places, staff need to use trolleys and other tools to move them to their respective destinations. However, this traditional transportation method requires a lot of manual intervention in the transportation process, significantly increasing labor costs and resulting in low transportation efficiency. Summary of the Invention

[0003] The following is an overview of the subject matter described in detail in this disclosure. This overview is not intended to limit the scope of the claims.

[0004] This disclosure provides an automated transportation method that effectively improves the efficiency and reliability of the automated transportation process.

[0005] On one hand, embodiments of this disclosure provide an automated transportation method, including:

[0006] The target transportation route is determined based on the transportation task, wherein the target transportation route includes a target transportation origin, a target transportation destination, and at least one mobile waiting point located between the target transportation origin and the target transportation destination, and the target transportation route is divided into multiple sub-transportation routes via the mobile waiting point;

[0007] Send the sub-transportation route to the intelligent robot so that the intelligent robot can move to the target transportation 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 movement waiting point according to the sub-transportation route;

[0008] Whenever the intelligent robot arrives at the moving waiting point, a first moving arrival notification is received from the intelligent robot, and a first continue moving instruction is sent to the intelligent robot, so that the intelligent robot responds to the first continue moving instruction and continues to move according to the sub-transportation route until the target item is transported to the target transportation destination.

[0009] On the other hand, embodiments of this disclosure also provide an automated transportation method applied to intelligent robots, including:

[0010] The receiving server sends a target transportation route determined based on the transportation task, wherein the target transportation route includes a target transportation origin, a target transportation destination, and at least one moving waiting point located between the target transportation origin and the target transportation destination, and the target transportation route is divided into multiple sub-transportation routes via the moving waiting point;

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

[0012] Whenever the movement waiting point is reached, a movement completion notification is sent to the server, and a continue movement instruction is sent by the server in response to the movement completion notification;

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

[0014] The embodiments disclosed herein include at least the following beneficial effects: A target transportation route is determined based on the transportation task. Since the target transportation route includes a target transportation start point, a target transportation end point, and at least one moving waiting point located between the target transportation start point and the target transportation end point, a specific and accurate transportation route can be planned based on the target transportation start point, the target transportation end point, and at least one moving waiting point. The target transportation route is divided into multiple sub-transportation routes based on the moving waiting points, ensuring that the target transportation route can provide clear guidance for the intelligent robot. Sub-transportation routes are sent to the intelligent robot so that the intelligent robot can move to the target transportation start point according to the sub-transportation routes to obtain the target item to be transported. After obtaining the target item, the intelligent robot moves to the moving waiting point according to the sub-transportation routes. Whenever the intelligent robot reaches the moving waiting point, the server receives a first move-in notification sent by the intelligent robot and sends a first continue-move instruction to the intelligent robot. The real-time and efficient instruction interaction mechanism between the intelligent robot and the server not only improves the smoothness of automated transportation but also ensures that the intelligent robot can respond to every operation instruction, so that the intelligent robot responds to the first continue-move instruction and continues to move according to the sub-transportation routes 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 this disclosure will be set forth in the following description and will be apparent in part from the description or may be learned by practicing this disclosure. Attached Figure Description

[0016] The accompanying drawings are provided to further understand the technical solutions of this disclosure and constitute a part of the specification. They are used together with the embodiments of this disclosure to explain the technical solutions of this disclosure and do not constitute a limitation on the technical solutions of this disclosure.

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

[0018] Figure 2This is a schematic diagram of an optional process for an automated transportation method provided in an embodiment of the present disclosure;

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

[0020] Figure 4 An optional schematic diagram of a blood transport system provided in an embodiment of this disclosure;

[0021] Figure 5 This is an optional schematic diagram illustrating the transport of components from the interface of the component production line to the red blood cell testing bank, as provided in an embodiment of this disclosure.

[0022] Figure 6 This is an optional schematic diagram of 2.4G wireless network channel bandwidth allocation provided in an embodiment of this disclosure. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this disclosure clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this disclosure.

[0024] It should be noted that in the various specific embodiments of this disclosure, when processing is required based on data related to the characteristics of the target object, such as target object attribute information or a set of attribute information, the permission or consent of the target object will be obtained first. Furthermore, the collection, use, and processing of this data will comply with relevant laws, regulations, and standards. The target object can be a user. In addition, when embodiments of this disclosure require obtaining target object attribute information, separate permission or consent from the target object will be obtained through pop-ups or redirection to a confirmation page. Only after obtaining the target object's separate permission or consent will the necessary target object-related data for the normal operation of the embodiments of this disclosure be obtained.

[0025] In this disclosure, the terms "module" or "unit" refer to a computer program or part of a computer program that has a predetermined function and works with other related parts to achieve a predetermined goal, and can be implemented wholly or partially using software, hardware (such as processing circuitry or memory), or a combination thereof. Similarly, a processor (or multiple processors or memory) can be used to implement one or more modules or units. Furthermore, each module or unit can be part of an overall module or unit that includes the functionality of that module or unit.

[0026] To facilitate understanding of the technical solutions provided in the embodiments of this disclosure, some key terms used in the embodiments of this disclosure will be explained below:

[0027] Intelligent transport robots are mechanical devices that integrate machine learning, artificial intelligence, and automation technologies. They acquire environmental information through sensing technology and can perform transportation tasks based on this information. They are designed to simplify logistics and warehousing operations and are widely used in production lines, warehouses, pharmaceutical plants, laboratories, blood bank testing departments, and other similar scenarios.

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

[0029] Wireless Local Area Network (WLAN): A network system that uses wireless communication technology to interconnect various devices, enabling data transmission and resource sharing. This network system does not require a wired connection and communicates via radio waves (such as Wi-Fi, Bluetooth, etc.), facilitating communication between devices.

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

[0031] In practical applications, blood product transportation is a crucial link in the blood bank's operational system. Currently, blood product transportation often relies on manual intervention, such as point-to-point delivery using traditional transport tools like trolleys. However, traditional transportation methods significantly increase labor costs, not only raising overall transportation expenses but also potentially leading to low efficiency. On the other hand, while intelligent transport robots can achieve automated transportation, their progress cannot be monitored in real time. Furthermore, the reliance on location markers for route planning limits the flexibility of route planning. More importantly, when location markers become blurred or unrecognizable, the intelligent transport robot will be unable to continue moving, causing interruptions and delays in the transportation task.

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

[0033] Reference Figure 1 , Figure 1This diagram illustrates an optional implementation environment provided by an embodiment of the present disclosure. The environment includes an intelligent robot 101 and a server 102. Specifically, a transportation task is sent to the server 102. The server 102 determines a target transportation route based on the task. The target transportation route includes a target transportation start point, a target transportation end point, and at least one moving waiting point located between the target transportation start point and the target transportation end point. The server 102 divides the target transportation route into multiple sub-transportation routes according to the moving waiting points. Then, it sends the sub-transportation routes to the intelligent robot 101, enabling the intelligent robot 101 to move to the target transportation start point according to the sub-transportation routes to retrieve the target item to be transported. After retrieving the target item, the intelligent robot 101 moves to the moving waiting point according to the sub-transportation routes. Whenever the intelligent robot 101 reaches a moving waiting point, it sends a first move-in notification to the server 102. The server 102 receives the first move-in notification from the intelligent robot 101 and sends a first continue-move instruction to the intelligent robot 101, causing the intelligent robot 101 to respond to the first continue-move instruction and continue moving according to the sub-transportation routes until the target item is transported to the target transportation end point.

[0034] Reference Figure 2 , Figure 2 This is an optional flowchart illustrating an automated transportation method provided in an embodiment of the present disclosure, which may include, but is not limited to, the following steps S201 to S203:

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

[0036] The target transportation route includes a target transportation origin, a target transportation destination, and at least one mobile waiting point located between the target transportation origin and the target transportation destination. The target transportation route is divided into multiple sub-transportation routes via the mobile waiting points. The target transportation origin is the starting point of the target transportation route and is the storage location of the target object to be transported; the target transportation destination is the ending point of the target transportation route and is the location where the item to be transported needs 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 encompassing the entire route, and the sub-transportation routes are short-distance segmented transportation routes. A sub-transportation route can be a route from the target transportation origin to a mobile waiting point, a route from the current mobile waiting point to the next mobile waiting point, or a route from a mobile waiting point to the target transportation destination.

[0037] Specifically, the transportation site has multiple pre-set mobile waiting points. After receiving a transportation task, the server determines the target transportation start point and target transportation destination based on the task. Then, based on the target transportation start point and target transportation destination, it plans multiple transportation routes. Mobile waiting points that need to temporarily stop during transportation are selected according to the transportation routes. Candidate transportation routes are formed based on the target transportation start point, target transportation destination, and mobile waiting points. The target transportation start point, target transportation destination, and mobile waiting points in each candidate transportation route are considered as nodes. Starting from the target transportation start point, the distance between two adjacent nodes is calculated, and a score is calculated for each node based on the distance; the closer the distance, the higher the score. The candidate transportation route with the highest score is selected as the target transportation route, and the remaining unselected candidate transportation routes become alternative transportation routes for this transportation task. It should be noted that when selecting the shortest route as the target transportation route, other path planning algorithms can also be used for transportation route planning and selection, such as ant colony optimization, genetic algorithms, particle swarm optimization, etc. This application does not specifically limit the choice. Then, the target transportation route is divided into multiple sub-transportation routes based on the mobile waiting points, so that the intelligent robot can execute the transportation task step by step according to the sub-transportation routes.

[0038] Because certain areas in a transportation hub may be closed to traffic during specific time periods, when selecting a target transportation route, in addition to considering only the shortest route, some specific situations need to be taken into account. When a transportation task is received during a closed period, and the shortest route needs to pass through the closed area, the candidate transportation route with the highest score that does not pass through the closed area should be selected as the target transportation route.

[0039] By planning the target transportation route and dividing it into multiple sub-routes, the target transportation route provides clear guidance for the intelligent robot's movement, thereby improving transportation accuracy. Furthermore, a score is calculated for each candidate transportation route, and the route with the shortest travel distance is selected based on the score. This allows the intelligent robot to quickly transport the target item to its destination, effectively improving transportation efficiency. In addition, the shorter transportation time reduces the risk of damage to the target item during transport, thus ensuring the integrity of the item and the quality of transportation.

[0040] It should also be noted that the server mentioned in this application refers to the intelligent robot server that interacts with the intelligent robot, is used to schedule appropriate intelligent robots to perform transportation tasks, and 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 a sub-transportation route to the intelligent robot so that the intelligent robot can move to the target transportation 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 movement waiting point according to the sub-transportation route.

[0042] The intelligent robot, used for transporting target items, consists of a mobile chassis and a goods shelf. The mobile chassis sends and receives commands and controls the robot's movement trajectory. The goods shelf, used for receiving and placing target items, consists of an automatic handover module, an electrically controlled door, and a human-machine interface. (Refer to...) Figure 3 , Figure 3 This is an optional structural diagram of an intelligent robot provided in an embodiment of this disclosure.

[0043] In one possible implementation, during the process of the intelligent robot moving to the moving waiting point according to the sub-transport route after acquiring the target item, the following steps can be taken: sending the sub-transport route to the intelligent robot to enable it to move to the target transportation starting point; receiving a second move-in notification from the intelligent robot; sending a first handover instruction to the first handover interface of the target item to enable the first handover interface to transfer the target item to the intelligent robot; receiving a receipt completion notification from the intelligent robot; and sending a second continue-move instruction to the intelligent robot to enable it to move to the moving waiting point according to the sub-transport route. Specifically, the second move-in notification indicates that the intelligent robot has reached the target transportation starting point; the first handover instruction instructs the first handover interface to transfer the target item to the intelligent robot; the first handover interface is the handover interface at the target transportation starting point, used to transfer the target item to the intelligent robot; the receipt completion notification indicates that the intelligent robot has received the target item; and the second continue-move instruction instructs the intelligent robot to move from the target transportation starting point to the moving waiting point.

[0044] Specifically, the server sends the target transportation route to the intelligent robot. Upon receiving the route, the intelligent robot moves to the target transportation starting point and sends a second movement completion notification to the server. Then, the server sends a first handover instruction to the first handover interface for the target item. Upon receiving this instruction, the first handover interface transfers the target item to the intelligent robot. After receiving the target item, the intelligent robot sends a completion instruction to the server. Based on the received completion notification, the server sends a second continue movement instruction to the intelligent robot, causing it to respond by moving to the movement waiting point according to the sub-transportation route.

[0045] To ensure the safe and reliable transfer of target items, a LiDAR (Light Detection and Ranging) system is equipped on the intelligent robot. The LiDAR can be mounted on the robot's body or its bottom, and its specific placement can be adjusted according to actual needs. By scanning the surrounding environment, the LiDAR can obtain the robot's current position in real time. Simultaneously, setting a positioning marker at the starting point of the transport guides the intelligent robot to accurately dock at the marked location. By combining LiDAR technology with positioning markers, the intelligent robot can use LiDAR to identify the positioning markers to further confirm its docking position. This not only improves the robot's docking accuracy but also significantly enhances the accuracy, safety, and reliability of the transfer of target items, avoiding the risk of the target item slipping due to inaccurate docking.

[0046] In one possible implementation, the intelligent robot includes a mobile chassis and a shelf. During the process of sending a first handover command to a first interface for the target item and moving the target item to the intelligent robot via the first interface, specifically, the robot may receive a second movement-in-place notification from the mobile chassis, forward the second movement-in-place notification to the shelf to initiate receiving preparation, receive a first receiving-ready notification from the shelf, and send a first handover command to the first interface for the target item to transfer the target item to the intelligent robot. The first receiving-ready notification indicates that the intelligent robot's shelf has entered the receiving state; the mobile chassis of the intelligent robot is used to send the movement-in-place notification and receive the continue-movement command; the shelf of the intelligent robot is used to place the target item; the shelf is also equipped with an electrically controlled door and a first automatic handover module. The electrically controlled door prevents the target item from accidentally falling during transportation; the first automatic handover module, configured in the intelligent robot, is used to receive the target item and can 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, it sends a second movement-in-place notification to the server via its mobile chassis. The server then forwards this notification to the goods shelf. Upon receiving the notification, the goods shelf opens its electrically controlled door and activates the first automatic transfer module to enter a receiving state, sending a first receiving ready notification to the server. Based on this notification, the server sends a first transfer instruction to the first transfer interface of the target item. Upon receiving this instruction, the first transfer interface activates a second automatic transfer module. This module, configured within the first interface, is used to transfer the target item and may include a conveyor belt or a telescopic plate. It may also include an automated robotic arm, which can be configured independently or attached to the telescopic plate. The second automatic transfer module then transfers the target item to the first automatic transfer module. Once the transfer is complete, both modules stop, and the electrically controlled door closes, completing the transfer of the target item from the first interface to the intelligent robot. It should also be noted that sensors can be configured in both the first and second automatic handover modules. The second automatic handover module stops when its sensor detects that the target item has been completely transferred (i.e., when the target item is no longer on the second automatic handover module). Similarly, the first automatic handover module stops and closes the electrically controlled door when its sensor detects that the target item has been received. The intelligent robot receives instructions from the server and precisely performs the operations of opening the electrically controlled door, receiving the target item, and closing the electrically controlled door, ensuring the safe transfer of the target item to the intelligent robot and its proper storage within the robot, thereby guaranteeing the reliability and safety of the intelligent robot's transportation.

[0048] In one possible implementation, when the second automatic transfer module is equipped with an automated robotic arm, the intelligent robot's shelving does not need to be equipped with the first automatic transfer module and electrically controlled doors. Similarly, when the first automatic transfer module is equipped with an automated robotic arm, the second automatic transfer module can be a conveyor belt or a telescopic plate, and the second automatic transfer module does not need to be equipped with an automated robotic arm.

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

[0050] The first move-to-arrival notification indicates that the intelligent robot has reached any move-waiting point, and the first continue-move instruction instructs the intelligent robot to move from the current move-waiting point to the next move-waiting point.

[0051] In one possible implementation, at least one mobile waiting point includes a first front-door waiting point and a first rear-door waiting point of a first access control system where the target transportation origin is located. Whenever the intelligent robot arrives at a mobile waiting point, a first movement-in-place notification is received from the intelligent robot. During the process of sending a first movement-continue command to the intelligent robot, causing it to continue moving according to the sub-transportation route, specifically, when the intelligent robot arrives at the first rear-door waiting point, a first movement-in-place notification corresponding to the first rear-door waiting point is received from the intelligent robot, and a first door-opening command is sent to the first access control system. A first door-opening-in-place notification is received from the access control system, and a first movement-continue command corresponding to the first rear-door waiting point is sent to the intelligent robot, causing it to continue moving to the first front-door waiting point according to the sub-transportation route. When the intelligent robot arrives at the first front-door waiting point, a first movement-in-place notification corresponding to the first front-door waiting point is received from the intelligent robot, a first door-closing command is sent to the first access control system, and a first movement-continue command corresponding to the first front-door waiting point is sent to the intelligent robot, causing it to continue moving according to the sub-transportation route. 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 status of the automatic door; the first access control system is a system that controls the intelligent robot to leave the area for obtaining the target item according to the sub-transport route through the first automatic door; the first door opening instruction is used to instruct the opening of the first automatic door and to put the first automatic door in the normally open state.

[0052] Specifically, when the intelligent robot arrives at the waiting point behind the first door of the first access control system, it sends a first movement notification corresponding to the waiting point behind the first door to the server via its mobile chassis. Based on the received first movement notification, the server sends a first opening command to the first access control system. The automatic door control terminal of the first access control system controls the first automatic door to open according to the first opening command. When the first automatic door is fully open, it sends a first opening completion notification to the server. In response to the received first opening completion notification, the server sends a first continue movement command corresponding to the waiting point behind the first door to the intelligent robot. The intelligent robot's transport chassis responds to the first continue movement command, controlling the intelligent robot to move from the waiting point behind the first door to the waiting point in front of the first door, i.e., through the first automatic door. When the intelligent robot arrives at the waiting point in front of the first door, it sends a first movement completion notification corresponding to the waiting point in front of the first door to the server via its mobile chassis. Based on the received first movement notification corresponding to the first waiting point at the first door, the server sends a first closing command to the first access control system. The automatic door control terminal of the first access control system controls the first automatic door to close according to the first closing command. Simultaneously, the server sends a first continue movement command corresponding to the first waiting point at the first door to the intelligent robot. The intelligent robot's chassis responds to this command, controlling the robot to continue moving from the first waiting point at the first door to the next moving waiting point or the target transportation destination based on the sub-transport route. By sending a first opening command to the automatic door control terminal of the access control system, the first automatic door is kept in a normally open state, allowing the intelligent robot to pass through the first automatic door without obstruction. This measure effectively prevents the robot from being unable to pass through the first automatic door due to a delay in receiving the command, and also eliminates the risk of the intelligent robot being blocked by the door closing unexpectedly while passing through, ensuring the safety of the target items inside the robot, thereby guaranteeing the safety and smoothness of the transportation process.

[0053] In one 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 inside the elevator, and a third elevator waiting point on the floor where the target transportation destination is located. The system receives a first movement-in-place notification from the intelligent robot. Specifically, when the intelligent robot reaches the first elevator waiting point, it receives the first movement-in-place notification corresponding to that first elevator waiting point and sends a second door-opening command to the elevator. Then, it receives a second door-opening notification from the elevator and sends a first continued movement command corresponding to the first elevator waiting point to the intelligent robot, causing the intelligent robot to continue moving to the second elevator waiting point according to the sub-transportation route. When the intelligent robot reaches the second elevator waiting point, it receives the first movement-in-place notification corresponding to that second elevator waiting point and sends a second door-closing command to the elevator. The elevator control terminal is a module used to receive and send commands. It controls the elevator door status and the floors the elevator moves to and from. The second door opening command includes a first elevator lifting sub-command and a door opening sub-command. The first elevator lifting sub-command calls the elevator from other floors to the floor where the target transportation start point is located. The door opening command controls the elevator door to open and keeps it in a normally open state. The second door closing command includes a second elevator lifting sub-command and a door closing command. The second elevator lifting sub-command controls the elevator to move from the floor where the target transportation start point is located to the floor where the target transportation end point is located. The door closing command controls the elevator door to close.

[0054] Specifically, when the intelligent robot arrives at the first elevator waiting point, it sends a first movement to the server via its mobile chassis. Based on this notification, the server sends a second door-opening command to the elevator control terminal. The elevator control terminal then performs the corresponding operation based on the elevator's current floor. When the elevator is on the floor where the target transportation starting point is located, the elevator control terminal controls the elevator door to open according to the door-opening sub-command in the second door-opening command. When the elevator is on a floor other than the target transportation starting point, it is called to the target transportation starting point floor according to the elevator lift sub-command in the second door-opening command. When the elevator arrives at the target transportation starting point floor from another floor, the second door-opening command may only include the elevator lift sub-command. After the elevator reaches the target floor in response to the lift sub-command, it can automatically open the elevator door without needing the door-opening command. When the elevator door is fully open, it enters the normally open state. The elevator control terminal sends a second door-opening notification to the server. Based on this notification, the server sends a first continue-move command corresponding to the first elevator waiting point to the intelligent robot. The intelligent robot's transport chassis responds to this command, moving from the first to the second elevator waiting point, i.e., entering the elevator from outside. When the intelligent robot reaches the second waiting point, it sends a first move-in notification to the server. Based on this notification, the server sends a second door-closing command to the elevator control terminal. The control terminal then controls the elevator door to close according to the closing sub-command of the second door-closing command. Finally, it controls the elevator to move from the floor where the target transport start point is located to the floor where the target transport end point is located, according to the second elevator lifting sub-command of the second door-closing command. At this point, the second door-closing command can also be a release command, allowing the elevator to close automatically.

[0055] Next, upon receiving the third door-opening notification from the elevator, the system sends a first continue-movement command corresponding to the second elevator waiting point to the intelligent robot. This causes the intelligent robot to respond to the first continue-movement command corresponding to the second elevator waiting point and continue moving to the third elevator waiting point according to the sub-transportation route. When the intelligent robot reaches the third elevator waiting point, the system receives a first move-in notification corresponding to the third elevator waiting point from the intelligent robot, sends a third door-closing command to the elevator, and sends a first continue-movement command corresponding to the third elevator waiting point to the intelligent robot. This causes the intelligent robot to respond to the first continue-movement command corresponding to the third elevator waiting point and continue moving according to the sub-transportation route. Specifically, when the elevator reaches the floor where the target transportation destination is located, it automatically opens the elevator door. When the elevator door is fully open, it is in a normally open state. The elevator control terminal sends a third door-opening notification to the server. Based on the received third door-opening notification, the server sends a first continue-movement command corresponding to the second elevator waiting point to the intelligent robot. The intelligent robot's mobile chassis responds to the first continue-movement command corresponding to the second elevator waiting point, controlling the intelligent robot to move from the second elevator waiting point to the third elevator waiting point. When the intelligent robot reaches the third elevator waiting point, it sends a first movement completion notification corresponding to that elevator waiting point to the server. Based on the received first movement completion notification, the server sends a third door closing command to the elevator control terminal. The elevator control terminal then controls the elevator to perform the door closing operation according to the third door closing command. Similarly, the third door closing command could also be a release command, allowing the elevator to close automatically. Simultaneously, a first continue movement command corresponding to the third elevator waiting point is sent to the intelligent robot. The intelligent robot's mobile chassis responds to this command, controlling the 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 second door-closing instruction and the third door-closing instruction sent by the server can actually be elevator release instructions. When the elevator receives the elevator release instruction, it will automatically close the elevator door.

[0057] In one possible implementation, the server first controls the gate control system or elevator to move, and then notifies the robot to move once certain conditions are met. The conditions can be met either when the gate control system or elevator is in a normally open state, or when the gate control system or elevator confirms receipt of the instruction sent by the server. For example, a first continue-move instruction is used to instruct the intelligent robot to move from other movement waiting points to the first elevator waiting point. When the server sends the first continue-move instruction to the intelligent robot, it simultaneously sends a second door-opening instruction to the elevator. When the elevator is located on the floor where the target transportation starting point is located, the elevator door is opened and placed in a normally open state. When the elevator is located on a floor other than the floor where the target transportation starting point is located, according to the elevator lift sub-instruction in the second door-opening instruction, the elevator is called to the floor where the target transportation starting point is located, the elevator door is opened, and the elevator door is placed in a normally open state. When the intelligent robot arrives at the first elevator waiting point, its mobile chassis sends a first movement notification to the server. Based on this notification, the server sends a first continue movement command to the robot. The robot's chassis responds to this command, moving the robot from the first elevator waiting point to the second elevator waiting point, allowing it to enter the elevator from outside. Alternatively, when the elevator door is open and in its normally open state, a movement command is sent to the robot, allowing it to move directly from the first to the second elevator waiting point. Upon arriving at the first waiting point, the robot can move directly to the second waiting point without sending the first movement notification to the server. Simultaneously with the server sending the command to the robot to move to the first elevator waiting point, the server calls the elevator to the floor where the target transportation point is located, saving the robot time waiting at the first elevator waiting point and effectively improving transportation efficiency.

[0058] In addition to moving from other waiting points to the first elevator waiting point, when the intelligent robot needs to pass through an automatic door, the server can send a first continuing movement instruction to the intelligent robot to move to the automatic door, and at the same time send an opening instruction to the access control system, and put the automatic door in a normally open state. In this case, when the automatic robot arrives at 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 directly move through the automatic door to the next waiting point or the target transportation destination.

[0059] In one possible implementation, at least one moving waiting point includes a second pre-door waiting point and a second post-door waiting point of a second access control system where the target transport destination is located. Whenever the intelligent robot arrives at a moving waiting point, a first move-in notification is received from the intelligent robot. During the process of sending a first continue-move command to the intelligent robot, causing it to continue moving according to the sub-transport route, specifically, when the intelligent robot arrives at the second pre-door waiting point, a first move-in notification corresponding to the second pre-door waiting point is received from the intelligent robot, and a third door-opening command is sent to the second access control system. A fourth door-opening notification is received from the second access control system, and a first continue-move command corresponding to the second pre-door waiting point is sent to the intelligent robot, causing it to continue moving to the second post-door waiting point according to the sub-transport route. The second access control system is a system that controls the second automatic door through which the intelligent robot enters the target item transfer area according to the sub-transport route; the third door-opening command is used to control the second automatic door to perform an opening operation and to 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 movement notification to the server corresponding to the waiting point. Based on the received first movement notification, the server sends a third opening command to the automatic door control terminal of the second access control system. The automatic door control terminal of the second access control system then controls the second automatic door to open. When the second automatic door is fully open, the automatic door control terminal of the second access control system sends a fourth opening notification to the server. Based on the received fourth opening notification, the server sends a first continue movement command to the intelligent robot corresponding to the waiting point in front of the second door. The intelligent robot's chassis responds to the first continue movement command, controlling 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-transport route, i.e., through the second automatic door.

[0061] Next, when the intelligent robot reaches the waiting point behind the second door, it receives the first movement notification corresponding to the waiting point behind the second door from the intelligent robot, sends a fourth closing command to the second access control system, and sends a first continue movement command corresponding to the waiting point behind the second door to the intelligent robot, so that the intelligent robot responds to the first continue movement command corresponding to the waiting point behind the second door and continues to move according to the sub-transport route. Specifically, when the intelligent robot reaches the waiting point behind the second door, it sends the first movement notification corresponding to the waiting point behind the second door to the server through the intelligent robot's mobile chassis. Based on the received first movement notification corresponding to the waiting point behind the second door, the server sends a fourth closing command 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 a closing operation according to the fourth closing command. At the same time, it sends the first continue movement command corresponding to the waiting point behind the second door to the intelligent robot. The mobile chassis of the intelligent robot responds to the first continue movement command 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 destination according to the sub-transport route.

[0062] In one possible implementation, when the intelligent robot transports the target item to its destination, specifically upon arrival at the destination, a third movement-in-place notification is received from the intelligent robot, and a second handover instruction is sent to the second handover interface of the target item to initiate receiving preparation. Then, a second receiving-ready notification is received from the second handover interface, and a second handover instruction is sent to the intelligent robot to transfer the target item to the second handover interface. Here, the second handover interface is the handover interface at the destination, 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 to 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, it sends a third movement arrival notification to the server via its mobile chassis. Based on the received third movement arrival notification, the server sends a second handover instruction to the second handover interface of the target item. Upon receiving the second handover instruction, the second handover interface activates its second automatic handover module to prepare for receiving and sends a second receiving preparation ready notification to the server. Based on the received second receiving preparation ready notification, the server sends a second handover instruction to the intelligent robot. Upon receiving the second handover instruction, the intelligent robot's item shelf opens its electronically controlled door and activates the first automatic handover module to enter the transfer state, transferring the target item from the first automatic handover module to the second automatic handover module of the second handover interface. After the transfer operation is completed, both the first and second automatic handover modules are closed, and the electronically controlled door is shut off. The intelligent robot or the second handover interface then sends a handover completion notification to the server, completing the transportation task of the target item.

[0064] In one possible implementation, upon completion of the transportation task, a handover completion notification is received from the intelligent robot, and a third continue-move instruction is sent to the intelligent robot to move to an idle waiting point. The handover completion notification instructs the intelligent robot to complete the current transportation task; the idle waiting point is the location of an intelligent robot without a transportation task, and there can be one or more idle waiting points; the third continue-move instruction instructs the intelligent robot to move from the target transportation destination to the idle waiting point.

[0065] Specifically, after completing a transportation task, the intelligent robot sends a handover completion notification to the server. Based on the received notification, the server sends a third continue-movement command to the robot. The robot's chassis responds to this command. If there is only one available waiting point, the robot moves from the target transportation destination to that point. If there are multiple waiting points, the robot moves to the nearest available waiting point. Once at a waiting point, the robot completes its current transportation task and waits there for the next transportation task. By concentrating robots without tasks at these waiting points, they can be managed centrally, preventing random parking within the transportation area and reducing interference with other critical tasks. Centralized management also helps robots respond quickly to new tasks, improving overall transportation efficiency.

[0066] In one possible implementation, there are multiple idle waiting points. Intelligent robots without transport tasks remain at the idle waiting point closest to their previous destination, awaiting task assignment. When the server receives a transport task, it determines the target transport route based on the task and searches for an intelligent robot at the idle waiting point closest to the target origin. If there is only one intelligent robot at that point, it is assigned a transport task; if there are multiple robots, a task is randomly assigned to one. Since the target origin and destination change depending on the transport task, setting up multiple idle waiting points in the transport area allows intelligent robots to move to the nearest idle waiting point after completing a task, or to be assigned a task to the robot closest to the origin. This reduces energy consumption and improves the speed at which robots respond to new tasks, thus increasing overall transport efficiency.

[0067] In one possible implementation, when the executor is an intelligent robot, the automated transportation method may specifically involve receiving a target transportation route determined by the transportation task from a server, moving to the target transportation starting point according to a sub-transportation route to obtain the target item to be transported, moving to a moving waiting point according to the sub-transportation route after obtaining the target item, and sending a moving-in notification to the server each time the moving waiting point is reached. The robot then receives a continue-movement instruction from the server in response to the moving-in notification and continues moving according to the sub-transportation route until the target item is transported to the target transportation destination. Specifically, after receiving the sub-transportation route divided by the target transportation route determined by the transportation task from 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 interface at the target transportation starting point. After obtaining the target item, it sends a notification to the server that the target item has been obtained. Based on the received target item notification, the server sends a continue-movement instruction to the intelligent robot. The intelligent robot's mobile chassis, based on the received continue-movement instruction, controls the intelligent robot to move from the target transportation starting point to the moving waiting point according to the sub-transportation route. Each time a moving waiting point is reached, a moving-in notification is sent to the server. Based on the received moving-in notification, the server sends a continue-movement command to the intelligent robot. The intelligent robot's mobile chassis responds to the continue-movement command and controls the intelligent robot to move from the current moving waiting point to the next moving waiting point according to the sub-transportation route, until the target item is transported to the target transportation destination.

[0068] In one possible implementation, when the intelligent robot detects a moving obstacle ahead during its movement, it moves to an obstacle avoidance waiting point. When the target condition is met, it departs from the obstacle avoidance waiting point and continues moving along the sub-transport route until the target item is transported to the target destination. Here, the moving obstacle is a person or other intelligent robot obstructing the intelligent robot's movement on the target transport route; the obstacle avoidance waiting point is a temporary stopping point for the intelligent robot when it encounters a moving obstacle; it can be a preset waiting point or a waiting point selected in real-time based on the actual situation; the target condition is the condition allowing the intelligent robot to depart from the obstacle avoidance waiting point, which can be detecting a distance greater than or equal to a preset distance threshold, or the waiting time at the obstacle avoidance waiting point exceeding a preset duration threshold.

[0069] Specifically, when the intelligent robot detects a moving obstacle ahead that it cannot immediately pass through during its movement along the sub-transport route, it moves to an obstacle avoidance waiting point to wait. When the intelligent robot detects that the distance between itself and the moving obstacle is greater than or equal to a preset distance threshold, it departs from the obstacle avoidance waiting point, returns to the sub-transport route, and continues moving along the sub-transport route until the target item is transported to the target destination. When the intelligent robot detects that the distance between itself and the moving obstacle is consistently less than the distance threshold, and the waiting time at the obstacle avoidance waiting point exceeds a preset duration, it can activate an obstacle avoidance strategy. For example, it can broadcast a message through a loudspeaker reminding people to move to another location, or send an avoidance signal to the surrounding area so that other intelligent robots that receive the avoidance signal can move to another location. When the obstacle avoidance strategy fails, it sends a "no passage" notification to the server. The server responds to the "no passage" notification by replanning the transport route using the current obstacle avoidance waiting point as the transport starting point, and sends the replanned transport route to the intelligent robot so that the intelligent robot can perform the transport task based on the replanned transport route. By setting obstacle avoidance waiting points, intelligent robots can safely and stably pause their movement when encountering moving obstacles, avoiding collisions with them and ensuring the safety of the target items inside the robot, thereby improving the safety and stability of the transportation process.

[0070] To streamline the transportation process, when the obstacle is another intelligent robot, the priority of the current intelligent robot's transportation task can be compared with that of other intelligent robots to determine whether the current intelligent robot needs to move to an obstacle avoidance waiting point. If the priority of the current intelligent robot's transportation task is higher than that of other intelligent robots, or if other intelligent robots have no transportation tasks, movement information is sent to the other intelligent robots, causing them to move to other locations, while the current intelligent robot can continue moving according to the sub-transport route. If the priority of the current intelligent robot's transportation task is lower than or equal to that of other intelligent robots, obstacle avoidance information is sent to the other intelligent robots, and the current intelligent robot moves to an obstacle avoidance waiting point.

[0071] Alternatively, when the moving obstacle is another person, the robot stops moving and broadcasts an avoidance announcement via loudspeaker to alert other people to move to another location. Additionally, when the obstacle is a static obstacle—that is, an obstacle that cannot move autonomously—a clearing announcement is broadcast to the surrounding area to remind relevant personnel to remove the obstacle. If no relevant personnel are nearby and the waiting time exceeds a preset duration, a clearing notification is sent to the server, which then sends a clearing reminder to relevant personnel based on this notification. Alternatively, the robot can directly send a clearing notification to the server, which then sends a clearing reminder to relevant personnel based on this notification, allowing the intelligent robot to quickly resume operation.

[0072] It should also be noted that when setting obstacle avoidance waiting points, these points can be placed in areas prone to collisions. When the intelligent robot encounters moving obstacles in these areas, it will automatically proceed to the obstacle avoidance waiting point to avoid them. Alternatively, sensors can be configured on the intelligent robot to perceive its surrounding environment and send this information to a server. The server will then analyze the information in real time to set obstacle avoidance waiting points and send these points to the intelligent robot.

[0073] In one possible implementation, when the application scenario for the intelligent robot is a blood bank, refer to... Figure 4 , Figure 4 This is an optional schematic diagram of a blood transport system provided in an embodiment of this disclosure. Figure 4The automated handover systems listed, including the component delivery line automated handover system, the red blood cell waiting-for-test automated handover system, the red blood cell finished product automated handover system, the laboratory automated handover system, the blood supply department automated handover system, and the unmanned transport drone automated handover system, are systems used in different office areas of the blood bank to control the automatic handover modules that interact with intelligent transport robots for target items. In the automated blood transport system, the elevator control terminal, the automatic door control terminal, and multiple intelligent transport robots are connected to a switch via wireless access points. The switch then communicates with the robot server, the blood management system, and the various automated handover systems to execute automated blood transport tasks.

[0074] Specifically, refer to Figure 5 , Figure 5 This is an optional schematic diagram illustrating the transportation of blood cells from the component assembly line interface to the red blood cell testing bank, as provided in this embodiment. When the server receives a transportation task to transport blood boxes from the component assembly line to the red blood cell testing bank, it determines the target transportation route as "A→B→C→D→E→F→G→H→I" based on the target transportation origin (component assembly line) and the target transportation destination (red blood cell testing bank), and sends the target transportation route 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 origin) via its automatically guided transportation chassis, and accurately docks at the assembly line docking point A using laser navigation and positioning markers. Once the intelligent transportation robot has docked accurately, it sends a move-in notification to the server via its automatically guided transportation chassis. In response to the move-in notification, the server sends a handover command to the intelligent transportation robot. Upon receiving the handover command, the intelligent transportation robot's shelf main control module opens the electrically controlled door, activates the robot's automatic handover module to enter the receiving state, and sends a robot automatic handover module receiving ready notification to the server. After receiving the readiness notification from the automated handover module of the component assembly line, which is forwarded by the server, the automated handover module of the robot starts and transfers the blood basket to the automated handover module. The automated handover module of the assembly line automatically stops after sensing that the blood basket has been completely transferred. After sensing that the blood basket has been received, the main control module of the shelf closes the electric door and sends a reception completion notification to the server. The server responds to the reception completion notification and sends a continue movement command to the intelligent transport robot. The intelligent transport robot's automatic guide chassis controls the intelligent transport robot to move from the assembly line docking point A to the waiting point B behind the door, i.e., to the first access control.

[0075] When the intelligent transport robot arrives at waiting point B behind the door, it sends a move-in notification to the server via its automated guided transport chassis. The server responds to this notification by sending an open command to the automatic door control terminal of the first access control system. The automatic door control terminal responds to the open command, causing the first access control system to open automatically. Once the first access control system is fully open, it sends an open-to-position notification to the server. The server responds to this notification and sends a continue-move command to the intelligent transport robot. The automated guided transport chassis then controls the intelligent transport robot to move from waiting point B behind the door to waiting point C in front of the door, thus passing through the first access control system. When the intelligent transport robot reaches waiting point C in front of the door, it sends a move-in notification to the server. The server responds to this notification by sending a close command to the automatic door control terminal of the first access control system. The automatic door control terminal responds to this command, causing the first access control system to close automatically. Next, the server sends a continue-move command to the intelligent transport robot, which, via its automated guided transport chassis, moves from waiting point C in front of the door to elevator waiting point D, thus proceeding to the elevator.

[0076] When the intelligent transport robot arrives at elevator waiting point D, it sends a move-in notification to the server. The server responds by sending a call command to the elevator control terminal. The elevator control terminal, based on the call command, controls the elevator to move to the 4th floor and automatically opens the elevator doors. After the doors are in the normally open state, the server sends a door-opening notification to the server. The server, in response, sends a continue-move command to the intelligent transport robot. The robot's auto-guided transport chassis then controls the intelligent transport robot to move from elevator waiting point D to elevator car E, thus entering the elevator. When the intelligent transport robot arrives at elevator car E, it sends a move-in notification to the server. The server, in response, sends a door-closing command to the elevator control terminal. The elevator control terminal, based on the door-closing command, controls the elevator to close the doors and ascend to the 5th floor. When the elevator stops at the 5th floor, it automatically opens the doors and sends a door-opening notification to the server. When the server receives the door-opening notification from the elevator control terminal, it sends a continue-move command to the intelligent transport robot. The robot's auto-guided transport chassis then controls the intelligent transport robot to move from elevator car E to elevator waiting point F, thus exiting the elevator.

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

[0078] When the intelligent transport robot arrives at elevator waiting point F, it sends a move-in-place notification to the server. The server responds by sending a door-closing command to the elevator control terminal. The elevator control terminal, based on the door-closing command, controls the elevator to close the doors. Simultaneously, it sends a continue-move command to the intelligent transport robot. The robot's automated guided transport chassis then controls the robot to move from elevator waiting point F to door-front waiting point G, sending a move-in-place notification to the server. The server, in response, sends an open-door command to the automatic door control terminal of the second access control system. The automatic door control terminal opens the automatic door according to the open-door command. When the server receives the door-opening notification, it sends a continue-move command to the intelligent transport robot. The robot's automated guided transport chassis then controls the robot to move from door-front waiting point G to door-rear waiting point H, thus sending a move-in-place notification to the server via the second access control system. In response to the move-in notification, the server sends a closing command 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 closing command. At the same time, it sends a continue-movement command to the intelligent transport robot. The intelligent transport robot moves from the waiting point H behind the door to the docking point I (the target transport destination) of the red blood cell testing warehouse through the automatic guide transport chassis.

[0079] Once the intelligent transport robot precisely docks at docking point I in the red blood cell inspection warehouse, it sends a movement notification to the server via its automated guided transport chassis. The server forwards this notification to the red blood cell inspection warehouse automatic handover interface. Upon receiving the notification, the interface activates its automatic handover module, entering a receiving state and sending a readiness notification to the server. The server responds to this notification by sending a handover instruction to the intelligent transport robot. The robot's rack control module then opens the electrically controlled door and activates the automatic handover module to transfer the blood cell crate to the automatic handover module. Once the robot's automatic handover module detects through sensors that the blood bin has been completely handed over, it automatically stops the module, closes the electronically controlled door, and sends a handover completion notification to the server. The server responds to the handover completion notification by sending a continue-movement command to the intelligent transport robot. The intelligent transport robot's automatic guide chassis controls the robot to move from the red blood cell testing warehouse docking point I to the idle waiting point O, thus completing the transport task.

[0080] According to the above embodiments, when the intelligent robot is used in a blood bank, it transports goods across floors (via automatic access control and elevators). Alternatively, the intelligent robot can perform cross-floor transport tasks using only elevators, or it can perform same-floor transport using only automatic access control. The methods and steps for transporting goods via only elevators or only automatic access control are detailed in the above embodiments and will not be repeated here.

[0081] It should also be noted that when the intelligent robot interacts with the server, it can communicate with the server via a wireless local area network (WLAN). Specifically, a WLAN is deployed along the transportation routes of all intelligent robots, and a fixed and staggered channel allocation strategy is used between adjacent wireless access points to minimize communication interference. For example, refer to... Figure 6 , Figure 6 This is an optional schematic diagram of channel allocation provided in an embodiment of this disclosure. For a 2.4GHz wireless network, each 2MHz is divided into one channel, with a bandwidth of 22MHz. When communication is performed using the frequency bands of channels 1 and 2, interference occurs because the frequency bands of channels 1 and 2 overlap. Therefore, non-overlapping channels 1, 6, and 11, or non-overlapping channels 2, 7, and 12, can be selected for deployment. For example, when deploying wireless access points, access point A can choose channel 1, access point B can choose channel 6, and access point C can choose channel 11. By staggering the channel configurations of adjacent access points, a more stable wireless network environment can be obtained. Furthermore, for a 5.8GHz wireless network, more dispersed channels such as 149, 153, 157, 161, and 165 can be selected for deployment to ensure that the frequency bands of adjacent access points do not interfere with each other, thereby reducing signal conflicts and delays during communication between the intelligent robot and the server. In addition, the intelligent robot is equipped with a wireless roaming function, which can switch wireless access points according to the signal strength of surrounding wireless access points, thereby maintaining communication stability with the server. This effectively improves the quality and efficiency of command interaction between the intelligent robot and the server, and further enhances the smoothness and reliability of the entire transportation process.

[0082] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in this disclosure and the foregoing drawings are used to distinguish similar objects and are not necessarily used to describe a particular order or sequence. It should be understood that such data can be interchanged where appropriate to describe embodiments of this disclosure, for example, those that can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatuses.

[0083] It should be understood that in this disclosure, "at least one item" means one or more, and "more than one" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one of the following" or similar expressions refer 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 represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0084] It should be understood that in the description of the embodiments disclosed herein, "multiple" means two or more, "greater than", "less than", "exceeding" etc. are understood to exclude the number itself, and "above", "below", "within" etc. are understood to include the number itself.

[0085] In the several embodiments provided in this disclosure, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, indirect coupling or communication connection between apparatuses or units, and may be electrical, mechanical, or other forms.

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

[0087] Furthermore, the functional units in the various embodiments of this disclosure can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0088] If the integrated unit is implemented as 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 this disclosure, in essence, 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. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this disclosure. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0089] It should also be understood that the various implementation methods provided in this disclosure can be combined arbitrarily to achieve different technical effects.

[0090] The above is a detailed description of the preferred embodiments of this disclosure. However, this disclosure is not limited to the above embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of this disclosure. All such equivalent modifications or substitutions are included within the scope defined by the claims of this disclosure.

Claims

1. An automated transportation method, characterized in that, Applied to servers, the automated transportation method includes: The target transportation route is determined based on the transportation task, wherein the target transportation route includes a target transportation origin, a target transportation destination, and at least one mobile waiting point located between the target transportation origin and the target transportation destination, and the target transportation route is divided into multiple sub-transportation routes via the mobile waiting point; The sub-transportation route is sent to the intelligent robot so that the intelligent robot moves to the target transportation starting point according to the sub-transportation route. The intelligent robot includes a mobile chassis and a goods shelf. Receive a second move-in notification sent by the mobile chassis, and forward the second move-in notification to the item shelf so that the item shelf can start receiving preparation; Upon receiving a first receiving ready notification from the item shelf, 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. Upon receiving a notification of completion of reception from the intelligent robot, a second instruction to continue moving is sent to the intelligent robot, so that the intelligent robot responds to the second instruction to move to the moving waiting point according to the sub-transportation route; Whenever the intelligent robot arrives at the moving waiting point, a first moving arrival notification is received from the intelligent robot, and a first continue moving instruction is sent to the intelligent robot, so that the intelligent robot responds to the first continue moving instruction and continues to move according to the sub-transportation route until the target item is transported to the target transportation destination.

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

3. 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 inside the elevator, and a third elevator waiting point on the floor where the target transportation destination is located. It receives a first movement-in-place notification from the intelligent robot and sends a first continue-movement command to the intelligent robot, causing the intelligent robot to respond to the first continue-movement command and continue moving according to the sub-transportation route, including: When the intelligent robot arrives at the first elevator waiting point, it receives the first movement to position notification corresponding to the first elevator waiting point sent by the intelligent robot, and sends a second door opening command to the elevator. Upon receiving the second door opening notification from the elevator, the intelligent robot sends a first continue-movement instruction corresponding to the first elevator waiting point, so that the intelligent robot responds to the first continue-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, it receives the first move-in notification sent by the intelligent robot corresponding to the second elevator waiting point, and sends a second door-closing command to the elevator. Upon receiving the third door opening notification from the elevator, the intelligent robot sends a first continue-move instruction corresponding to the second elevator waiting point, so that the intelligent robot responds to the first continue-move 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 to position notification corresponding to the third elevator waiting point sent by the intelligent robot, sends a third door closing command to the elevator, and sends the first continue movement command corresponding to the third elevator waiting point to the intelligent robot, so that the intelligent robot responds to the first continue movement command corresponding to the third elevator waiting point and continues to move according to the sub-transportation route.

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

5. The automated transportation method according to claim 1, characterized in that, The process of transporting the target item to the target destination includes: When the intelligent robot arrives at the target transportation destination, it receives a third movement arrival 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 preparation. Upon receiving a second receive ready notification from the second interface, a second handover instruction is sent to the intelligent robot, causing the intelligent robot to transfer the target item to the second interface.

6. The automated transportation method according to claim 1, characterized in that, The automated transportation method also includes: Upon receiving the handover completion notification from the intelligent robot, a third continue-move command is sent to the intelligent robot to move it to an idle waiting point.

7. An automated transportation method, characterized in that, Applied to intelligent robots, the intelligent robot including a mobile chassis and goods shelves, the automated transportation method includes: The receiving server sends a target transportation route determined based on the transportation task, wherein the target transportation route includes a target transportation origin, a target transportation destination, and at least one moving waiting point located between the target transportation origin and the target transportation destination, and the target transportation route is divided into multiple sub-transportation routes via the moving waiting point; The sub-transportation route is sent to the intelligent robot so that the intelligent robot moves to the target transportation starting point according to the sub-transportation route. The intelligent robot includes a mobile chassis and a goods shelf. Receive a second move-in notification sent by the mobile chassis, and forward the second move-in notification to the item shelf so that the item shelf can start receiving preparation; Upon receiving a first receiving ready notification from the item shelf, 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. Upon receiving a notification of completion of reception from the intelligent robot, a second instruction to continue moving is sent to the intelligent robot, so that the intelligent robot responds to the second instruction to move to the moving waiting point according to the sub-transportation route; Whenever the movement waiting point is reached, a movement completion notification is sent to the server, and a continue movement instruction is sent by the server in response to the movement completion notification; Continue moving along the sub-transport route until the target item is transported to the target destination.

8. The automated transportation method according to claim 7, characterized in that, The automated transportation method also includes: When a moving obstacle is detected ahead during movement, move to the obstacle avoidance waiting point; When the target conditions are met, the vehicle starts from the obstacle avoidance waiting point and continues to move according to the sub-transport route until the target item is transported to the target transportation destination.

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