Carrying task configuration method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a carrying task configuration method and device, electronic equipment and a storage medium. The method comprises the steps of displaying a carrying task configuration interface; in response to a first interaction operation input for the trigger signal control and the carrying route control, drawing a plurality of carrying units in the first area; wherein each carrying unit comprises a trigger signal identifier and a carrying route identifier, the trigger signal identifier is configured with a trigger condition, and the carrying route identifier is configured with a carrying route and a carrying action; the trigger signal identifier is used for triggering other identifiers in the same carrying unit when a configured trigger condition is met, and the carrying route identifier is used for controlling the movable robot to move according to a configured carrying route after being triggered and controlling the movable robot to execute a configured carrying action. The operation difficulty of carrying task configuration by a user can be reduced.

Description

Technical Field

[0001] This application relates to the field of manufacturing software system technology, and in particular to a method, apparatus, electronic device and storage medium for configuring material handling tasks. Background Technology

[0002] Currently, users typically need to program mobile robots to perform the required transport tasks. This programming method requires users to have considerable expertise to configure these tasks, making it technically demanding and difficult for users to implement. Therefore, reducing the difficulty of configuring transport tasks for users has become a pressing issue. Summary of the Invention

[0003] The purpose of this application is to provide a method, apparatus, electronic device, and storage medium for configuring handling tasks, thereby reducing the operational difficulty for users in configuring handling tasks. The specific technical solution is as follows:

[0004] This application provides a method for configuring a material handling task, the method including:

[0005] The system displays a handling task configuration interface, which includes a first area and a second area. The second area displays a trigger signal control and a handling route control. The trigger signal control is used to draw a trigger signal identifier in the first area, and the handling route control is used to draw a handling route identifier in the first area.

[0006] In response to a first interactive operation input to the trigger signal control and the transport route control, a plurality of transport units are drawn in the first area; wherein each transport unit includes: a trigger signal identifier and a transport route identifier, the trigger signal identifier being configured with a trigger condition, and the transport route identifier being configured with a transport route and a transport action; the trigger signal identifier is used to trigger other identifiers within the same transport unit when the configured trigger condition is met, and the transport route identifier is used to control the mobile robot to move according to the configured transport route and to control the mobile robot to perform the configured transport action after being triggered.

[0007] In one possible embodiment, the second area also displays a loading / unloading strategy control; the loading / unloading strategy control is used to draw a loading / unloading strategy identifier in the first area;

[0008] The method further includes:

[0009] In response to a second interactive operation input to the loading / unloading strategy control, a loading / unloading strategy identifier is drawn in at least one of the conveying units in the first area. The loading / unloading strategy identifier is configured with either a loading strategy or a unloading strategy. When triggered, the loading / unloading strategy identifier, if configured with a loading strategy, controls the mobile robot to load materials according to the configured loading strategy after performing same-unit movement; if configured with a unloading strategy, controls the mobile robot to unload materials according to the configured unloading strategy after performing same-unit movement. The same-unit movement refers to the movement of the mobile robot controlled by the conveying route identifier of the same conveying unit as the loading / unloading strategy identifier.

[0010] In one possible embodiment, the second area also displays a material matching control; the material matching control is used to draw a material matching identifier in the first area;

[0011] The method further includes:

[0012] In response to a third interactive operation input to the material matching control, a material matching identifier is drawn in at least one of the conveying units in the first area; the material matching identifier is configured with material matching conditions; the material matching identifier is used to control the mobile robot to load materials that meet the configured material matching conditions before performing same-unit movement after being triggered.

[0013] In one possible embodiment, the second area also displays a material requisition control; the material requisition control is used to draw a material requisition identifier in the first area;

[0014] The method further includes:

[0015] In response to a fourth interactive operation input to the material request control, a material request identifier is drawn in at least one handling unit in the first area where the material request identifier is drawn. The material request identifier is configured with material request conditions. When triggered, the material request identifier controls the mobile robot to send a material request message to the warehouse before executing the process of loading materials that meet the configured material matching conditions. If the materials that meet the material matching conditions also meet the configured material request conditions, the warehouse responds to the material request message by sending the storage location of the materials that meet the material matching conditions in the warehouse to the mobile robot and controls the mobile robot to move to the storage location to load the materials that meet the material matching conditions.

[0016] In one possible embodiment, the second area also displays a material update control; the material update control is used to draw a material update identifier in the first area;

[0017] The method further includes:

[0018] In response to a fifth interactive operation input to the material update control, a material update identifier is drawn in at least one handling unit in the first area where the material request identifier is drawn; the material update identifier is used to update the material that meets the material matching conditions when the robot moves to the storage location to load the material that meets the material matching conditions after being triggered.

[0019] In one possible embodiment, the trigger signal identifier is configured with trigger conditions in the following manner:

[0020] In response to a first display operation input to the trigger signal identifier, a first sub-interface is displayed; the first sub-interface includes: a signal control and a trigger source control;

[0021] In response to a first configuration operation input to the signal control, the signal type of the trigger signal identifier is configured to the signal type indicated by the first configuration operation;

[0022] In response to a second configuration operation input to the trigger source control, the trigger source identified by the trigger signal is configured as the trigger source indicated by the second configuration operation;

[0023] The transport route identifier is configured with transport routes and transport actions in the following ways:

[0024] In response to a second display operation input for the transport route identifier, a second sub-interface is displayed; the second sub-interface includes: a start point control, an end point control, and an action control;

[0025] In response to a third configuration operation input to the starting point control, the starting point of the transport route identified by the transport route is configured as the starting point indicated by the third configuration operation;

[0026] In response to a fourth configuration operation input to the endpoint control, the endpoint of the transport route identified by the transport route is configured as the endpoint indicated by the fourth configuration operation;

[0027] In response to a fifth configuration operation input to the action control, the transport action identified by the transport route is configured as the action indicated by the fifth configuration operation.

[0028] In one possible embodiment, the loading / unloading strategy identifier is configured with a loading or unloading strategy in the following ways:

[0029] In response to a third display operation inputting the loading / unloading strategy identifier, a third sub-interface is displayed; the third sub-interface includes: a strategy type control and a handling strategy control;

[0030] In response to a sixth configuration operation input to the strategy type control, the strategy type of the loading / unloading strategy identifier is configured to the strategy type indicated by the sixth configuration operation; the strategy type is either a loading strategy or an unloading strategy.

[0031] In response to a seventh configuration operation input to the handling strategy control, the handling strategy identified by the loading / unloading strategy is configured as the handling strategy indicated by the seventh configuration operation.

[0032] In one possible embodiment, the material matching identifier is configured with material matching conditions in the following manner:

[0033] In response to a fourth display operation inputting the material matching identifier, a fourth sub-interface is displayed; the fourth sub-interface includes: a matching condition configuration control;

[0034] In response to an eighth configuration operation input to the matching condition configuration control, the material matching condition of the material matching identifier is configured as the matching condition indicated by the eighth configuration operation.

[0035] In one possible embodiment, the material request identifier is configured with material request conditions in the following manner:

[0036] In response to a fifth display operation inputting the material request identifier, a fifth sub-interface is displayed; the fifth sub-interface includes: a request condition configuration control;

[0037] In response to a ninth configuration operation input to the application condition configuration control, the material application condition of the material application identifier is configured as the application condition indicated by the ninth configuration operation.

[0038] This application embodiment also provides a handling task configuration device, the device comprising:

[0039] The display module is used to display the handling task configuration interface; wherein, the handling task configuration interface includes: a first area and a second area; the second area displays a trigger signal control and a handling route control; the trigger signal control is used to draw a trigger signal icon in the first area, and the handling route control is used to draw a handling route icon in the first area;

[0040] A first drawing module is configured to draw multiple transport units in the first area in response to a first interactive operation input to the trigger signal control and the transport route control; wherein each transport unit includes: a trigger signal identifier and a transport route identifier, the trigger signal identifier being configured with a trigger condition, and the transport route identifier being configured with a transport route and a transport action; the trigger signal identifier is used to trigger other identifiers within the same transport unit when the configured trigger condition is met, and the transport route identifier is used to control the mobile robot to move according to the configured transport route and to control the mobile robot to perform the configured transport action after being triggered.

[0041] In one possible embodiment, the second area also displays a loading / unloading strategy control; the loading / unloading strategy control is used to draw a loading / unloading strategy identifier in the first area;

[0042] The device further includes:

[0043] The second drawing module is used to respond to a second interactive operation input to the loading / unloading strategy control, and to draw a loading / unloading strategy identifier in at least one of the conveying units in the first area. The loading / unloading strategy identifier is configured with a loading strategy or a unloading strategy. When triggered, if a loading strategy is configured, the mobile robot is controlled to load materials according to the configured loading strategy after performing same-unit movement; if a unloading strategy is configured, the mobile robot is controlled to unload materials according to the configured unloading strategy after performing same-unit movement. The same-unit movement is a movement of the mobile robot controlled by a conveying route identifier of the same conveying unit as the loading / unloading strategy identifier.

[0044] In one possible embodiment, the second area also displays a material matching control; the material matching control is used to draw a material matching identifier in the first area;

[0045] The device further includes:

[0046] The third drawing module is used to draw a material matching identifier in at least one of the conveying units in the first area in response to a third interactive operation input to the material matching control; the material matching identifier is configured with material matching conditions; the material matching identifier is used to control the mobile robot to load materials that meet the configured material matching conditions before performing same-unit movement after being triggered.

[0047] In one possible embodiment, the second area also displays a material requisition control; the material requisition control is used to draw a material requisition identifier in the first area;

[0048] The device further includes:

[0049] The fourth drawing module is used to draw a material request identifier in at least one handling unit in the first area where the material request identifier is drawn in response to a fourth interactive operation input to the material request control. The material request identifier is configured with material request conditions. When triggered, the material request identifier controls the mobile robot to send a material request message to the warehouse before executing the process of loading materials that meet the configured material matching conditions. If the materials that meet the material matching conditions also meet the configured material request conditions, the warehouse sends the storage location of the materials that meet the material matching conditions to the mobile robot in response to the material request message. The warehouse then controls the mobile robot to move to the storage location and load the materials that meet the material matching conditions.

[0050] In one possible embodiment, the second area also displays a material update control; the material update control is used to draw a material update identifier in the first area;

[0051] The device further includes:

[0052] The fifth drawing module is used to draw a material update identifier in at least one handling unit in the first area where the material request identifier is drawn, in response to a fifth interactive operation input to the material update control; the material update identifier is used to update the material that meets the material matching conditions when the robot moves to the storage location to load the material that meets the material matching conditions after being triggered.

[0053] In one possible embodiment, the trigger signal identifier is configured with trigger conditions in the following manner:

[0054] In response to a first display operation input to the trigger signal identifier, a first sub-interface is displayed; the first sub-interface includes: a signal control and a trigger source control;

[0055] In response to a first configuration operation input to the signal control, the signal type of the trigger signal identifier is configured to the signal type indicated by the first configuration operation;

[0056] In response to a second configuration operation input to the trigger source control, the trigger source identified by the trigger signal is configured as the trigger source indicated by the second configuration operation;

[0057] The transport route identifier is configured with transport routes and transport actions in the following ways:

[0058] In response to a second display operation input for the transport route identifier, a second sub-interface is displayed; the second sub-interface includes: a start point control, an end point control, and an action control;

[0059] In response to a third configuration operation input to the starting point control, the starting point of the transport route identified by the transport route is configured as the starting point indicated by the third configuration operation;

[0060] In response to a fourth configuration operation input to the endpoint control, the endpoint of the transport route identified by the transport route is configured as the endpoint indicated by the fourth configuration operation;

[0061] In response to a fifth configuration operation input to the action control, the transport action identified by the transport route is configured as the action indicated by the fifth configuration operation.

[0062] In one possible embodiment, the loading / unloading strategy identifier is configured with a loading or unloading strategy in the following ways:

[0063] In response to a third display operation inputting the loading / unloading strategy identifier, a third sub-interface is displayed; the third sub-interface includes: a strategy type control and a handling strategy control;

[0064] In response to a sixth configuration operation input to the strategy type control, the strategy type of the loading / unloading strategy identifier is configured to the strategy type indicated by the sixth configuration operation; the strategy type is either a loading strategy or an unloading strategy.

[0065] In response to a seventh configuration operation input to the handling strategy control, the handling strategy identified by the loading / unloading strategy is configured as the handling strategy indicated by the seventh configuration operation.

[0066] In one possible embodiment, the material matching identifier is configured with material matching conditions in the following manner:

[0067] In response to a fourth display operation inputting the material matching identifier, a fourth sub-interface is displayed; the fourth sub-interface includes: a matching condition configuration control;

[0068] In response to an eighth configuration operation input to the matching condition configuration control, the material matching condition of the material matching identifier is configured as the matching condition indicated by the eighth configuration operation.

[0069] In one possible embodiment, the material request identifier is configured with material request conditions in the following manner:

[0070] In response to a fifth display operation inputting the material request identifier, a fifth sub-interface is displayed; the fifth sub-interface includes: a request condition configuration control;

[0071] In response to a ninth configuration operation input to the application condition configuration control, the material application condition of the material application identifier is configured as the application condition indicated by the ninth configuration operation.

[0072] This application also provides an electronic device, including:

[0073] Memory, used to store computer programs;

[0074] When a processor executes a program stored in memory, it implements any of the above-described transport task configuration methods.

[0075] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements any of the above-described transport task configuration methods.

[0076] This application also provides a computer program product containing instructions that, when run on a computer, cause the computer to execute any of the above-described transport task configuration methods.

[0077] Beneficial effects of the embodiments in this application:

[0078] This application provides a method, apparatus, electronic device, and storage medium for configuring a handling task. It can display a handling task configuration interface including a first area and a second area. The second area displays a trigger signal control and a handling route control. The trigger signal control is used to draw a trigger signal identifier in the first area, and the handling route control draws a handling route identifier in the first area. In response to a first interactive operation input to the trigger signal control and the handling route control, multiple handling units are drawn in the first area. Each handling unit includes a trigger signal identifier and a handling route identifier. The trigger signal identifier is configured with a trigger condition, and the handling route identifier is configured with a handling route and a handling action. The trigger signal identifier is used to trigger other identifiers within the same handling unit when the configured trigger condition is met. The handling route identifier is used to control a mobile robot to move along the configured handling route after being triggered, and to control the mobile robot to perform the configured handling action. As can be seen, the embodiments of this application can configure the transport task by drawing the transport unit. In the above process, the user only needs to operate the visual trigger signal control and the transport route control to configure the transport task. Compared with the way of writing a program, the operation of the visual control is less difficult. That is, the embodiments of this application can reduce the difficulty of the user's operation of configuring the transport task.

[0079] Of course, implementing any product or method of this application does not necessarily require achieving all of the advantages described above at the same time. Attached Figure Description

[0080] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other embodiments can be obtained based on these drawings.

[0081] Figure 1 This is a schematic diagram of a first type of interface for the handling task configuration interface in the handling task configuration method provided in the embodiments of this application.

[0082] Figure 2 This is a schematic diagram of a second interface of the transport task configuration interface in the transport task configuration method provided in the embodiments of this application;

[0083] Figure 3 This is a schematic diagram of a third interface for the transport task configuration interface in the transport task configuration method provided in the embodiments of this application.

[0084] Figure 4 This is a schematic diagram of the fourth interface of the transport task configuration interface in the transport task configuration method provided in the embodiments of this application;

[0085] Figure 5 This is a schematic diagram of the fifth interface of the transport task configuration interface in the transport task configuration method provided in the embodiments of this application;

[0086] Figure 6 This is a schematic diagram of the sixth interface of the transport task configuration interface in the transport task configuration method provided in the embodiments of this application;

[0087] Figure 7 This is a schematic diagram of the seventh interface of the transport task configuration interface in the transport task configuration method provided in the embodiments of this application;

[0088] Figure 8 This is a schematic diagram of the eighth interface of the transport task configuration interface in the transport task configuration method provided in the embodiments of this application;

[0089] Figure 9 This is a schematic diagram of the ninth interface of the transport task configuration interface in the transport task configuration method provided in the embodiments of this application;

[0090] Figure 10 This is a schematic diagram of the tenth interface of the transport task configuration interface in the transport task configuration method provided in the embodiments of this application;

[0091] Figure 11 This is a schematic diagram of the eleventh interface of the transport task configuration interface in the transport task configuration method provided in the embodiments of this application;

[0092] Figure 12 This is a schematic diagram of the twelfth interface of the transport task configuration interface in the transport task configuration method provided in the embodiments of this application;

[0093] Figure 13 This is a schematic diagram of the thirteenth interface of the transport task configuration interface in the transport task configuration method provided in the embodiments of this application;

[0094] Figure 14 This is a schematic diagram of the fourteenth interface of the transport task configuration interface in the transport task configuration method provided in the embodiments of this application;

[0095] Figure 15 This is a schematic diagram of the fifteenth interface of the transport task configuration interface in the transport task configuration method provided in the embodiments of this application;

[0096] Figure 16 This is a schematic diagram of the sixteenth interface of the transport task configuration interface in the transport task configuration method provided in the embodiments of this application.

[0097] Figure 17 This is a schematic diagram of the seventeenth interface of the transport task configuration interface in the transport task configuration method provided in the embodiments of this application;

[0098] Figure 18 This is a schematic diagram of the eighteenth interface of the transport task configuration interface in the transport task configuration method provided in the embodiments of this application;

[0099] Figure 19 This is a schematic diagram of the nineteenth interface of the transport task configuration interface in the transport task configuration method provided in the embodiments of this application;

[0100] Figure 20 This is a schematic diagram of the twentieth interface of the transport task configuration interface in the transport task configuration method provided in the embodiments of this application;

[0101] Figure 21 This is a schematic diagram of the twenty-first interface of the transport task configuration interface in the transport task configuration method provided in the embodiments of this application.

[0102] Figure 22 This is a schematic diagram of the twenty-second interface of the transport task configuration interface in the transport task configuration method provided in the embodiments of this application;

[0103] Figure 23 This is a schematic diagram of the twenty-third interface of the transport task configuration interface in the transport task configuration method provided in the embodiments of this application;

[0104] Figure 24 This is a schematic diagram of the twenty-fourth interface of the transport task configuration interface in the transport task configuration method provided in the embodiments of this application;

[0105] Figure 25 This is a schematic diagram of the twenty-fifth interface of the transport task configuration interface in the transport task configuration method provided in the embodiments of this application;

[0106] Figure 26 This is a schematic diagram of the twenty-sixth interface of the transport task configuration interface in the transport task configuration method provided in the embodiments of this application;

[0107] Figure 27 This is a schematic diagram of the twenty-seventh interface of the transport task configuration interface in the transport task configuration method provided in the embodiments of this application;

[0108] Figure 28 This is a schematic diagram of the twenty-eighth interface of the transport task configuration interface in the transport task configuration method provided in the embodiments of this application;

[0109] Figure 29 This is a schematic diagram of the twenty-ninth interface of the transport task configuration interface in the transport task configuration method provided in the embodiments of this application;

[0110] Figure 30 This is a schematic diagram of the thirtieth interface of the transport task configuration interface in the transport task configuration method provided in the embodiments of this application;

[0111] Figure 31 This is a schematic diagram of the thirty-first interface of the transport task configuration interface in the transport task configuration method provided in the embodiments of this application.

[0112] Figure 32 This is a schematic diagram of the thirty-second interface of the handling task configuration interface in the handling task configuration method provided in the embodiments of this application;

[0113] Figure 33 A schematic diagram of a handling task configuration device provided in an embodiment of this application;

[0114] Figure 34 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0115] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art based on this application are within the scope of protection of this application.

[0116] Currently, users typically need to program mobile robots to perform the required transport tasks. This programming method requires users to have considerable professional knowledge to configure transport tasks, meaning it demands a high level of expertise, making the configuration process difficult and requiring a significant learning curve.

[0117] Furthermore, the programming method makes it difficult to modify the handling tasks required by the mobile robot simply by changing some of the handling task-related parameters. This forces users to make extensive changes to the existing program or rewrite the program to modify the handling tasks required by the mobile robot, thus further increasing the operational difficulty for users when configuring handling tasks.

[0118] Based on this, in order to reduce the learning cost and operational difficulty for users in configuring transport tasks, this application provides a transport task configuration method. To facilitate understanding of the transport task configuration method provided by this application, the following will describe the transport task configuration method provided by this application in conjunction with specific embodiments.

[0119] Example 1:

[0120] See Figure 1 Users open the material handling task configuration interface by clicking the "Create Rule" button on the main interface of the material handling task configuration software. This allows them to create flowcharts representing material handling tasks. Specifically, after clicking the "Create Rule" button, a floating window appears on the main interface. Users name the flowchart by entering a rule number in the input box to the right of the rule number displayed in the floating window, and a rule name in the input box to the right of the rule name displayed in the floating window. The number entered by the user can be in at least one of the following formats: numeric, alphanumeric, or symbolic. Specifically, the number format can be... Figure 1 The letter format shown can also be numbers, a combination of numbers and letters, or a combination of symbols and numbers. The name entered by the user in the input box can include at least one of the following formats: number, letter, or text. Specifically, the name format can be... Figure 1 The text shown can be in the form of numbers, a mixture of numbers and letters, or a mixture of letters and text. After naming the flowchart to be created through the floating window, the user can click the "OK" button in the floating window to open it. Figure 2 The shown is the configuration interface for the transport task.

[0121] See Figure 2 After the user opens the material handling task configuration interface, a message "Pull rules saved successfully" will be displayed at the top of the interface. The material handling task configuration interface includes a second area and a first area. The second area displays: pull signal controls, timed signal controls, task trigger controls, material handling route controls, loading / unloading strategy controls, material request controls, material update controls, material matching controls, conditional judgment controls, and end signal controls.

[0122] exist Figure 2 In the illustrated embodiment, when the transport task configuration interface is opened, the first area of ​​the interface displays a pull signal indicator and an end signal indicator. In other possible embodiments, when the transport task configuration interface is opened, the first area does not display any indicators. The user can click on a control in the second area or drag a control from the second area to the first area to make the corresponding indicator appear in the first area of ​​the transport task configuration interface. For example, if the user drags a transport signal control to the first area, a transport signal indicator will be drawn in the first area.

[0123] Suppose the user needs to create a flowchart to represent the transport task, such as... Figure 3 As shown, the flowchart includes, in sequence: pull signal indicator, transport route indicator, loading / unloading strategy indicator, task trigger indicator, transport route indicator, loading / unloading strategy indicator, and end signal indicator. Users can first drag and drop controls to draw these seven indicators in the first area and connect them in order, then configure the attributes of each indicator individually. Alternatively, users can configure the indicators already displayed in the first area first, then drag and drop controls to draw other indicators in the first area and connect them in order. After a user draws the transport route indicator in the first area by dragging and dropping controls, the transport task configuration interface will display the message "Upstream lacks trigger signal plugin, please connect first." Similarly, after a user draws the loading / unloading strategy indicator in the first area by dragging and dropping controls, the transport task configuration interface will display the message "Upstream plugin lacks, please connect first."

[0124] Understandably, users need to configure the attributes of the identifiers in order for the created flowchart to perform the user-defined transport tasks during execution. Therefore, the following sections will provide illustrative examples of how to configure the attributes of each identifier.

[0125] For pull signal indicators, see Figure 4When a user clicks on the pull signal icon, the first area will display the pull signal configuration interface, through which the user can configure the attributes of the pull signal icon. The attributes of the pull signal icon include: signal type and trigger source.

[0126] For signal type, such as Figure 4 As shown, when the user clicks the down arrow next to the input box on the right of the signal type, a drop-down menu is displayed. The signal types displayed in the drop-down menu include: empty, full, empty, full, empty and full, full and empty, empty and full, full and empty, full and full, empty and empty, empty and empty, empty and empty, and single-task empty-full-full exchange. For single-task empty-full-full exchange, for example, coating carts are often used in lithium battery scenarios. The coating cart carries two rollers. When the machine sends an empty-full-full exchange signal, it is currently usually achieved in the following way: a mobile robot removes the full roller from the machine, and another mobile robot moves an empty roller to the front of the machine and places the empty roller on the machine for further processing. However, the above method requires a long processing time. Therefore, in order to shorten the processing time, the empty and full rolls can be exchanged in the following way: control a mobile robot including two rollers to first carry an empty roll and move it to the front of the machine. After carrying the full roll off the machine, the empty roll is placed directly into the machine for further processing.

[0127] In this embodiment, the user selects "Full Top, Empty Bottom" as the signal type from the drop-down menu. In other possible embodiments, the user can also configure the signal type as "Full Top, Empty Bottom" by entering the text "Full Top, Empty Bottom" in the input box to the right of the signal type.

[0128] For trigger sources, such as Figure 4 As shown, when the user clicks the down arrow next to the input box on the right of the trigger source type, a drop-down menu is displayed. The trigger source types shown in the drop-down menu include: machine, workstation, station, and warehouse. Selecting "workstation" as the trigger source type from the drop-down menu will then display all trigger sources with "workstation" as their trigger source. The user can select a trigger source by clicking on any of the displayed trigger sources; that is, the trigger source clicked by the user will become the trigger source for the pull signal indicator.

[0129] In other possible embodiments, such as Figure 4 As shown, after selecting the workstation as the trigger source type, the user can also search for the desired trigger source by entering its number or name in the search box below the trigger source selection. The user can then click on the found trigger source to use as the trigger source for the pull signal indicator. In other possible embodiments, the user can also configure the trigger source type as workstation by entering the text "workstation" in the input box to the right of the trigger source type.

[0130] After completing the configuration of the pull signal identifier, the user can save the configuration by clicking the save button in the pull signal configuration interface. Upon successful saving, the transport task configuration interface will display a message: "Operation successful, please update and save downstream plugin data promptly." Figure 4 The pull signal indicator configuration shown is as follows: Figure 3 The flowchart shown will execute when the following triggering conditions are met: the upper-layer system calls the MCS interface to send a pull signal including the trigger source and signal value to the MCS; the MCS parses the received signal value; if the received trigger source is... Figure 4 If the selected trigger source is selected, and the received signal value is parsed to represent the "full top, empty bottom" signal type, then the trigger condition configured for the pull signal identifier is satisfied, and execution is performed. Figure 3 The flowchart shown is illustrated. The trigger source included in the pull signal can refer to the specific location of the trigger source, or it can refer to a workstation identifier, etc.

[0131] For the first transport route identifier, see Figure 5 When a user clicks on the first transport route icon, the first area will display the transport route configuration interface. Users can configure the attributes of the transport route icon through this interface. The attributes of the transport route include: origin, destination, action to be performed, task template number, destination storage location lock, interrupt in-transit task, custom attribute matching, and exception handling method.

[0132] For the starting point, the user clicks... Figure 5 The "Modify Storage Location" button below the starting storage location will be displayed in the transport task configuration interface as follows: Figure 6 The floating window shown is accessed via... Figure 6 The floating window shown configures the starting storage location. Specifically, the user clicks the down arrow next to the input box on the right of the trigger source type to display a drop-down menu, in which they select "Buffer" as the trigger source type. The storage location type displays two selectable types on the right. The user selects "Site" as the starting storage location type by clicking the selection button before it. Based on the user's selected trigger source type and storage location type, all trigger sources with "Buffer" as the trigger source type and "Site" as the storage location type are displayed below the trigger source selection. The user selects any of the displayed trigger sources, thus designating the selected trigger source as the starting storage location. In other possible embodiments, such as... Figure 6As shown, after selecting a buffer as the trigger source type and a site as the storage location type, users can also search for the trigger source they need to configure by entering the number or name of a trigger source in the search box below the trigger source selection. They can then click on the found trigger source to use as the starting storage location. Users can select one or more trigger sources as starting storage locations as needed.

[0133] In another possible embodiment, the user clicks Figure 5 After clicking the "Modify Storage Location" button below the starting storage location, a map of the scenario where the transport task needs to be configured will be displayed. The map marks all the points in the scenario. Users can configure the starting point by clicking on a point on the map, that is, the point clicked by the user on the map will be used as the starting point.

[0134] For the destination, the user clicks... Figure 5 The "Modify Storage Location" button below the midpoint storage location will be displayed in the transport task configuration interface as follows. Figure 7 The floating window shown is accessed via... Figure 7 The floating window shown configures the endpoint storage location. Specifically, the user clicks the down arrow next to the input box on the right of the trigger source type to display a drop-down menu. From this menu, the user selects the workstation as the trigger source type for the endpoint storage location. Based on the user's selected trigger source type, all trigger sources with "workstation" as their trigger source type will be displayed below. The user selects any of these trigger sources by clicking on it, thus designating the selected trigger source as the endpoint storage location. In other possible embodiments, such as... Figure 7 As shown, after selecting the workstation as the trigger source type, users can also find the trigger source they need to configure by entering the number or name of a trigger source in the search box below the trigger source selection, and then use the clicked trigger source as the endpoint storage location.

[0135] In another possible embodiment, the user clicks Figure 5 After clicking the "Modify Location" button below the destination location, a map of the scenario where the transport task needs to be configured will be displayed. The map marks all the points in the scenario, and users can configure the destination by clicking on a point on the map. In other words, the point clicked by the user on the map will be used as the destination.

[0136] For performing actions, such as Figure 8 As shown, when a user clicks the down arrow next to the input box on the right of the action to display a drop-down menu, they can select "Shangman" as the first action to be executed along the transport route. In other possible embodiments, the user can also configure the action as "Shangman" by entering the text "Shangman" in the input box on the right of the action.

[0137] For task template numbers, such as Figure 8 As shown, the user configures the task template number as "Test" by entering "Test" in the input box to the right of the task template number. In other possible embodiments, a down arrow control can be set after the input box to the right of the task template number, allowing the user to select "Test" as the task template number for the first transport route identifier by clicking the down arrow. Here, the task template number refers to the number of the specific action template when the mobile robot performs the configured action of the transport route identifier. This action template is configured on the Robotics Control System (RCS), and the RCS and MCS are interconnected. That is, the flowchart drawn in the MCS (such as...) Figure 3 The flowchart shown illustrates the handling process in a specific business scenario. The RCS is configured with the specific actions performed by the mobile robot when carrying out the handling task.

[0138] For locking the final storage location, such as Figure 8 As shown, the user clicks the down arrow next to the input box on the right of "Destination Location Lock" to display a drop-down menu. Selecting "Record Material" in the drop-down menu configures the destination location lock as "Record Material". In other possible embodiments, the user can also configure the destination location lock as "Record Material" by entering the text "Record Material" in the input box on the right of "Destination Location Lock". It is understood that the upper-level system (machine or workstation) should send the type of material to be moved in the pull signal to the MCS system. However, taking the workstation as an example, some workstations need to record the material number of the material moved to that workstation for processing during the last handling process, i.e., the material number of the material moved during the last unloading. When the material is processed, the workstation will initiate a unloading pull signal to the MCS. In this case, configuring the destination location lock as "Record Material" allows the MCS system to determine that the material to be moved by the current unloading pull signal is the same material moved during the last unloading, thus achieving material binding for the same workstation.

[0139] For interrupting a task in progress, such as Figure 8 As shown, users can control the interruption of in-transit tasks to be turned on or off by clicking the switch button on the right side of the interrupt task. Figure 8 The switch button shown is in the off state.

[0140] For custom attribute matching, such as Figure 8 As shown, users can enable custom attribute matching by clicking the toggle button to the right of the custom attribute matching option. At this time, the style of the toggle button to the right of the custom attribute matching option will change. Figure 9 As shown, an edit condition control will appear below the custom attribute matching. When the user clicks the edit condition control, the transport task configuration interface will display... Figure 9 The floating window shown is accessed via... Figure 9 The floating window shown allows for the configuration of custom attribute matching conditions.

[0141] Specifically, the user clicks the down arrow next to the input box to the right of the judgment object to display a drop-down menu, and selects "Buffer" as the judgment object from the drop-down menu. In other possible embodiments, the user can also configure the judgment object as a buffer by entering the text "Buffer" in the input box to the right of the judgment object. Furthermore, the user clicks the first input box to the right of the judgment condition to display... Figure 10 The new floating window is shown. The user clicks... Figure 10 The floating window shown illustrates how to select an attribute of the object to be judged, i.e., the attribute clicked by the user. In other possible embodiments, such as... Figure 10 As shown, users can also... Figure 10 In the floating window shown, you can enter the attribute's number or name in the search box to find the attribute of the judgment object you need to configure. Clicking on a found attribute will then use that attribute as the judgment object's attribute. After configuring the judgment object's attribute, click the "OK" button to return. Figure 9 The floating window shown.

[0142] The user clicks the down arrow next to the second input box on the right side of the judgment condition to display a drop-down menu, where they can select "equals" as the judgment relationship. The user clicks the up arrow next to the third input box on the right side of the judgment condition to increase the attribute value, or clicks the down arrow next to the third input box to decrease the attribute value. In other possible embodiments, the user can also configure the attribute value by entering a number in the third input box on the right side of the judgment condition. The user can configure one or more attribute values ​​as needed; when there are multiple attribute values, they should be separated by commas ",".

[0143] Understandably, materials of the same type may need to be transported to different destinations in a handling task. For example, it may be necessary to determine where to transport materials based on their attributes. Qualified materials of the same type need to be transported to the machine, while unqualified materials need to be transported to the recycling area. In this case, the above-mentioned configuration of custom attribute matching can be used to determine whether the materials are qualified. Based on the determination result, the mobile robot can be controlled to transport qualified materials to the machine and unqualified materials to the recycling area.

[0144] For exception handling methods, users can click the down arrow next to the input box on the right of the exception handling method to display a drop-down menu. The drop-down menu displays the exception handling methods as follows: Exception Termination, Exception Suspension, and Timeout Termination. Users can select Exception Termination as the exception handling method from the drop-down menu.

[0145] according to Figure 4 The pull signal indicator configuration shown, and Figures 5-10 The first transport route identifier configuration shown is shown. Figure 3 The flowchart shown will control the mobile robot to move from the starting point of the first transport route to the ending point of the first transport route when the trigger condition configured by the pull signal is met, and place the material in the ending point so that the ending point is full of material.

[0146] For the first loading / unloading strategy identifier, see Figure 11 When a user clicks the first loading / unloading strategy icon, the first area will display the loading / unloading strategy configuration interface. Users can configure the attributes of the loading / unloading strategy icon through this interface, which essentially configures the loading / unloading strategy for the first transport route. The attributes of the loading / unloading strategy icon include: strategy type, single-buffer-internal strategy, multi-buffer-internal strategy, and exception handling method.

[0147] For strategy types, since the first transport route's action is "fill to full," the "fill to full" strategy needs to be configured, which is equivalent to configuring the loading strategy. Therefore, as follows... Figure 11 As shown, the first loading / unloading strategy identifier indicates that the strategy type is loading strategy.

[0148] For single-buffer in-strategy, such as Figure 11 As shown, when the user clicks the down arrow after the input box for the loading strategy, a drop-down menu is displayed. From this menu, the user selects the loading strategy with the storage order as the first loading / unloading strategy identifier. Afterwards, selectable storage orders will be displayed below the loading strategy. The user selects the FIFO (First-In, First-Out) loading strategy as the first loading / unloading strategy identifier by clicking the selection button before the storage order. The loading strategy within a single buffer can also be based on distance, location, or specified material attributes.

[0149] For multi-buffer strategies, such as Figure 12As shown, when the user clicks the down arrow next to the input box on the right of the strategy method, a drop-down menu is displayed. From the drop-down menu, the user selects "By Priority" as the first loading / unloading strategy to indicate the strategy method across multiple buffers. After selecting "By Priority" as the strategy method, a priority order list will be displayed below the strategy method. The user can adjust the priority order of each row by dragging the adjustment buttons on the right side of each row in the priority order list. The strategy method for multiple buffers can also be "By Distance".

[0150] For exception handling methods, users can click the down arrow after the input box on the right of the exception handling method to display a drop-down menu, and select exception termination as the exception handling method from the drop-down menu.

[0151] according to Figure 4 The pull signal indicator configuration shown is as follows: Figures 5-10 The first transport route identifier configuration shown, and Figures 11-12 The first loading / unloading strategy identifier configuration method is shown. Figure 3 The flowchart shown will control the mobile robot to move from the starting point of the first transport route to the ending point of the first transport route when the trigger condition configured by the pull signal indicator is met. The robot will then place the material in the ending point according to the loading strategy configured by the first loading / unloading strategy indicator, so that the ending point is full of material.

[0152] For task trigger identifiers, see Figure 13 When a user clicks the task trigger icon, the first area will display the task trigger configuration interface. Through this interface, the user can configure the attributes of the task trigger icon, specifically the trigger timing for the second transport route. The attributes of the task trigger icon include: whether to use the same task template, whether to switch vehicles, and the task trigger timing.

[0153] Regarding whether to use the same task template, such as Figure 13 As shown, users can control whether the task template in the second transport route identifier is the same as the task template in the first transport route identifier by clicking the switch button to the right of "Use the same task template". If the switch button is on, the task template in the second transport route identifier is the same as the task template in the first transport route identifier; if the switch button is off, the task template in the second transport route identifier is not the same as the task template in the first transport route identifier. Figure 13 The switch button to the right of indicating whether to use the same task template is off.

[0154] As explained above, the task template number refers to the specific action template number of the mobile robot when executing the action configured for the transport route identifier. Therefore, if two adjacent transport route identifiers have the same configured action (i.e., the first transport route identifier's configured action is the same as the second transport route identifier's configured action), the switch button to the right of "Whether to use the same task template" should be in the "on" state. When the switch button to the right of "Whether to use the same task template" is in the "on" state, the task triggering timing of the task trigger identifier does not need to be configured. If two adjacent transport route identifiers have different configured actions (i.e., the first transport route identifier's configured action is different from the second transport route identifier's configured action), the switch button to the right of "Whether to use the same task template" should be in the "off" state.

[0155] Regarding whether to change cars, such as Figure 13 As shown, the user controls whether to switch vehicles by clicking the switch button to the right of "Switch Vehicle". If the switch button is on, the vehicle is switched. In this case, the mobile robot used to perform the handling action configured for the first handling route is different from the mobile robot used to perform the handling action configured for the second handling route. If the switch button is off, the vehicle is not switched. In this case, the mobile robot used to perform the handling action configured for the first handling route is the same as the mobile robot used to perform the handling action configured for the second handling route. Figure 13 The switch button on the right side of the vehicle switch shown in the image is in the "on" state.

[0156] Regarding the timing of task triggering, such as Figure 13 As shown, when a user clicks the down arrow next to the input box on the right of the task trigger timing, a drop-down menu is displayed. The task trigger timings displayed in the drop-down menu include: task start, vehicle pick-up, target point arrival, and task completion. In this embodiment, the user selects task completion as the trigger timing for the second transport route from the drop-down menu.

[0157] according to Figure 13 The task trigger flag configuration shown indicates that the second transport route flag will be configured to perform a transport action when the following trigger conditions are met: after the first transport route flag is configured to perform a transport action, the trigger conditions configured for the task trigger flag are considered met, and the transport action configured for the second transport route flag will be executed.

[0158] For the second transport route identifier, configure its action as "empty". The configuration method for the attributes of the second transport route identifier is the same as that for the first transport route identifier, and will not be repeated here. The attributes of the second transport route identifier can be as follows: Figure 14 , Figure 15 As shown. After the first transport route marker is configured with a transport action, the mobile robot is controlled to move from the starting storage location configured with the second transport route marker to the ending storage location configured with the second transport route marker, and the material is removed from the ending storage location so that no material is stored at the ending storage location.

[0159] For the second loading / unloading strategy identifier, configure its strategy type as a loading strategy; for the single-buffer strategy, configure the loading strategy as by position, with the storage starting point at the top left and the storage order from left to right row by row; for the multi-buffer strategy, configure the strategy method as by distance, with the distance configured from nearest to farthest; configure the exception handling method as exception termination. The configuration method for the attributes of the second loading / unloading strategy identifier is the same as that for the first loading / unloading strategy identifier, and will not be repeated here. The attributes of the second loading / unloading strategy identifier can be as follows: Figure 16 , Figure 17 As shown. After the first transport route marker is configured with a transport action, the mobile robot is controlled to move from the starting storage location configured with the second transport route marker to the ending storage location configured with the second transport route marker, and the material is removed from the ending storage location according to the unloading strategy configured with the second loading / unloading strategy marker, so that no material is stored at the ending storage location.

[0160] Example 2:

[0161] Suppose the user needs to create a flowchart to represent the transport task, such as... Figure 18 As shown, the flowchart includes, in sequence: pull signal identifier, transport route identifier, material matching identifier, loading / unloading strategy identifier, and end signal identifier. The configuration methods for the attributes of each identifier will be illustrated below.

[0162] For pull signal indicators, see Figure 19 Configure the pull signal identifier's model type as "full", the trigger source type as "station", and the trigger source as "hxl02 station material handling box". The configuration method for the pull signal identifier's attributes is the same as that in the aforementioned embodiment one, and will not be repeated here.

[0163] For handling route markings, see Figure 20The starting point of the transport route identifier is configured as hxlCtuZone06; the ending point is configured as hxl02-Gwctu; the action is configured as "full", and the task template number is configured as PF-CTU-COMMON01; the ending point location lock is configured as "record material"; the "allow interruption" setting is set to "off", meaning interruption is not allowed; the "custom attribute matching" setting is set to "off", meaning custom attribute matching is not configured; and the exception handling method is set to "exception suspension". The configuration method for the attributes of the transport route identifier is the same as the configuration method for the attributes of the first transport route identifier in the aforementioned embodiment one, and will not be repeated here.

[0164] For material matching identifiers, see Figure 21 When a user clicks the material matching icon, the first area will display the material matching configuration interface, where the user can configure the attributes of the material matching icon. The attributes of the material matching icon include: material category and exception handling method.

[0165] For material categories, clicking the "Select" button will display the handling task configuration interface as follows: Figure 22 The floating window shown allows users to search for desired material categories by entering the material category number or name in the input box. Clicking on any of the found material categories will then be used as the material matching identifier.

[0166] After the user selects the material category, such as Figure 23 As shown, the material matching configuration interface will now include settings for the priority order of matched materials. This will be displayed after the user clicks on a matching condition. Figure 23 The floating window shown allows users to add conditions by clicking the "Add Condition Group" button in the lower left corner. Each condition has a corresponding delete button on the far right; clicking the delete button removes the condition it corresponds to.

[0167] For the first condition, the user clicks the down arrow next to the first input box on the right of the first condition to display a drop-down menu, and selects temperature as the condition. The user clicks the down arrow next to the second input box on the right of the first condition to display a drop-down menu, and selects "greater than" as the condition. The user clicks the third input box on the right of the first condition and configures the attribute value by entering the number "20".

[0168] For the second condition, the user clicks the down arrow next to the first input box on the right of the second condition to display a drop-down menu, and selects "quality inspection" as the condition. The user then clicks the down arrow next to the second input box on the right of the second condition to display a drop-down menu, and selects "equal to" as the condition. Finally, the user clicks the third input box on the right of the second condition and configures the attribute value by entering the text "qualified".

[0169] For exception handling methods, users can click the down arrow after the input box on the right side of the exception handling method to display a drop-down menu, and select exception suspension as the exception handling method from the drop-down menu.

[0170] For material loading and unloading strategy identifiers, such as Figure 24 As shown, the strategy type of the loading / unloading strategy identifier is configured as a loading strategy; the loading strategy of the single-buffer strategy is configured as position-based, with the retrieval starting point being the top left and the retrieval order being a serpentine pattern from left to right; the exception handling method is configured as exception suspension. The configuration method for the attributes of the loading / unloading strategy identifier is the same as the configuration method for the attributes of the first loading / unloading strategy identifier in the aforementioned embodiment one, and will not be repeated here.

[0171] Figure 18 The execution process of the flowchart shown is as follows: The upper-level system calls the MCS interface to send a pull signal including the trigger source and signal value to the MCS. The MCS parses the received signal value. If the received trigger source is the material handling bin at station hxl02, and the received signal value is parsed to represent the "full" signal type, then it is considered that the trigger condition configured by the pull signal identifier is met. The mobile robot is controlled to move from the starting storage location hxlCtuZone06 to the ending storage location hxl02-Gwctu. Following the serpentine loading strategy of placing materials from left to right with the upper left as the storage starting point, the materials that meet the material matching conditions configured by the material matching identifier are placed in the ending storage location hxl02-Gwctu, so that the ending storage location hxl02-Gwctu is full of materials that meet the material matching conditions configured by the material matching identifier.

[0172] Example 3:

[0173] Suppose the user needs to create a flowchart to represent the transport task, such as... Figure 25As shown, the flowchart includes, in sequence: a timing signal identifier, a transport route identifier, an loading / unloading strategy identifier, and an end signal identifier. In one example, when the transport task configuration interface is opened, the first area of ​​the interface will display the pull signal identifier and the end signal identifier. In this example, clicking the pull signal identifier will display a delete button for it in the transport task configuration interface. Clicking this delete button will delete the pull signal identifier. Then, dragging the timing signal button to the first area will add a timing signal identifier. In this example, the pull signal identifier displayed when the transport task configuration interface is opened can be changed to a timing signal identifier using the above method. The configuration methods for the attributes of each identifier will be illustrated below.

[0174] For timing signal identifiers, see Figure 26 When a user clicks on the timer signal icon, the first area will display the timer signal configuration interface, where the user can configure the attributes of the timer signal icon. The attributes of the timer signal icon include: execution method, signal type, and trigger source.

[0175] Regarding execution methods, there are two options: by frequency and by specified time. If the user clicks the selection button before the "by frequency" execution method, then... Figure 26 As shown, the execution frequency is displayed below the execution mode in the timing signal configuration interface. Users can increase the frequency value by clicking the up-angle arrow next to the first input box to the right of the execution frequency, or decrease the value by clicking the down-angle arrow next to the first input box. In other possible embodiments, users can also configure the frequency value by entering a number in the first input box to the right of the execution frequency. Clicking the down-angle arrow next to the second input box to the right of the execution frequency displays a drop-down menu, where users can select minutes as the frequency unit.

[0176] If the user clicks the selection button before the "Specify Time" execution method, then as follows: Figure 27 As shown, the scheduled task (cron) expression will be displayed below the execution method in the timed signal configuration interface. After the user clicks the input box to the right of the cron expression, the following will be displayed: Figure 28 The floating window shown is accessed via... Figure 28 The floating window shown is for execution Figure 25 The flowchart shown is configured with time settings. In this embodiment, the user-configured execution mode is set to a specified time period of 08:00-12:00.

[0177] For signal type, such as Figure 29As shown, the user clicks the down arrow next to the input box on the right of the signal type to display a drop-down menu, and selects "Shangman" as the signal type from the drop-down menu. In other possible embodiments, the user can also configure the signal type as "Shangman" by entering the text "Shangman" in the input box on the right of the signal type.

[0178] For trigger sources, such as Figure 29 As shown, when the user clicks the down arrow next to the input box on the right of the trigger source type, a drop-down menu is displayed. The user selects "workstation" as the trigger source type from the drop-down menu. At this point, all trigger sources with "workstation" as their trigger source type will be displayed below the trigger source selection. The user selects a trigger source by clicking on any of the displayed trigger sources; that is, the trigger source clicked by the user becomes the trigger source for the pull signal indicator. In other possible embodiments, such as... Figure 29 As shown, after selecting the workstation as the trigger source type, the user can also search for the desired trigger source by entering its number or name in the search box below the trigger source selection. The user can then click on the found trigger source to use as the trigger source for the pull signal indicator. In other possible embodiments, the user can also configure the trigger source type as workstation by entering the text "workstation" in the input box to the right of the trigger source type. In this embodiment, the user-configured trigger source is workstation 1.

[0179] For handling route markings, see Figure 30 The execution action of the transport route identifier is configured as "full", the task template number is configured as "Test", the destination storage location is configured as "record material", the interruption of in-transit tasks is configured as "off", that is, interruption of in-transit tasks is not allowed, the custom attribute matching is configured as "off", that is, custom attribute matching is not configured, and the exception handling method is configured as "abnormal termination". The configuration method of the transport route identifier attributes is the same as the configuration method of the attributes of the first transport route identifier in the aforementioned embodiment one, and will not be repeated here. In this embodiment, the user-configured starting storage location forklift is buffer zone point 1, and the destination storage location is workstation 1.

[0180] For material loading and unloading strategy identifiers, such as Figure 31 As shown, the strategy type of the loading / unloading strategy identifier is configured as a loading strategy; the loading strategy of the single-buffer strategy is configured as loading according to the storage order, and the storage order is first-in, last-out; the exception handling method is configured as exception termination. The configuration method of the attributes of the loading / unloading strategy identifier is the same as the configuration method of the attributes of the first loading / unloading strategy identifier in the aforementioned embodiment one, and will not be repeated here.

[0181] Figure 25The execution process of the flowchart shown is as follows: The upper-level system calls the MCS interface to send a pull signal including the trigger source and signal value to the MCS. The MCS parses the received signal value. If the trigger source received is station 1 within the specified time 08:00-12:00, and the received signal value is parsed to represent the signal type "full", then it is considered that the trigger condition configured by the timing signal identifier is met. The mobile robot is controlled to move from the starting point warehouse forklift buffer point 1 to the ending warehouse station 1, and the material is placed in the ending warehouse station 1 according to the first-in-last-out loading strategy so that the ending warehouse station 1 is full of material.

[0182] Example 4:

[0183] The flowchart that users need to create to represent the transportation task can also be as follows: Figure 32 As shown, the flowchart includes, in sequence: pull signal indicator, transport route indicator, material matching indicator, material request indicator, loading / unloading strategy indicator, task trigger indicator, transport route indicator, loading / unloading strategy indicator, material update indicator, and end signal indicator.

[0184] For handling route markings, see Figure 32 The starting point of the transport route identifier is configured as forklift workstation 10; the ending point is configured as forklift workstation 13; the action is configured as "downward movement"; the task template number is configured as 124; the ending location lock is configured as "record material"; custom attribute matching is configured as "off", i.e., custom attribute matching is not configured; and the exception handling method is configured as "abnormal termination". The configuration method for the attributes of the transport route identifier is the same as the configuration method for the attributes of the first transport route identifier in the aforementioned embodiment one, and will not be repeated here.

[0185] When a user clicks on the material request icon, the first area will display the material request configuration interface, through which the user can configure the attributes of the material request icon.

[0186] It is understood that the above embodiments are merely possible examples of the transfer task configuration method provided in this application, and do not represent a user-created process. Figure 1 As shown in the above embodiments, users can use any control in the second area of ​​the transport task configuration interface, and configure the identifiers drawn by the controls to create a flowchart for the transport task, depending on the scenario and the transport task. This application does not impose any limitations on this. Without loss of generality, the transport task configuration method provided in this application includes:

[0187] The interface for configuring transport tasks is displayed. The interface includes a first area and a second area. The second area displays a trigger signal control and a transport route control. The trigger signal control is used to draw trigger signal icons in the first area, and the transport route control is used to draw transport route icons in the first area.

[0188] In response to a first interactive operation input to the trigger signal control and the transport route control, a plurality of transport units are drawn in a first area; wherein each transport unit includes: a trigger signal identifier and a transport route identifier, the trigger signal identifier being configured with a trigger condition, and the transport route identifier being configured with a transport route and a transport action; the trigger signal identifier is used to trigger other identifiers within the same transport unit when the configured trigger condition is met, and the transport route identifier is used to control the mobile robot to move according to the configured transport route after being triggered, and to control the mobile robot to perform the configured transport action.

[0189] in, Figure 3 , Figure 18 , Figure 25 Each dashed box represents a transport unit. The dashed box is only for the purpose of showing the transport unit and does not mean that the dashed box will be displayed in the transport task configuration interface.

[0190] By applying the embodiments of this application, a handling task configuration interface including a first area and a second area can be displayed. The second area displays a trigger signal control and a handling route control. The trigger signal control is used to draw a trigger signal identifier in the first area, and the handling route control is used to draw a handling route identifier in the first area. In response to a first interactive operation input to the trigger signal control and the handling route control, multiple handling units are drawn in the first area. Each handling unit includes a trigger signal identifier and a handling route identifier. The trigger signal identifier is configured with a trigger condition, and the handling route identifier is configured with a handling route and a handling action. The trigger signal identifier is used to trigger other identifiers within the same handling unit when the configured trigger condition is met. The handling route identifier is used to control the mobile robot to move according to the configured handling route after being triggered, and to control the mobile robot to perform the configured handling action. As can be seen, the embodiments of this application can configure handling tasks by drawing handling units. Furthermore, in the above process, the user only needs to operate the visual trigger signal control and the handling route control to configure the handling task. Compared with the method of writing programs, the method of operating the visual controls is less difficult, that is, the embodiments of this application can reduce the difficulty of the user's operation in configuring handling tasks.

[0191] Furthermore, the method of manipulating visual controls integrates the physical flow of materials and the flow of information into the flowchart, making the material handling routes within the production workshop clear and accurate. Simultaneously, it allows for dynamic adjustment of material handling routes, enabling personalized operations and processing of materials based on different business needs during the material handling process.

[0192] In one possible embodiment, the second area also displays a loading / unloading strategy control; the loading / unloading strategy control is used to draw loading / unloading strategy identifiers in the first area;

[0193] The method also includes:

[0194] In response to a second interactive operation input to the loading / unloading strategy control, a loading / unloading strategy identifier is drawn in at least one handling unit in the first area. The loading / unloading strategy identifier is configured with either a loading strategy or a unloading strategy. When triggered, the loading / unloading strategy identifier, if configured with a loading strategy, controls the mobile robot to load materials according to the configured loading strategy after performing same-unit movement, and if configured with a unloading strategy, controls the mobile robot to unload materials according to the configured unloading strategy after performing same-unit movement. The same-unit movement refers to the movement of the mobile robot controlled by the handling route identifier of the same handling unit as the loading / unloading strategy identifier.

[0195] In one possible embodiment, the second area also displays a material matching control; the material matching control is used to draw a material matching identifier in the first area;

[0196] The method also includes:

[0197] In response to a third interactive operation input to the material matching control, a material matching identifier is drawn in at least one handling unit in the first area; the material matching identifier is configured with material matching conditions; the material matching identifier is used to control the mobile robot to load materials that meet the configured material matching conditions before performing same-unit movement after being triggered.

[0198] In one possible embodiment, the second area also displays a material requisition control; the material requisition control is used to draw a material requisition identifier in the first area;

[0199] The method also includes:

[0200] In response to a fourth interactive operation input to a material request control, a material request identifier is drawn in at least one handling unit in the first area where a material request identifier is drawn. The material request identifier is configured with material request conditions. When triggered, the material request identifier controls the mobile robot to send a material request message to the warehouse before executing the process of loading materials that meet the configured material matching conditions. If the materials that meet the material matching conditions also meet the configured material request conditions, the warehouse responds to the material request message by sending the storage location of the materials that meet the material matching conditions in the warehouse to the mobile robot and controls the mobile robot to move to the storage location to load the materials that meet the material matching conditions.

[0201] In one possible embodiment, the second area also displays a material update control; the material update control is used to draw a material update identifier in the first area;

[0202] The method also includes:

[0203] In response to a fifth interactive operation input to the material update control, a material update identifier is drawn in at least one handling unit in the first area where a material request identifier is drawn; the material update identifier is used to update the material that meets the material matching conditions when the robot moves to the storage location to load the material that meets the material matching conditions after being triggered.

[0204] In one possible embodiment, the trigger signal identifier is configured with trigger conditions in the following manner:

[0205] In response to a first display operation inputting a trigger signal identifier, a first sub-interface is displayed; the first sub-interface includes: a signal control and a trigger source control;

[0206] In response to a first configuration operation input to a signal control, the signal type that triggers the signal identifier is configured to the signal type indicated by the first configuration operation;

[0207] In response to a second configuration operation input to the trigger source control, the trigger source identified by the trigger signal is configured as the trigger source indicated by the second configuration operation;

[0208] The transport route is configured with transport routes and transport actions in the following ways:

[0209] In response to a second display operation inputting a transport route identifier, a second sub-interface is displayed; the second sub-interface includes: a start point control, an end point control, and an action control;

[0210] In response to a third configuration operation input to the starting point control, the starting point of the transport route identified by the transport route is configured as the starting point indicated by the third configuration operation;

[0211] In response to a fourth configuration operation input to the endpoint control, the endpoint of the transport route identified by the transport route is configured as the endpoint indicated by the fourth configuration operation;

[0212] In response to the fifth configuration operation input to the motion control, the transport action identified by the transport route is configured as the action indicated by the fifth configuration operation.

[0213] In one possible embodiment, the loading / unloading strategy identifier is configured with a loading or unloading strategy in the following ways:

[0214] In response to a third display operation inputting a loading / unloading strategy identifier, a third sub-interface is displayed; the third sub-interface includes: a strategy type control and a handling strategy control;

[0215] In response to the sixth configuration operation input to the strategy type control, the strategy type of the loading / unloading strategy identifier is configured to the strategy type indicated by the sixth configuration operation; the strategy type is either loading strategy or unloading strategy.

[0216] In response to the seventh configuration operation input to the handling strategy control, the handling strategy identified by the loading / unloading strategy is configured as the handling strategy indicated by the seventh configuration operation.

[0217] In one possible embodiment, the material matching identifier is configured with material matching conditions in the following manner:

[0218] In response to the fourth display operation for the material matching identifier input, a fourth sub-interface is displayed; the fourth sub-interface includes: a matching condition configuration control;

[0219] In response to the eighth configuration operation input to the matching condition configuration control, the material matching condition of the material matching identifier is configured as the matching condition indicated by the eighth configuration operation.

[0220] In one possible embodiment, the material request identifier is configured with material request conditions in the following ways:

[0221] In response to the fifth display operation for the material requisition identifier input, a fifth sub-interface is displayed; the fifth sub-interface includes: requisition condition configuration controls;

[0222] In response to the ninth configuration operation input to the application condition configuration control, the material application conditions of the material application identifier are configured as indicated by the ninth configuration operation.

[0223] Corresponding to the aforementioned handling task configuration method, this application embodiment also provides a handling task configuration device, see [link to relevant documentation]. Figure 33 The device includes:

[0224] The display module 331 is used to display the handling task configuration interface; wherein, the handling task configuration interface includes: a first area and a second area; the second area displays a trigger signal control and a handling route control; the trigger signal control is used to draw trigger signal icons in the first area, and the handling route control is used to draw handling route icons in the first area;

[0225] The first drawing module 332 is used to draw multiple transport units in a first area in response to a first interactive operation input to the trigger signal control and the transport route control; wherein each transport unit includes: a trigger signal identifier and a transport route identifier, the trigger signal identifier is configured with a trigger condition, and the transport route identifier is configured with a transport route and a transport action; the trigger signal identifier is used to trigger other identifiers within the same transport unit when the configured trigger condition is met, and the transport route identifier is used to control the mobile robot to move according to the configured transport route after being triggered, and to control the mobile robot to perform the configured transport action.

[0226] In one possible embodiment, the second area also displays a loading / unloading strategy control; the loading / unloading strategy control is used to draw loading / unloading strategy identifiers in the first area;

[0227] The device also includes:

[0228] The second drawing module is used to respond to a second interactive operation input to the loading / unloading strategy control, and to draw a loading / unloading strategy identifier in at least one handling unit in the first area. The loading / unloading strategy identifier is configured with a loading strategy or a unloading strategy. When triggered, if a loading strategy is configured, the mobile robot is controlled to load materials according to the configured loading strategy after performing same-unit movement; if a unloading strategy is configured, the mobile robot is controlled to unload materials according to the configured unloading strategy after performing same-unit movement. The same-unit movement refers to the movement of the mobile robot controlled by the handling route identifier of the same handling unit as the loading / unloading strategy identifier.

[0229] In one possible embodiment, the second area also displays a material matching control; the material matching control is used to draw a material matching identifier in the first area;

[0230] The device also includes:

[0231] The third drawing module is used to draw a material matching identifier in at least one handling unit in the first area in response to a third interactive operation input to the material matching control; the material matching identifier is configured with material matching conditions; the material matching identifier is used to control the mobile robot to load materials that meet the configured material matching conditions before performing same-unit movement after being triggered.

[0232] In one possible embodiment, the second area also displays a material requisition control; the material requisition control is used to draw a material requisition identifier in the first area;

[0233] The device also includes:

[0234] The fourth drawing module is used to draw a material request identifier in at least one handling unit in the first area that has a material request identifier drawn in response to a fourth interactive operation input to the material request control. The material request identifier is configured with material request conditions. When triggered, the material request identifier controls the mobile robot to send a material request message to the warehouse before executing the process of loading materials that meet the configured material matching conditions. If the materials that meet the material matching conditions also meet the configured material request conditions, the mobile robot is controlled to send a material request message to the warehouse. In response to the material request message, the warehouse sends the storage location of the materials that meet the material matching conditions to the mobile robot and controls the mobile robot to move to the storage location to load the materials that meet the material matching conditions.

[0235] In one possible embodiment, the second area also displays a material update control; the material update control is used to draw a material update identifier in the first area;

[0236] The device also includes:

[0237] The fifth drawing module is used to draw a material update identifier in at least one handling unit in the first area that has a material request identifier drawn in response to the fifth interactive operation input to the material update control. The material update identifier is used to update the material that meets the material matching conditions when the robot moves to the storage position to load the material that meets the material matching conditions after being triggered.

[0238] In one possible embodiment, the trigger signal identifier is configured with trigger conditions in the following manner:

[0239] In response to a first display operation inputting a trigger signal identifier, a first sub-interface is displayed; the first sub-interface includes: a signal control and a trigger source control;

[0240] In response to a first configuration operation input to a signal control, the signal type that triggers the signal identifier is configured to the signal type indicated by the first configuration operation;

[0241] In response to a second configuration operation input to the trigger source control, the trigger source identified by the trigger signal is configured as the trigger source indicated by the second configuration operation;

[0242] The transport route is configured with transport routes and transport actions in the following ways:

[0243] In response to a second display operation inputting a transport route identifier, a second sub-interface is displayed; the second sub-interface includes: a start point control, an end point control, and an action control;

[0244] In response to a third configuration operation input to the starting point control, the starting point of the transport route identified by the transport route is configured as the starting point indicated by the third configuration operation;

[0245] In response to a fourth configuration operation input to the endpoint control, the endpoint of the transport route identified by the transport route is configured as the endpoint indicated by the fourth configuration operation;

[0246] In response to the fifth configuration operation input to the motion control, the transport action identified by the transport route is configured as the action indicated by the fifth configuration operation.

[0247] In one possible embodiment, the loading / unloading strategy identifier is configured with a loading or unloading strategy in the following ways:

[0248] In response to a third display operation inputting a loading / unloading strategy identifier, a third sub-interface is displayed; the third sub-interface includes: a strategy type control and a handling strategy control;

[0249] In response to the sixth configuration operation input to the strategy type control, the strategy type of the loading / unloading strategy identifier is configured to the strategy type indicated by the sixth configuration operation; the strategy type is either loading strategy or unloading strategy.

[0250] In response to the seventh configuration operation input to the handling strategy control, the handling strategy identified by the loading / unloading strategy is configured as the handling strategy indicated by the seventh configuration operation.

[0251] In one possible embodiment, the material matching identifier is configured with material matching conditions in the following manner:

[0252] In response to the fourth display operation for the material matching identifier input, a fourth sub-interface is displayed; the fourth sub-interface includes: a matching condition configuration control;

[0253] In response to the eighth configuration operation input to the matching condition configuration control, the material matching condition of the material matching identifier is configured as the matching condition indicated by the eighth configuration operation.

[0254] In one possible embodiment, the material request identifier is configured with material request conditions in the following ways:

[0255] In response to the fifth display operation for the material requisition identifier input, a fifth sub-interface is displayed; the fifth sub-interface includes: requisition condition configuration controls;

[0256] In response to the ninth configuration operation input to the application condition configuration control, the material application conditions of the material application identifier are configured as indicated by the ninth configuration operation.

[0257] This application also provides an electronic device, such as... Figure 34 As shown, it includes:

[0258] Memory 341 is used to store computer programs;

[0259] When processor 342 executes a program stored in memory 341, it performs the following steps:

[0260] The interface for configuring transport tasks is displayed. The interface includes a first area and a second area. The second area displays a trigger signal control and a transport route control. The trigger signal control is used to draw trigger signal icons in the first area, and the transport route control is used to draw transport route icons in the first area.

[0261] In response to a first interactive operation input to the trigger signal control and the transport route control, a plurality of transport units are drawn in a first area; wherein each transport unit includes: a trigger signal identifier and a transport route identifier, the trigger signal identifier being configured with a trigger condition, and the transport route identifier being configured with a transport route and a transport action; the trigger signal identifier is used to trigger other identifiers within the same transport unit when the configured trigger condition is met, and the transport route identifier is used to control the mobile robot to move according to the configured transport route after being triggered, and to control the mobile robot to perform the configured transport action.

[0262] Furthermore, the aforementioned electronic device may also include a communication bus and / or a communication interface, with the processor 342, the communication interface, and the memory 341 communicating with each other via the communication bus.

[0263] The communication bus mentioned in the above electronic devices can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not mean that there is only one bus or one type of bus.

[0264] The communication interface is used for communication between the aforementioned electronic devices and other devices.

[0265] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0266] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0267] In another embodiment provided in this application, a computer-readable storage medium is also provided, which stores a computer program that, when executed by a processor, implements the steps of any of the above-described transport task configuration methods.

[0268] In another embodiment provided in this application, a computer program product containing instructions is also provided, which, when run on a computer, causes the computer to execute any of the transport task configuration methods described in the above embodiments.

[0269] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a solid-state drive (SSD), etc.

[0270] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0271] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the embodiments of apparatus, electronic devices, computer-readable storage media, and computer program products containing instructions are basically similar to the method embodiments, and therefore the descriptions are relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0272] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. A method for configuring transport tasks, characterized in that, The method includes: The system displays a handling task configuration interface, which includes a first area and a second area. The second area displays a trigger signal control and a handling route control. The trigger signal control is used to draw a trigger signal identifier in the first area, and the handling route control is used to draw a handling route identifier in the first area. In response to a first interactive operation input to the trigger signal control and the transport route control, a plurality of transport units are drawn in the first area; wherein each transport unit includes: a trigger signal identifier and a transport route identifier, the trigger signal identifier being configured with a trigger condition, and the transport route identifier being configured with a transport route and a transport action; the trigger signal identifier is used to trigger other identifiers within the same transport unit when the configured trigger condition is met, and the transport route identifier is used to control the mobile robot to move according to the configured transport route and to control the mobile robot to perform the configured transport action after being triggered.

2. The method according to claim 1, characterized in that, The second area also displays a loading / unloading strategy control; the loading / unloading strategy control is used to draw loading / unloading strategy identifiers in the first area; The method further includes: In response to a second interactive operation input to the loading / unloading strategy control, a loading / unloading strategy identifier is drawn in at least one of the conveying units in the first area. The loading / unloading strategy identifier is configured with either a loading strategy or a unloading strategy. When triggered, the loading / unloading strategy identifier, if configured with a loading strategy, controls the mobile robot to load materials according to the configured loading strategy after performing same-unit movement; if configured with a unloading strategy, controls the mobile robot to unload materials according to the configured unloading strategy after performing same-unit movement. The same-unit movement refers to the movement of the mobile robot controlled by the conveying route identifier of the same conveying unit as the loading / unloading strategy identifier.

3. The method according to claim 1, characterized in that, The second area also displays a material matching control; the material matching control is used to draw a material matching identifier in the first area; The method further includes: In response to a third interactive operation input to the material matching control, a material matching identifier is drawn in at least one of the conveying units in the first area; the material matching identifier is configured with material matching conditions; the material matching identifier is used to control the mobile robot to load materials that meet the configured material matching conditions before performing same-unit movement after being triggered.

4. The method according to claim 3, characterized in that, The second area also displays a material requisition control; the material requisition control is used to draw a material requisition identifier in the first area; The method further includes: In response to a fourth interactive operation input to the material request control, a material request identifier is drawn in at least one handling unit in the first area where the material request identifier is drawn. The material request identifier is configured with material request conditions. When triggered, the material request identifier controls the mobile robot to send a material request message to the warehouse before executing the process of loading materials that meet the configured material matching conditions. If the materials that meet the material matching conditions also meet the configured material request conditions, the warehouse responds to the material request message by sending the storage location of the materials that meet the material matching conditions in the warehouse to the mobile robot and controls the mobile robot to move to the storage location to load the materials that meet the material matching conditions.

5. The method according to claim 4, characterized in that, The second area also displays a material update control; the material update control is used to draw a material update identifier in the first area; The method further includes: In response to a fifth interactive operation input to the material update control, a material update identifier is drawn in at least one handling unit in the first area where the material request identifier is drawn; the material update identifier is used to update the material that meets the material matching conditions when the robot moves to the storage location to load the material that meets the material matching conditions after being triggered.

6. The method according to claim 1, characterized in that, The trigger signal identifier is configured with trigger conditions in the following ways: In response to a first display operation input to the trigger signal identifier, a first sub-interface is displayed; the first sub-interface includes: a signal control and a trigger source control; In response to a first configuration operation input to the signal control, the signal type of the trigger signal identifier is configured to the signal type indicated by the first configuration operation; In response to a second configuration operation input to the trigger source control, the trigger source identified by the trigger signal is configured as the trigger source indicated by the second configuration operation; The transport route identifier is configured with transport routes and transport actions in the following ways: In response to a second display operation input for the transport route identifier, a second sub-interface is displayed; the second sub-interface includes: a start point control, an end point control, and an action control; In response to a third configuration operation input to the starting point control, the starting point of the transport route identified by the transport route is configured as the starting point indicated by the third configuration operation; In response to a fourth configuration operation input to the endpoint control, the endpoint of the transport route identified by the transport route is configured as the endpoint indicated by the fourth configuration operation; In response to a fifth configuration operation input to the action control, the transport action identified by the transport route is configured as the action indicated by the fifth configuration operation.

7. The method according to claim 2, characterized in that, The loading / unloading strategy identifier is configured with a loading or unloading strategy in the following ways: In response to a third display operation inputting the loading / unloading strategy identifier, a third sub-interface is displayed; the third sub-interface includes: a strategy type control and a handling strategy control; In response to a sixth configuration operation input to the strategy type control, the strategy type of the loading / unloading strategy identifier is configured to the strategy type indicated by the sixth configuration operation; the strategy type is either a loading strategy or an unloading strategy. In response to a seventh configuration operation input to the handling strategy control, the handling strategy identified by the loading / unloading strategy is configured as the handling strategy indicated by the seventh configuration operation.

8. The method according to claim 3, characterized in that, The material matching identifier is configured with material matching conditions in the following ways: In response to a fourth display operation inputting the material matching identifier, a fourth sub-interface is displayed; the fourth sub-interface includes: a matching condition configuration control; In response to an eighth configuration operation input to the matching condition configuration control, the material matching condition of the material matching identifier is configured as the matching condition indicated by the eighth configuration operation.

9. The method according to claim 4, characterized in that, The material request identifier is configured with material request conditions in the following ways, including: In response to a fifth display operation inputting the material request identifier, a fifth sub-interface is displayed; the fifth sub-interface includes: a request condition configuration control; In response to a ninth configuration operation input to the application condition configuration control, the material application condition of the material application identifier is configured as the application condition indicated by the ninth configuration operation.

10. A handling task configuration device, characterized in that, The device includes: The display module is used to display the handling task configuration interface; wherein, the handling task configuration interface includes: a first area and a second area; the second area displays a trigger signal control and a handling route control; the trigger signal control is used to draw a trigger signal icon in the first area, and the handling route control is used to draw a handling route icon in the first area; A first drawing module is configured to draw multiple transport units in the first area in response to a first interactive operation input to the trigger signal control and the transport route control; wherein each transport unit includes: a trigger signal identifier and a transport route identifier, the trigger signal identifier being configured with a trigger condition, and the transport route identifier being configured with a transport route and a transport action; the trigger signal identifier is used to trigger other identifiers within the same transport unit when the configured trigger condition is met, and the transport route identifier is used to control the mobile robot to move according to the configured transport route and to control the mobile robot to perform the configured transport action after being triggered.

11. The apparatus according to claim 10, characterized in that, The second area also displays a loading / unloading strategy control; the loading / unloading strategy control is used to draw loading / unloading strategy identifiers in the first area; The device further includes: The second drawing module is used to respond to a second interactive operation input to the loading / unloading strategy control, and to draw a loading / unloading strategy identifier in at least one of the conveying units in the first area. The loading / unloading strategy identifier is configured with a loading strategy or a unloading strategy. When triggered, the loading / unloading strategy identifier is used to control the mobile robot to load materials according to the configured loading strategy after performing same-unit movement if a loading strategy is configured, and to control the mobile robot to unload materials according to the configured unloading strategy after performing same-unit movement if a unloading strategy is configured. The same-unit movement is the movement of the mobile robot controlled by the conveying route identifier of the same conveying unit as the loading / unloading strategy identifier. And / or, The second area also displays a material matching control; the material matching control is used to draw a material matching identifier in the first area; The device further includes: The third drawing module is used to draw a material matching identifier in at least one of the conveying units in the first area in response to a third interactive operation input to the material matching control; the material matching identifier is configured with material matching conditions; the material matching identifier is used to control the mobile robot to load materials that meet the configured material matching conditions before performing same-unit movement after being triggered; And / or, The second area also displays a material requisition control; the material requisition control is used to draw a material requisition identifier in the first area; The device further includes: The fourth drawing module is used to draw a material request identifier in at least one handling unit in the first area where the material request identifier is drawn in response to a fourth interactive operation input to the material request control. The material request identifier is configured with material request conditions. When triggered, the material request identifier controls the mobile robot to send a material request message to the warehouse before executing the process of loading materials that meet the configured material matching conditions. If the materials meeting the material matching conditions also meet the configured material request conditions, the warehouse responds to the material request message by sending the storage location of the materials meeting the material matching conditions to the mobile robot and controls the mobile robot to move to the storage location to load the materials meeting the material matching conditions. And / or, The second area also displays a material update control; the material update control is used to draw a material update identifier in the first area; The device further includes: The fifth drawing module is used to draw a material update identifier in at least one handling unit in the first area where the material request identifier is drawn in response to a fifth interactive operation input to the material update control; the material update identifier is used to update the material that meets the material matching conditions when the robot moves to the storage location to load the material that meets the material matching conditions after being triggered. And / or, The trigger signal identifier is configured with trigger conditions in the following ways: In response to a first display operation input to the trigger signal identifier, a first sub-interface is displayed; the first sub-interface includes: a signal control and a trigger source control; In response to a first configuration operation input to the signal control, the signal type of the trigger signal identifier is configured to the signal type indicated by the first configuration operation; In response to a second configuration operation input to the trigger source control, the trigger source identified by the trigger signal is configured as the trigger source indicated by the second configuration operation; The transport route identifier is configured with transport routes and transport actions in the following ways: In response to a second display operation input for the transport route identifier, a second sub-interface is displayed; the second sub-interface includes: a start point control, an end point control, and an action control; In response to a third configuration operation input to the starting point control, the starting point of the transport route identified by the transport route is configured as the starting point indicated by the third configuration operation; In response to a fourth configuration operation input to the endpoint control, the endpoint of the transport route identified by the transport route is configured as the endpoint indicated by the fourth configuration operation; In response to a fifth configuration operation input to the action control, the transport action identified by the transport route is configured as the action indicated by the fifth configuration operation; And / or, The loading / unloading strategy identifier is configured with a loading or unloading strategy in the following ways: In response to a third display operation inputting the loading / unloading strategy identifier, a third sub-interface is displayed; the third sub-interface includes: a strategy type control and a handling strategy control; In response to a sixth configuration operation input to the strategy type control, the strategy type of the loading / unloading strategy identifier is configured to the strategy type indicated by the sixth configuration operation; the strategy type is either a loading strategy or an unloading strategy. In response to a seventh configuration operation input to the handling strategy control, the handling strategy identified by the loading / unloading strategy is configured as the handling strategy indicated by the seventh configuration operation; And / or, The material matching identifier is configured with material matching conditions in the following ways: In response to a fourth display operation inputting the material matching identifier, a fourth sub-interface is displayed; the fourth sub-interface includes: a matching condition configuration control; In response to an eighth configuration operation input to the matching condition configuration control, the material matching condition of the material matching identifier is configured as the matching condition indicated by the eighth configuration operation; And / or, The material request identifier is configured with material request conditions in the following ways, including: In response to a fifth display operation inputting the material request identifier, a fifth sub-interface is displayed; the fifth sub-interface includes: a request condition configuration control; In response to a ninth configuration operation input to the application condition configuration control, the material application condition of the material application identifier is configured as the application condition indicated by the ninth configuration operation.

12. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor, when executing a program stored in memory, implements the method described in any one of claims 1-9.

13. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method described in any one of claims 1-9.

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