Robot and elevator control method, intelligent logistics management system, medium and product

Abstract

The embodiment of the invention discloses a robot, an elevator control method, an intelligent logistics management system, a medium and a product, and the method comprises the steps that when an elevator state sent by an elevator control system is a robot control operation state and a robot enters a target elevator, a first control instruction is sent to the elevator control system; wherein the first control instruction comprises a target floor to which the robot goes; the elevator state comprises a manual control state, a waiting robot control state and a robot control state; controlling the robot to update to a first map corresponding to the target floor; and under the condition that it is determined that the first map is matched with the floor where the target elevator arrives, the robot is controlled to leave the target elevator, and the robot is controlled to navigate based on the first map.

Description

Technical Field

[0001] This application relates to, but is not limited to, the field of robotics, and particularly to a robot and elevator control method, an intelligent logistics management system, media, and products. Background Technology

[0002] Traditional warehouse management relies mainly on manual or semi-manual methods. However, from the perspective of actual warehouse operation, this management method has obvious pain points. For example, it cannot achieve full automation of material transportation, resulting in a lack of information security guarantees throughout the entire material transportation lifecycle. In addition, since material transportation relies on manual labor, there are problems such as high personnel input, low handling efficiency, and high material handling costs. Summary of the Invention

[0003] In view of this, embodiments of this application provide at least one robot control method, an intelligent logistics management system, and media and program products.

[0004] The technical solution of this application embodiment is implemented as follows:

[0005] On one hand, embodiments of this application provide a robot control method, the method comprising: responding to an elevator control system sending an elevator state as a robot control state and the robot entering a target elevator, sending a first control command to the elevator control system; wherein the first control command includes the target floor to which the robot is to go; the elevator state includes a manual control state, a waiting robot control state, and a robot control state; controlling the robot to update to a first map corresponding to the target floor; and, if it is determined that the first map matches the floor reached by the target elevator, controlling the robot to leave the target elevator and controlling the robot to navigate based on the first map.

[0006] In this embodiment, firstly, after determining that the elevator is in robot control mode and the robot enters the target elevator, a first control command is sent to the elevator control system. Upon receiving the first control command, the elevator control system can control the target elevator to transport the robot to the target floor. Then, if it is determined that the robot's updated first map matches the floor reached by the target elevator, the robot is controlled to leave the target elevator and navigate based on the first map. By ensuring the first map matches the floor reached by the target elevator, the robot can navigate based on the first map after leaving the target elevator, allowing it to successfully reach its target location on the target floor. This method of information interaction between the elevator control system and the robot control system (RCS) enables the robot to move between different floors and within corresponding floors, achieving full automation of the robot's material handling process. This allows for real-time monitoring of the material transportation process, making it traceable and ensuring information security throughout the entire material transportation lifecycle. Furthermore, the full automation of material handling can save material handling costs and improve handling efficiency.

[0007] In some embodiments, the robot control method includes: sending an exit command to the elevator control system before the robot leaves the target elevator and navigates based on a first map; wherein the exit command is used to instruct the elevator control system to control the target elevator from a robot control state to a manual control state.

[0008] In the above embodiments, after the robot reaches the target floor, an exit command can be used to control the target elevator to exit the robot control state, releasing the elevator's resources and updating its elevator state from locked robot control to released manual control. In other embodiments, when the target elevator is in manual control, the internal and external call buttons of the target elevator can be enabled, allowing the target elevator to operate according to commands triggered by the internal and / or external call buttons.

[0009] In some embodiments, the robot control method includes: sending a control request instruction to an elevator control system and receiving the elevator status of a target elevator from the elevator control system; when the elevator status of the target elevator is characterized as a robot control state, sending a second control instruction to the elevator control system; the second control instruction includes the current floor where the robot is located; and after receiving a floor arrival instruction from the elevator control system, controlling the robot to enter the target elevator; wherein the floor arrival instruction is used to indicate that the target elevator has arrived at the current floor.

[0010] In the above embodiments, by sending a control request command to the elevator control system, the elevator control system can control the target elevator to enter the robot control state. When the target elevator enters the robot control state, a second control command is sent to the elevator control system. After receiving the second control command, the elevator control system can control the target elevator to reach the robot's current floor and control the target elevator to open its door. Thus, the robot control system can control the robot to enter the target elevator. In this way, through the interaction between the elevator control system and the robot control system, the target elevator moves towards the robot, realizing the control of the target elevator based on the robot control system. This can reduce the number of personnel involved in the material transportation process and save material handling costs.

[0011] In some embodiments, the robot control method includes: in response to a Logistics Control System (LCS) sending a target storage location corresponding to the material being transported by the robot, determining the target floor corresponding to the target storage location; wherein the target storage location is determined by a Warehouse Management System (WMS) based on the storage location status and material information of the material, and sent to the Logistics Control System; and if the target floor is different from the current floor where the robot is located, sending a control request instruction to the elevator control system.

[0012] In the above embodiments, the target storage location for the robot to transport materials, sent through the logistics scheduling system, can obtain the target floor corresponding to the target storage location. If the target floor is different from the current floor where the robot is located, a control request command is sent to the elevator control system. Through the interaction between the elevator control system and the robot control system, the target elevator can transport the robot to the floor where the target storage location is located under the control of the robot control system.

[0013] In some embodiments, the robot control method includes: in response to a target storage location corresponding to the material being transported by the robot sent by a logistics scheduling system, determining a target floor corresponding to the target storage location; and controlling the robot to navigate based on a first map if the target floor is the same as the current floor where the robot is located.

[0014] In the above embodiments, the target storage location for the robot to transport materials, sent by the logistics scheduling system, can obtain the target floor corresponding to the target storage location. Thus, if the target floor is the same as the current floor where the robot is located, the robot can be controlled to navigate to the target storage location based on the first map, thereby reducing the transport time for the robot to transport materials to the target storage location and improving the material transport efficiency.

[0015] In some embodiments, the robot control method includes: in response to a material handling task sent by a logistics scheduling system, controlling a robot to proceed to the current location of the material and handle the material; wherein the material handling task is generated by the logistics scheduling system after determining the robot to handle the material in response to received material information and sending it to the robot control system; in response to the material information reported by the robot when it handles the material by passing through a barcode scanner, sending material information to the logistics scheduling system, and waiting to receive the target storage location of the material sent by the logistics scheduling system.

[0016] In the above embodiments, the material handling task sent by the logistics scheduling system can obtain the current position of the robot and the material to perform the handling task, thereby controlling the robot to go to the current position of the material to handle the material. Since the robot is determined by the logistics scheduling system based on a weighted consideration of the material position, material handling priority, and distance between the material and the robot, the time from the robot receiving the handling task to completing the handling task is small, thus improving the material handling efficiency.

[0017] In some embodiments, the robot control method includes: controlling the robot to reach the target storage location, and after placing the material in the target storage location, sending a handling completion instruction to the logistics scheduling system; wherein the handling completion instruction is used to instruct the warehouse management system to bind the material to the target storage location, output binding information, and send the binding information to the software management system.

[0018] In the above embodiments, after the robot places the material in the target storage location, the warehouse management system can bind the material to the target storage location and output binding information by completing the handling instruction, update the warehouse inventory, and send the inventory status to the software management system to realize the automatic posting of materials.

[0019] In some embodiments, the robot control method includes: sending a first map to an elevator control system; receiving a judgment result indicating whether the first map sent by the elevator control system is the same as a second map corresponding to a target floor; determining whether the first map matches the floor reached by the target elevator based on the judgment result; and sending an alarm signal to the robot to indicate that the map update is abnormal if the first map does not match the floor reached by the target elevator.

[0020] In the above embodiments, through the interaction between the robot control system and the elevator control system, by comparing the second map corresponding to the target floor in the elevator control system with the first map switched by the robot, it can be determined whether the first map matches the floor reached by the target elevator. This can solve the problem that if the robot control system is abnormal when comparing the first map and the second map, there may be abnormal judgments or excessive judgment times for the first and second maps, which would prolong the time the robot spends in the target elevator and prevent it from releasing the target elevator as soon as possible.

[0021] On the other hand, this application provides an elevator control method applied to an elevator control system. This robot control method includes: responding to a control request instruction sent by the robot control system, controlling the elevator state of a target elevator to enter a robot control state; wherein the control request instruction is used to control the target elevator to enter the robot control state from a manual control state; responding to a second control instruction sent by the robot control system, controlling the target elevator to run towards the current floor where the robot is located; wherein the second control instruction includes the current floor where the robot is located; after the target elevator arrives at the current floor, sending a floor arrival instruction to the robot control system to control the target elevator to open its doors; responding to a first control instruction sent by the robot control system, controlling the target elevator to run towards the target floor; the first control instruction is sent after the robot enters the target elevator; and controlling the target elevator to open its doors after the target elevator arrives at the target floor.

[0022] In this embodiment, the method of information interaction between the elevator control system and the robot control system can realize the control of the target elevator, enabling the robot to move between different floors, thus achieving full automation of the robot's material handling process, saving material handling costs and improving handling efficiency.

[0023] In some embodiments, the elevator control method includes: after receiving an exit instruction sent by the robot control system, updating the elevator state of the target elevator to a manual control state; wherein the exit instruction is used to instruct the elevator control system to control the target elevator to enter a manual control state from the robot control state.

[0024] In the above embodiments, the exit command sent by the robot control system can control the target elevator to exit the robot control mode, release the resources of the target elevator, and update the elevator state from locked robot control state to released manual control state. In other embodiments, when the target elevator is in manual control state, the internal call button and external call button of the target elevator can be enabled, allowing the target elevator to operate according to the instructions triggered by the internal call button and / or external call button.

[0025] In some embodiments, in response to a control request instruction sent by the robot control system, determining that the elevator state of the target elevator enters the robot control state includes: in response to the control request instruction sent by the robot control system, determining the target elevator to be controlled from at least one elevator corresponding to the elevator control system based on the elevator scheduling rules; updating the elevator state of the target elevator to a waiting-for-robot-control state, and sending the elevator state of the target elevator to the robot control system; when the elevator state of the target elevator is in a waiting-for-robot-control state, locking the outward call button and the inward call button of the target elevator, clearing the outward call instruction corresponding to the outward call button of the target elevator, and controlling the target elevator to execute the inward call instruction corresponding to the inward call button; when the target elevator completes the inward call instruction, updating the elevator state of the target elevator to the robot control state, and sending the elevator state of the target elevator to the robot control system.

[0026] In the above embodiments, firstly, receiving a control request instruction from the robot control system allows the target elevator to enter a waiting-for-robot-control state. While the target elevator is in the waiting-for-robot-control state, the system controls the target elevator to execute an internal call instruction. Then, after the target elevator completes the internal call instruction, the target elevator's state is updated to the robot-controlled state. This control of the target elevator based on the robot control system enables the robot to move between different floors, thereby achieving full automation of the robot's material handling process. This reduces the number of personnel required for material transportation, saves material handling costs, and improves material handling efficiency.

[0027] In some embodiments, the elevator control method includes: receiving a first map sent by a robot control system, and obtaining a second map corresponding to a target floor; determining whether the first map and the second map match, and sending the determination result to the robot control system.

[0028] In the above embodiments, through the interaction between the robot control system and the elevator control system, it can be determined whether the first map matches the floor reached by the target elevator. This can solve the problem that if the robot control system is abnormal when comparing the first map with the second map, the abnormal judgment of the first map and the second map may occur or the judgment time may be too long, thereby prolonging the time the robot stays in the target elevator and making it impossible to release the target elevator as soon as possible.

[0029] In another aspect, embodiments of this application provide a smart logistics management system, including a robot control system and an elevator control system. The robot control system, in response to an elevator control system indicating a robot control state and the robot entering a target elevator, sends a first control command to the elevator control system. The first control command includes the target floor the robot is heading to. The elevator state includes a manual control state, a waiting-for-robot control state, and a robot control state. The robot controls the robot to switch to a first map corresponding to the target floor. If the first map matches the floor reached by the target elevator, the robot leaves the target elevator and navigates based on the first map. The elevator control system, in response to a control request command sent by the robot control system, controls the target elevator's elevator state to enter the robot control state. The control request command controls the target elevator to transition from a manual control state to a robot control state. In response to a second control command sent by the robot control system, after the target elevator reaches the current floor where the robot is located, the elevator opens its doors. The second control command includes the current floor where the robot is located. In response to the first control command sent by the robot control system, the elevator moves towards the target floor.

[0030] In another aspect, embodiments of this application provide a computer-readable storage medium storing a computer program thereon, which, when executed by the intelligent logistics management system, implements some or all of the steps in the above-described method.

[0031] In another aspect, embodiments of this application provide a computer program product, including a computer program or instructions, which, when executed by a smart logistics management system, implement some or all of the steps in the above-described method.

[0032] It should be understood that the above general description and the following detailed description are merely exemplary and explanatory, and are not intended to limit the technical solutions of this disclosure. Attached Figure Description

[0033] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the specification, serve to explain the technical solutions of this application.

[0034] Figure 1 This application provides an embodiment of an intelligent logistics management system. Figure 1 ;

[0035] Figure 2 This application provides an embodiment of an intelligent logistics management system. Figure 2 ;

[0036] Figure 3This application provides an embodiment of an intelligent logistics management system. Figure 3 ;

[0037] Figure 4 A schematic diagram illustrating the implementation process of a robot control method provided in an embodiment of this application;

[0038] Figure 5 A schematic diagram illustrating the implementation flow of a genetic algorithm provided in an embodiment of this application;

[0039] Figure 6 A schematic diagram illustrating the implementation process of an elevator control method provided in this application embodiment;

[0040] Figure 7 A schematic diagram illustrating the implementation process of a logistics transportation process applied to an intelligent logistics management system, provided as an embodiment of this application;

[0041] Figure 8 This is a schematic diagram of a smart logistics visual layout provided in an embodiment of this application;

[0042] Figure 9 A schematic diagram illustrating the implementation process of an AGV-elevator docking scheme provided in this application embodiment;

[0043] Figure 10 A topology diagram of an AGV and elevator control system provided for an embodiment of this application;

[0044] Figure 11 This application provides a schematic diagram of elevator state transitions.

[0045] Figure 12 This is a schematic diagram of an AGV control implementation process provided in an embodiment of this application;

[0046] Figure 13 This is a schematic diagram illustrating the implementation process of an automatic posting scenario provided in an embodiment of this application. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application are further described in detail below with reference to the accompanying drawings and embodiments. The described embodiments should not be regarded as limitations on this application. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0048] In the following description, references are made to “some embodiments,” which describe a subset of all possible embodiments. However, it is understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0049] It should be noted that the terms "first, second, and third" used in the embodiments of this application are merely to distinguish similar objects and do not represent a specific ordering of objects. It is understood that "first, second, and third" can be interchanged in a specific order or sequence where permitted, so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0050] It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which the embodiments of this application pertain. It should also be understood that terms such as those defined in general dictionaries should be understood to have a meaning consistent with their meaning in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless specifically defined as herein.

[0051] This application provides an intelligent logistics management system, such as... Figure 1 As shown, it includes RCS1 and elevator control system 211; wherein,

[0052] RCS1 is used to respond to the elevator control system 211 sending a first control command to the elevator control system 211 when the elevator status is robot control state and the robot 22 enters the target elevator. The first control command includes the target floor that the robot 22 is going to. The elevator status includes manual control state, waiting for robot control state, and robot control state. The robot 22 is controlled to update to the first map corresponding to the target floor. If it is determined that the first map matches the floor reached by the target elevator, the robot 22 is controlled to leave the target elevator and navigates based on the first map.

[0053] The elevator control system 211 is used to control the elevator state of the target elevator to enter the robot control state in response to the control request command sent by RCS1; wherein, the control request command is used to control the target elevator to enter the robot control state from the manual control state; in response to the second control command sent by RCS1, after controlling the target elevator to reach the current floor where the robot 22 is located, the system controls the target elevator to open the door; wherein, the second control command includes the current floor where the robot 22 is located; and in response to the first control command sent by RCS1, the system controls the target elevator to run towards the target floor.

[0054] Here, RCS1 is a core component of automation and robotics technology. It is responsible for managing and controlling the operation of the robot, primarily handling functions such as robot management, real-time operation diagrams, instruction management, task management, and anomaly information management. RCS1 supports a series of information management processes before, during, and after robot operation, including vehicle positioning, path planning, rational scheduling, coordinated work of multiple robots, and real-time calculation and monitoring of robot operation status and task execution. Furthermore, RCS1 can analyze and record robot energy levels and alarm information, promptly arrange for autonomous robot charging, and notify maintenance personnel to handle emergencies, ensuring the reliable operation of the entire system. RCS1's functional components may include path planning (11), traffic control (12), and cluster scheduling (13). The elevator control system (211), through integrated design, combines elevator control, drive, and monitoring functions into one system, achieving full automation and intelligence in elevator operation. This system can monitor the elevator's operating status in real time, predict passenger demand, and intelligently schedule and allocate passengers accordingly, thereby optimizing elevator operating efficiency and service quality.

[0055] In some implementations, the intelligent logistics management system includes a control layer and an execution layer, wherein the execution layer is an automated device 2, the automated device 2 includes an elevator 21 and a robot 22, the elevator 21 includes an elevator management system 211, and RCS1 is located in the control layer.

[0056] In this embodiment, firstly, after determining that the elevator is in robot control mode and the robot has entered the target elevator, the robot control system sends a first control command to the elevator control system. Upon receiving the first control command, the elevator control system can control the target elevator to transport the robot to the target floor. Then, if the robot control system determines that the updated first map matches the floor reached by the target elevator, it controls the robot to leave the target elevator and navigates based on the first map. This matching of the first map with the target elevator floor allows the robot to navigate after leaving the target elevator, enabling it to successfully reach its target location on the target floor. This method of information interaction between the elevator control system and the robot control system allows the robot to move between different floors and within corresponding floors, achieving full automation of the robot's material handling process. This enables real-time monitoring of the material transportation process, making it traceable and ensuring information security throughout the entire material transportation lifecycle. Furthermore, the full automation of material handling can save material handling costs and improve handling efficiency.

[0057] In some embodiments, such as Figure 2 As shown, the aforementioned intelligent logistics management system also includes LCS 4 and WMS 3; among which,

[0058] WMS 3 is used to determine the target storage location corresponding to the material being handled by robot 22 based on the storage location status and material information, and to send the target storage location to LCS 4.

[0059] LCS 4 is used to send the target storage location received from WMS 3 to RCS1;

[0060] RCS1 is used to respond to the target storage location corresponding to the material being transported by robot 22 sent by LCS 4, and to determine the target floor corresponding to the target storage location; if the target floor is different from the current floor where robot 22 is located, it sends a control request command to elevator control system 211.

[0061] Here, WMS 3 is a computer software system used to manage warehouses or logistics distribution centers. It provides visibility into the inventory of stored materials and achieves efficient warehouse operation by planning, organizing, guiding and controlling various resources within the warehouse, as well as managing the storage and movement of materials (including inbound, outbound and intra-warehouse movement). The functional components of WMS 3 may include inbound and outbound management 31, inventory management 32 and transfer management 33, etc.

[0062] LCS 4 is a widely used system in logistics, warehousing, and production environments designed to optimize and manage the flow, distribution, and scheduling of materials. By integrating multiple technologies and methods, the system achieves precise control and efficient management of materials at every stage, from receiving, storing, picking to shipping. The functional components of LCS 4 may include document management 41, material management 46, cargo management 42, container management 47, task list 43, equipment integration 44, task statistics 45, service list 48, task flow 49, and interface configuration 50, etc.

[0063] In some implementations, the intelligent logistics management system also includes a management layer, wherein WMS 3 is located at the control layer and LCS 4 is located at the management layer.

[0064] In the above embodiments, firstly, the warehouse management system can determine the target storage location for the robot to transport materials. Then, after receiving the target storage location sent by the warehouse management system, the logistics scheduling system sends the target storage location to the robot control system. Finally, the robot control system can obtain the target floor corresponding to the target storage location. If the target floor is different from the current floor where the robot is located, it sends a control request command to the elevator control system. Through the interaction between the elevator control system and the robot control system, the target elevator can transport the robot to the floor where the target storage location is located under the control of the robot control system.

[0065] The overall architecture of the intelligent logistics management system will be described below, such as... Figure 3 As shown, it includes a decision-making layer, a management layer, a control layer, and an execution layer. The decision-making layer includes SAP 6 (Enterprise Management Software, Systems, Applications & Products in Data Processing), LES 7 (Logistics Execution System), and MES 8 (Manufacturing Execution System); the management layer includes LCS 4; the control layer includes RCS1, WMS 3, and WCS 5 (Warehouse Control System); and the execution layer includes automated equipment 2, such as robots 22, charging piles 23, elevators 21, access control 24, and conveyor lines 25.

[0066] MES 8 is a shop floor-oriented management information system located between the upper-level planning and management system and the lower-level industrial control system. It provides operators and managers with information on plan execution, tracking, and the current status of all resources. Throughout the process from work order issuance to finished product completion, it plays a crucial role in transmitting information to optimize production activities. MES 8's functional components typically include resource management, process management, unit management, production tracking, performance analysis, document management, human resource management, equipment maintenance management, process management, quality management, and data acquisition.

[0067] LES 7 is a material pull-based logistics management system designed to optimize enterprise logistics efficiency through intelligent and refined management methods. The system comprehensively considers the interaction of materials across different warehousing units, achieving efficient management of a series of logistics processes from warehousing, in-warehouse management, outbound, pull, and transfer to final assembly.

[0068] WCS 5 is a software system for optimizing warehouse operations and controlling inventory. It integrates with warehouse equipment and management systems to monitor and control logistics processes in real time, thereby improving warehouse productivity and inclusivity. WCS 5 includes equipment management (51), message management (52), and task management (53).

[0069] This application provides a robot control method, applied to a robot control system, such as... Figure 4 As shown, the method may include steps S401 to S403:

[0070] Step S401: In response to the elevator control system sending a message that the elevator status is robot control status and the robot enters the target elevator, send a first control command to the elevator control system.

[0071] The first control command includes the target floor the robot will go to; the elevator status includes manual control status, waiting for robot control status, and robot control status.

[0072] Here, the target elevator refers to at least one elevator managed by the elevator control system used to transport the robot to the target floor. The target floor refers to the floor where the target storage location is located.

[0073] Elevator status refers to the operating mode of the elevator during operation. In manual control mode, the external call button and internal call button of the target elevator are displayed in the released state, so the operation of the target elevator can be controlled by the control commands triggered by the external call button and internal call button. In waiting for robot control mode and robot control mode, the external call button and internal call button of the target elevator are displayed in the locked state, and the control commands of the target elevator cannot be triggered by the external call button and internal call button.

[0074] Furthermore, different working modes correspond to different operating modes of the elevator control system. For example, when the elevator is in robot control mode, the elevator control system operates by locking the external call and internal call buttons and controlling the elevator to run according to the control instructions sent by the robot control system. When the elevator is in waiting for robot control mode, the elevator control system operates by locking the external call and internal call buttons, clearing the external call instructions, and controlling the elevator to execute existing internal call instructions. When the elevator is in manual control mode, the elevator control system operates by activating the external call and internal call buttons, receiving the external call instructions corresponding to the external call buttons and the internal call instructions corresponding to the internal call buttons, and controlling the elevator to run according to the external call instructions and / or internal call instructions.

[0075] In some implementations, when the elevator control system corresponds to one elevator, that elevator is the target elevator; when the elevator control system corresponds to multiple elevators, the target elevator is determined from among the multiple elevators based on the elevator scheduling rules.

[0076] In some implementations, after the robot enters the target elevator, the robot control system can send a door-closing command to the elevator control system, and the elevator control system can then control the target elevator to close its doors upon receiving the command.

[0077] In some implementations, after the robot enters the target elevator, the robot control system can send a first control command to the elevator control system. After receiving the first control command, the elevator control system can control the target elevator to close its doors and execute the first control command.

[0078] In some implementations, the elevator control system may close the doors of the target elevator after determining that a preset waiting time has been reached.

[0079] In some implementations, the first control command may also include information about the target elevator. After receiving the first control command, the elevator control system controls the target elevator to run to the target floor.

[0080] In some implementations, the elevator control system may include multiple registers, with register 40101 used to store the elevator status. The elevator status can be represented by 0, 1, and 2, where 0 represents manual control, 1 represents waiting for robot control, and 2 represents robot control. In this way, the elevator control system can send the status data in register 40101 to the robot control system.

[0081] Step S402: Control the robot to update to the first map corresponding to the target floor;

[0082] Here, the robot's current guidance map is the map of the floor where the robot is currently located. After the robot moves to the target floor, it needs to update the robot's guidance map to the first map corresponding to the target floor. This allows the robot to navigate based on the first map after arriving at the target floor.

[0083] In some implementations, updating the robot to the first map can be achieved by the robot control system sending a map update command to the robot while the target elevator is moving towards the target floor, thus controlling the robot to switch to the first map; alternatively, the robot control system can send a map update command to the robot after the target elevator has reached the target floor. In this way, upon receiving the map update command, the robot updates its guide map to the first map corresponding to the target floor.

[0084] Step S403: If the first map matches the floor reached by the target elevator, control the robot to leave the target elevator and control the robot to navigate based on the first map.

[0085] In some implementations, after the target elevator arrives at the target floor, the elevator control system controls the target elevator to open its doors, and the robot control system controls the robot to leave the target elevator if it determines that the first map matches the floor reached by the target elevator.

[0086] In some implementations, if it is determined that the first map does not match the floor reached by the target elevator, an alarm signal is sent to the robot to indicate that the map switching is abnormal.

[0087] In some implementations, the process of controlling the robot to navigate based on a first map can be as follows: First, the robot control system, based on the first map and combining the robot's current position information and the target storage location, determines the optimal or feasible travel path from the robot's current position to the target storage location using a path planning algorithm, and sends this travel path to the robot. The robot's current position information can be determined using methods such as a Global Positioning System (GPS), an Inertial Navigation System (INS), or Visual Odometry (DOA). The path planning algorithm can be an A* algorithm, Dijkstra's algorithm, or a Fast Expanded Random Tree algorithm, etc. Then, the robot navigates to the target storage location based on this travel path.

[0088] In some implementations, the process of controlling the robot to navigate based on the first map may also be as follows: the robot, based on the first map and combining the robot's current location information and the target storage location, determines the optimal or feasible driving path from the robot's current location to the target location through a path planning algorithm; then the robot navigates to the target storage location based on this driving path.

[0089] In this embodiment, firstly, after determining that the elevator is in robot control mode and the robot enters the target elevator, a first control command is sent to the elevator control system. Upon receiving the first control command, the elevator control system can control the target elevator to transport the robot to the target floor. Then, if it is determined that the robot's updated first map matches the floor reached by the target elevator, the robot is controlled to leave the target elevator and navigate based on the first map. By ensuring the first map matches the floor reached by the target elevator, the robot can navigate based on the first map after leaving the target elevator, allowing it to successfully reach its target location on the target floor. This method of information interaction between the elevator control system and the robot control system enables the robot to move between different floors and within corresponding floors, achieving full automation of the robot's material handling process. This allows for real-time monitoring of the material transportation process, making it traceable and ensuring information security throughout the entire material transportation lifecycle. Furthermore, the full automation of material handling can save material handling costs and improve handling efficiency.

[0090] In some embodiments, determining that the first map matches the floor reached by the target elevator in step S403 may include steps S4031 to S4034:

[0091] Step S4031: Send the first map to the elevator control system;

[0092] Step S4032: Receive the judgment result of whether the first map sent by the elevator control system is the same as the second map corresponding to the target floor;

[0093] In some implementations, the elevator control system has a storage area that stores a map corresponding to each floor in advance. The elevator control system can obtain a second map corresponding to the target floor from the storage area. After receiving the first map, the elevator control system compares the first map with the second map to determine whether the first map and the second map are the same, and sends the determination result to the robot control system.

[0094] In some implementations, the method for comparing the first map and the second map may be: obtaining the first pixel of the first map and the second pixel of the second map respectively; comparing the first pixel with the second pixel, and determining that the first map and the second map are the same if the first pixel is equal to the second pixel.

[0095] In some implementations, the method for comparing the first map and the second map may also be: determining the first hash value corresponding to the first map and the second hash value corresponding to the second map respectively; comparing the first hash value with the second hash value, and determining that the first map and the second map are the same if the first hash value is equal to the second hash value.

[0096] In some implementations, the method for comparing the first map and the second map may also be: obtaining a first feature corresponding to the first map and a second feature corresponding to the second map respectively; comparing the first feature and the second feature, and determining that the first map and the second map are the same if the first feature is equal to the second feature.

[0097] It should be noted that the method for comparing the first map and the second map in this application embodiment is not limited, and those skilled in the art can select a suitable method according to actual needs.

[0098] Step S4033: Based on the judgment result, determine whether the first map matches the floor reached by the target elevator;

[0099] In some implementations, the judgment result sent by the elevator control system can be represented by 0 and 1, where 0 indicates that the first map and the second map are the same, and 1 indicates that the first map and the second map are different. In this way, when the robot control system receives a judgment result of 0, it can determine that the first map matches the floor reached by the target elevator; when the robot control system receives a judgment result of 1, it can determine that the first map does not match the floor reached by the target elevator.

[0100] Step S4034: If the first map does not match the floor reached by the target elevator, send an alarm signal to the robot to indicate that the map update is abnormal.

[0101] In the above embodiments, through the interaction between the robot control system and the elevator control system, by comparing the second map corresponding to the target floor in the elevator control system with the first map switched by the robot, it can be determined whether the first map matches the floor reached by the target elevator. This can solve the problem that if the robot control system is abnormal when comparing the first map and the second map, there may be abnormal judgments or excessive judgment times for the first and second maps, which would prolong the time the robot spends in the target elevator and prevent it from releasing the target elevator as soon as possible.

[0102] In some embodiments, determining that the first map matches the floor reached by the target elevator in step S403 may include steps S4035 and S4036:

[0103] Step S4035: Obtain the second map corresponding to the target floor;

[0104] In some implementations, the robot control system pre-stores a map corresponding to each floor in its storage area, and retrieves a second map corresponding to the target floor from the storage area. The robot control system then compares the first map with the second map to determine if they are identical.

[0105] Step S4036: Based on the second map and the first map, determine whether the first map matches the floor reached by the target elevator.

[0106] In some implementations, the robot control system compares a first map with a second map to determine whether the first map and the second map are the same. If the first map and the second map are the same, the first map is determined to match the floor reached by the target elevator; if the first map and the second map are not the same, the first map is determined to not match the floor reached by the target elevator.

[0107] In the above embodiments, the robot control system can determine whether the first map matches the floor reached by the target elevator, which simplifies the interaction process between the robot control system and the elevator control system. Thus, when the robot control system determines that the first map matches the floor reached by the target elevator, it can control the robot to leave the target elevator, reducing the time from determining whether the first map matches the floor reached by the target elevator to controlling the robot to leave, and the target elevator can be released as soon as possible.

[0108] In some embodiments, after controlling the robot to leave the target elevator in step S403, the robot control method includes step S404:

[0109] Step S404: Before the robot leaves the target elevator and navigates based on the first map, send an exit command to the elevator control system; wherein, the exit command is used to instruct the elevator control system to control the target elevator from robot control state to manual control state.

[0110] In some implementations, after the robot leaves the target elevator, the robot control system can send a door-closing command to the elevator control system, and the elevator control system can then control the target elevator to close its doors upon receiving the command.

[0111] In some implementations, after the robot leaves the target elevator, the robot control system can send an exit command to the elevator control system. Upon receiving the exit command, the elevator control system can control the target elevator to close its doors and execute the exit command.

[0112] In some implementations, the elevator control system may close the doors of the target elevator after determining that a preset waiting time has been reached.

[0113] In some implementations, the elevator may include multiple registers, with register 40100 used to store the elevator control status. The elevator control status can be represented by 0 and 1, where 0 represents exiting robot control mode and 1 represents entering robot control mode. Thus, upon receiving an exit command, the elevator control system can update the elevator control status in register 40100 from 1 to 0. Simultaneously, the target elevator's status is updated from robot control mode to manual control mode, that is, the elevator status in register 40101 is updated from 2 to 1.

[0114] In some implementations, the exit command includes information about the target elevator, so that upon receiving the exit command, the elevator control system updates the elevator status of the target elevator from robot-controlled to manual-controlled.

[0115] In the above embodiments, after the robot reaches the target floor, an exit command can be used to control the target elevator to exit the robot control state, releasing the elevator's resources and updating its elevator state from locked robot control to released manual control. In other embodiments, when the target elevator is in manual control, the internal and external call buttons of the target elevator can be enabled, allowing the target elevator to operate according to commands triggered by the internal and / or external call buttons.

[0116] In some embodiments, prior to step S401, the robot control method includes steps S405 to S407:

[0117] Step S405: Send a control request command to the elevator control system and receive the elevator status of the target elevator from the elevator control system.

[0118] In some implementations, after receiving a control request instruction, the elevator control system updates the elevator control status in register 40100 from 0 to 1. At the same time, the elevator status of the target elevator is updated from manual control status to waiting for robot control status, that is, the elevator status in register 40101 is updated from 0 to 1.

[0119] In some implementations, the robot control system monitors the changes in the target elevator's status in real time by receiving the elevator status from the elevator control system.

[0120] In some implementations, when the target elevator malfunctions, the elevator control system sends fault information to the robot control system to inform the robot control system that the target elevator is currently in an abnormal state and needs to wait for the target elevator to recover.

[0121] Step S406: Upon receiving the elevator status representation of the target elevator as robot control state, send a second control command to the elevator control system; the second control command includes the current floor where the robot is located.

[0122] In some implementations, when the status data in register 40101 is 2, it indicates that the target elevator has entered the robot control state, and the robot control system sends a second control command to the elevator control system.

[0123] In some implementations, the second control command may also include information about the target elevator. After receiving the second control command, the elevator control system first obtains the information about the target elevator and determines the current floor of the target elevator; then, it determines whether the current floor of the target elevator is the same as the current floor of the robot; finally, based on the determination result, it controls the operation of the target elevator.

[0124] In some implementations, if the target elevator is currently on the same floor as the robot, the elevator control system sends a floor arrival command to the robot control system.

[0125] In some implementations, if the target elevator is not currently on the same floor as the robot, the target elevator is controlled to move to the robot's current floor. After the target elevator reaches the current floor, the elevator control system controls the target elevator to open its doors and sends a floor arrival command to the robot control system.

[0126] Step S407: After receiving the floor arrival instruction sent by the elevator control system, control the robot to enter the target elevator; wherein, the floor arrival instruction is used to indicate that the target elevator has arrived at the current floor.

[0127] In the above embodiments, by sending a control request command to the elevator control system, the elevator control system can control the target elevator to enter the robot control state. When the target elevator enters the robot control state, a second control command is sent to the elevator control system. After receiving the second control command, the elevator control system can control the target elevator to reach the robot's current floor and control the target elevator to open its door. Thus, the robot control system can control the robot to enter the target elevator. In this way, through the interaction between the elevator control system and the robot control system, the target elevator moves towards the robot, realizing the control of the target elevator based on the robot control system. This can reduce the number of personnel involved in the material transportation process and save material handling costs.

[0128] In some embodiments, prior to step S405, the robot control method includes steps S408 and S409:

[0129] Step S408: In response to the target storage location corresponding to the material being handled by the robot sent by the logistics scheduling system, determine the target floor corresponding to the target storage location; wherein, the target storage location is determined by the warehouse management system based on the storage location status and material information of the material, and then sent to the logistics scheduling system;

[0130] Here, the warehouse location status refers to the inventory status of each warehouse among the multiple warehouses managed by the warehouse management system. The inventory status can include the type and quantity of materials stored in each warehouse, the idle status of each warehouse, etc.

[0131] In some implementations, the robot control system can determine the target floor corresponding to the target storage location based on a map built into the robot control system after acquiring the target storage location.

[0132] In some implementations, the information sent by the logistics scheduling system regarding the target storage location includes information indicating the floor where the target storage location is located.

[0133] Step S409: If the target floor is different from the current floor where the robot is located, send a control request command to the elevator control system.

[0134] In the above embodiments, the target storage location for the robot to transport materials, sent through the logistics scheduling system, can obtain the target floor corresponding to the target storage location. If the target floor is different from the current floor where the robot is located, a control request command is sent to the elevator control system. Through the interaction between the elevator control system and the robot control system, the target elevator can transport the robot to the floor where the target storage location is located under the control of the robot control system.

[0135] In some embodiments, when designing a warehouse planning scheme, the warehouse layout should be designed with the goal of achieving full automation of material handling, saving material handling costs, and improving handling efficiency.

[0136] The warehouse planning scheme will be introduced from three aspects: zoning layout, aisle planning, and shelving layout.

[0137] 1. Zoning layout: Divide the storage areas of each warehouse based on the frequency of material use. For example, it can be divided into high-frequency zone, low-frequency zone and medium-frequency zone, where the high-frequency zone should be close to the warehouse entrance.

[0138] Here, by dividing the warehouse into storage areas, materials of different frequencies can be placed in the corresponding storage areas, which can improve the efficiency of material handling.

[0139] 2. Aisle planning: The aisle width of the warehouse should be set reasonably so that robots and other equipment (such as forklifts and personnel) can pass smoothly. In addition, the aisle layout should avoid intersections and conflicts to improve the efficiency of material handling.

[0140] 3. Shelving layout: Select the appropriate shelving type and layout based on the characteristics of the materials and their storage requirements.

[0141] When designing the shelving layout, it should facilitate robot access operations to reduce robot travel distance and waiting time. When selecting the shelving type, the load-bearing capacity, stability, and adjustability of the shelving need to be considered to ensure the safety and reliability of the shelving.

[0142] In some implementations, determining the target storage location of the material to be handled by the robot based on the storage location status and material information may include steps S100 and S101:

[0143] Step S100: Query the storage location status;

[0144] Here, the warehouse management system queries the current inventory status of multiple warehouses under its management.

[0145] Step S101: Warehouse location allocation decision;

[0146] The warehouse management system, based on preset storage strategies and inventory status, uses automatic storage location allocation algorithms and models to determine the optimal storage location allocation scheme for materials. The storage strategy is determined based on the actual situation of the warehouse and business needs, aiming to improve the efficiency of goods storage and retrieval, reduce storage location conflicts and goods damage. For example, storage strategies can be first-in, first-out (FIFO), last-in, first-out (LIFO), or storage categorized by goods type.

[0147] The following section explains the construction of the automatic storage location allocation algorithm and model:

[0148] 1) Objective function;

[0149] The main objectives of automatic warehouse location allocation algorithms are to optimize warehousing costs, improve material inbound and outbound efficiency, and maintain shelf stability. Common objective functions include:

[0150] Minimize picking time: Reduce picking time by decreasing the length of the robot's picking path.

[0151] Maximize shelf stability: Ensure heavy items are stored on the bottom shelf and light items on the top shelf to maintain the vertical stability of the shelf.

[0152] Balance shelf load: Prevent some shelves from being overloaded while others are idle, thus improving space utilization.

[0153] 2) Formulas and data processing;

[0154] Intra-group average coordinate calculation: For each group of materials, first calculate its intra-group average coordinate q. i See the following formula:

[0155]

[0156] Where, k i It is the quantity of the i-th group of goods, (x ij y ij , z ij ) are the coordinates of the j-th material in the i-th group.

[0157] Calculation of the sum of distances: Calculate the sum of distances d from all materials to their respective group's average coordinates. The formula is:

[0158]

[0159] Where N is the total number of product groups.

[0160] Objective function optimization: In order to avoid the difference in dimensions between multiple objectives and the deviation of the optimization objective, the above distance d can be transformed and combined with other factors (such as weight, frequency of entry and exit from the warehouse) to construct the final objective function.

[0161] For example, weighting coefficients α, β, and γ can be introduced to correspond to the weights of picking time, shelf stability, and shelf load balance, respectively, to construct a comprehensive objective function f.

[0162] 3) Data collection;

[0163] To obtain parameter data for the warehouses managed by this warehouse management system, the following parameter data will be used as an example:

[0164] The warehouse length (L) is 100 meters; the warehouse width (W) is 50 meters; the number of shelves (N) is 20, with 10 shelves per row, for a total of 2 rows; each shelf has 10 storage locations; the number of material types (M) is 50; the turnover rate for each material is determined based on historical data of the material in the warehouse, for example, the turnover rate for Class A goods is 0.5 times / day; the handling equipment speed includes horizontal and vertical speeds, for example, the horizontal speed is 5 m / s and the vertical speed is 2 m / s.

[0165] 4) Data preprocessing;

[0166] The data collected in step 3) above is cleaned to remove outliers and duplicate data. The cleaned data is then standardized to facilitate subsequent mathematical operations.

[0167] 5) Algorithm execution:

[0168] Based on the objective function and the preprocessed data, execute the automatic storage location allocation algorithm.

[0169] like Figure 5 As shown, the implementation process of this automatic storage location allocation algorithm is described in steps S501 to S509:

[0170] Step S501: Encoding;

[0171] Here, each shelf location is encoded using either integer or binary encoding. For example, if each shelf has 10 shelf locations, an array of length 10 can be used to represent the layout of goods on one shelf.

[0172] Step S502: Initialize the population;

[0173] Here, a certain number of chromosomes are randomly generated as the initial population, where each chromosome represents a possible material layout scheme.

[0174] Step S503: Calculate fitness;

[0175] The fitness of each chromosome (i.e., each material layout scheme) is calculated using the fitness function formula.

[0176] The fitness formula may involve multiple factors, such as access efficiency, space utilization, and cargo relevance. The fitness function formula is shown in formula (3):

[0177] F = w1f1 (access efficiency) + w2f2 (space utilization) + w3f3 (cargo relevance) (3);

[0178] Where f1 (access efficiency) = 1 / T, where T is the average access time; f2 (space utilization rate) = number of used storage locations / total number of goods; f3 (goods correlation) = 1 / average distance between related goods; w1, w2 and w3 are weighting parameters.

[0179] In some implementations, the average access time can be determined based on the stacker crane's moving speed and the location of the storage location. In practice, firstly, the stacker crane's moving speed (v) is determined, where the moving speed represents the distance traveled per unit time; then, the material location is determined, i.e., the specific location where the material is stored, where the material location represents the distance (h) from the storage location to the stacker crane's starting point; finally, the average access time is determined using the moving speed and the distance from the storage location to the stacker crane's starting point, calculated using the following formula:

[0180] T = h / v (4);

[0181] Step S504: Select operation;

[0182] Chromosomes with high fitness are selected from the current population for reproduction using roulette wheel selection, tournament selection, or other selection methods.

[0183] Step S505: Cross operation;

[0184] Perform a crossover operation on the selected chromosomes to generate new chromosomes. The crossover points can be selected randomly or based on a strategy.

[0185] Step S506: Mutation operation;

[0186] The newly generated chromosomes are subjected to mutation operations to introduce new genetic information. These mutation operations can range from randomly changing the type of goods in a specific storage location to more complex operations.

[0187] Step S507: Update the population;

[0188] Here, the chromosome is updated based on the results of selection, crossover, and mutation, and the fitness of the updated chromosome is calculated by applying the fitness function formula to obtain the optimal chromosome.

[0189] Step S508: Determine whether the termination condition is met;

[0190] Here, if the termination condition is met, proceed to step S509; if the termination condition is not met, proceed to step S504.

[0191] In some implementations, the termination condition can be set to reaching the maximum number of iterations, the termination condition can also be set to the fitness reaching a threshold, or the termination condition can be set to no significant improvement in fitness over several consecutive generations.

[0192] It should be noted that the embodiments of this application do not limit the setting of termination conditions, and those skilled in the art can set suitable termination conditions according to actual needs.

[0193] Step S509: Decoding and Application.

[0194] The optimal chromosome (i.e. the chromosome with the highest fitness) is decoded into an actual material storage location allocation scheme.

[0195] In some embodiments, prior to step S405, the robot control method includes steps S410 and S411:

[0196] Step S410: In response to the target storage location corresponding to the material being handled by the robot sent by the logistics scheduling system, determine the target floor corresponding to the target storage location;

[0197] Step S411: If the target floor is the same as the current floor where the robot is located, control the robot to navigate based on the first map.

[0198] Here, if the robot's current floor is the same as the target floor, the map in the robot's current system is the first map, and the robot can navigate to the target storage location based on the first map.

[0199] In the above embodiments, the target storage location for the robot to transport materials, sent by the logistics scheduling system, can obtain the target floor corresponding to the target storage location. Thus, if the target floor is the same as the current floor where the robot is located, the robot can be controlled to navigate to the target storage location based on the first map, thereby reducing the transport time for the robot to transport materials to the target storage location and improving the material transport efficiency.

[0200] In some embodiments, prior to step S405, the robot control method includes steps S412 and S413:

[0201] Step S412: In response to the material handling task sent by the logistics scheduling system, control the robot to go to the current location of the material and handle the material;

[0202] Among them, the material handling task is generated by the logistics scheduling system in response to the received material information, after determining the robot to perform the material handling, and then sending it to the robot control system.

[0203] In some implementations, the material information is obtained by scanning the material as it passes through the conveyor belt. The material information is then identified by a scanning device installed on the conveyor belt and uploaded to the enterprise management software. The enterprise management software then generates a material conveying task and sends the task to the logistics scheduling system. The logistics scheduling system determines the material information based on the material conveying task and sends the information to the robot control system.

[0204] In some implementations, the logistics scheduling system determines the most suitable robot to perform the handling task by weighting the priority of the material handling, the distance between the material and the robot, and the generation time of the corresponding material handling task, combined with different weighting factors. These weighting factors can be set individually to meet different on-site needs. The specific calculation method is shown in the following formula:

[0205] Task cost = m1*task priority + m2*distance + m3*existence time (5);

[0206] Where m1, m2, and m3 correspond to different parameter weights, and task priority The priority for handling this material is specified by distance, which is the distance between the material and the robot, and existence is the priority. time This is the generation time of the material conveying task corresponding to this material.

[0207] The evaluation value (Task) for each robot performing the handling task can be obtained using the above formula (5). cost ), the lowest Task cost The corresponding robot was determined to be the most suitable robot to perform the handling task.

[0208] In some implementations, the LCS generates a material handling task for the robot and sends the task to the RCS. Upon receiving the task, the RCS obtains robot information and the current location information of the material, and controls the robot to move to the current location of the material to handle it.

[0209] Step S413: In response to the material information reported by the robot when it passes the barcode scanning device, send the material information to the logistics scheduling system and wait to receive the target storage location of the material from the logistics scheduling system.

[0210] Here, a barcode scanning device is a hardware device capable of automatically collecting one-dimensional or two-dimensional barcode information from paper, mobile phones, and other media, and then decoding and transmitting the data. For example, a barcode scanning device could be a barcode gate. In some implementations, before the robot arrives at the barcode gate, the gate scans the label on the material to obtain the material information and sends it to the RCS (Regulatory Control System). The RCS then relays the acquired material information to the WMS (Warehouse Management System) via the LCS (Limited Service System).

[0211] After receiving the material information uploaded by the RCS, the LCS can determine that the material has been picked up by the robot and is ready to be transported to the storage warehouse.

[0212] In the above embodiments, the material handling task sent by the logistics scheduling system can obtain the current position of the robot and the material to perform the handling task, thereby controlling the robot to go to the current position of the material to handle the material, realizing automated material handling. Since the robot is determined by the logistics scheduling system based on a weighted consideration of the material position, material handling priority, and distance between the material and the robot, the time from the robot receiving the handling task to completing the handling task is small, thus improving the material handling efficiency.

[0213] In some embodiments, after step S403, the robot control method includes step S414:

[0214] Step S414: Control the robot to reach the target storage location and place the material in the target storage location, and then send a handling completion instruction to the logistics scheduling system; wherein, the handling completion instruction is used to instruct the binding information to be output after binding the material with the target storage location, and to send the binding information to the software management system.

[0215] In the above embodiments, after the robot places the material in the target storage location, the warehouse management system can bind the material to the target storage location and output binding information by completing the handling instruction, update the warehouse inventory, and send the inventory status to the software management system to realize the automatic posting of materials.

[0216] This application provides an elevator control method, applied to an elevator control system, such as... Figure 6 As shown, the method may include steps S601 to S605:

[0217] Step S601: In response to the control request instruction sent by the robot control system, determine that the elevator state of the target elevator has entered the robot control state; wherein, the control request instruction is used to control the target elevator to enter the robot control state from the manual control state.

[0218] Step S602: In response to the second control command sent by the robot control system, control the target elevator to run towards the current floor where the robot is located; wherein, the second control command includes the current floor where the robot is located;

[0219] Step S603: After the target elevator arrives at the current floor, send a floor arrival command to the robot control system to control the target elevator to open the door;

[0220] Step S604: In response to the first control command sent by the robot control system, control the target elevator to run towards the target floor; the first control command is sent after the robot enters the target elevator;

[0221] Step S605: After the target elevator arrives at the target floor, control the target elevator to open its doors.

[0222] In this embodiment, the method of information interaction between the elevator control system and the robot control system can realize the control of the target elevator, enabling the robot to move between different floors, thus achieving full automation of the robot's material handling process, saving material handling costs and improving handling efficiency.

[0223] In some embodiments, after step S605, the elevator control method further includes step S606:

[0224] Step S606: After receiving the exit command sent by the robot control system, update the elevator status of the target elevator to manual control status; wherein, the exit command is used to instruct the elevator control system to control the target elevator to enter the manual control status from the robot control status.

[0225] In the above embodiments, the exit command sent by the robot control system can control the target elevator to exit the robot control mode, release the resources of the target elevator, and update the elevator state from locked robot control state to released manual control state. In other embodiments, when the target elevator is in manual control state, the internal call button and external call button of the target elevator can be enabled, allowing the target elevator to operate according to the instructions triggered by the internal call button and / or external call button.

[0226] In some embodiments, step S601 above may include steps S6011 to S6014:

[0227] Step S6011: In response to the control request instruction sent by the robot control system, based on the elevator scheduling rules, determine the target elevator to be controlled from at least one elevator corresponding to the elevator control system.

[0228] Here, the elevator scheduling rules are preset in the elevator control system.

[0229] In some implementations, the elevator scheduling rule can be to prioritize the least number of internal call instructions. After receiving a control request instruction, the elevator control system determines the elevator with the fewest internal call instructions from at least one elevator and identifies it as the target elevator.

[0230] In some implementations, the elevator scheduling rule can be to prioritize the fewest outbound call instructions. After receiving a control request instruction, the elevator control system determines the elevator with the fewest outbound call instructions from at least one elevator and identifies it as the target elevator.

[0231] Step S6012: Update the elevator status of the target elevator to the waiting robot control status, and send the elevator status of the target elevator to the robot control system.

[0232] Step S6013: When the target elevator is in the waiting state for robot control, lock the outgoing call button and the ingoing call button of the target elevator, clear the outgoing call command corresponding to the outgoing call button of the target elevator, and control the target elevator to execute the ingoing call command corresponding to the ingoing call button.

[0233] Step S6014: If the target elevator completes the internal call command, update the elevator status of the target elevator to the robot control status, and send the elevator status of the target elevator to the robot control system.

[0234] In the above embodiments, firstly, receiving a control request instruction from the robot control system allows the target elevator to enter a waiting-for-robot-control state. While the target elevator is in the waiting-for-robot-control state, the system controls the target elevator to execute an internal call instruction. Then, after the target elevator completes the internal call instruction, the target elevator's state is updated to the robot-controlled state. This control of the target elevator based on the robot control system enables the robot to move between different floors, thereby achieving full automation of the robot's material handling process. This reduces the number of personnel required for material transportation, saves material handling costs, and improves material handling efficiency.

[0235] In some embodiments, prior to step S606, the elevator control method may further include steps S607 and S608:

[0236] Step S607: Receive the first map sent by the robot control system and obtain the second map corresponding to the target floor;

[0237] Step S608: Determine whether the first map and the second map match, and send the determination result to the robot control system.

[0238] In the above embodiments, through the interaction between the robot control system and the elevator control system, it can be determined whether the first map matches the floor reached by the target elevator. This can solve the problem that if the robot control system is abnormal when comparing the first map with the second map, the abnormal judgment of the first map and the second map may occur or the judgment time may be too long, thereby prolonging the time the robot stays in the target elevator and making it impossible to release the target elevator as soon as possible.

[0239] This application provides a logistics transportation process applied to an intelligent logistics management system, such as... Figure 7 The diagram illustrates the overall interaction process between the LCS, RCS, elevator control system, and WMS, which may include steps S701 to S725:

[0240] Step S701: LCS is generated and a transport task is sent to RCS;

[0241] Here, in response to the material information received, the LCS determines the robot to perform the material handling and then generates and sends the handling task to the RCS.

[0242] Step S702: The RCS controls the robot to move to the current location of the material and transport it;

[0243] Here, the RCS responds to the material handling task sent by the LCS, and controls the robot to go to the current location of the material and handle it.

[0244] Step S703: RCS sends material information to LCS;

[0245] Here, the RCS responds to the material information reported by the robot when it passes the barcode scanner and sends material information to the LCS. Sending material information to the LCS is to inform the LCS that the robot is currently performing a handling task.

[0246] Step S704: LCS sends material information to WMS;

[0247] Step S705: WMS determines the target storage location of the material and sends it to LCS;

[0248] Here, the WMS determines the target storage location of the material based on the received material information and storage location status, and sends it to the LCS.

[0249] Step S706: LCS sends the target storage location to RCS;

[0250] Step S707: RCS determines the target floor corresponding to the target storage location;

[0251] Here, the RCS responds to the target storage location corresponding to the material being handled by the robot, sent by the LCS, and determines the target floor corresponding to the target storage location.

[0252] Step S708: The RCS sends a control request command to the elevator control system;

[0253] Here, when the target floor is different from the current floor where the robot is located, the RCS sends a control request command to the elevator control system.

[0254] Step S709: The elevator control system determines the target elevator to be controlled;

[0255] Here, the elevator control system responds to the control request command sent by the RCS and, based on the elevator scheduling rules, determines the target elevator to be controlled from at least one elevator corresponding to the elevator control system.

[0256] Step S710: The elevator control system sends the elevator status of the target elevator to the RCS;

[0257] Here, the elevator control system updates the elevator status of the target elevator to the waiting state for robot control, and sends the elevator status of the target elevator to the RCS.

[0258] Step S711: Lock the outward call button and inward call button of the target elevator, clear the outward call command corresponding to the outward call button of the target elevator, and control the target elevator to execute the inward call command corresponding to the inward call button;

[0259] Here, the elevator control system triggers step S712 when the elevator status of the target elevator is in the waiting robot control state: the elevator control system sends the elevator status of the target elevator to the RCS.

[0260] Here, when the elevator control system controls the target elevator to complete the internal call command, it updates the elevator status of the target elevator to the robot control status and sends the elevator status of the target elevator to the RCS.

[0261] Step S713: RCS sends a second control command to the elevator control system;

[0262] Here, when the RCS receives the elevator state representation of the target elevator as a robot control state, it sends a second control command to the elevator control system.

[0263] Step S714: The elevator control system controls the target elevator to move to the current floor where the robot is located;

[0264] Here, the elevator control system responds to the second control command sent by the RCS and controls the target elevator to run to the current floor where the robot is located.

[0265] Step S715: The elevator control system sends a floor arrival command to the RCS;

[0266] Here, after the target elevator arrives at the current floor, the elevator control system sends a floor arrival command to the RCS and controls the target elevator to open its doors.

[0267] Step S716: The RCS controls the robot to enter the target elevator;

[0268] Here, after receiving the floor arrival command from the elevator control system, the RCS controls the robot to enter the target elevator.

[0269] Step S717: The RCS sends the first control command to the elevator control system;

[0270] Here, after the robot enters the target elevator, the RCS sends the first control command to the elevator control system.

[0271] Step S718: The elevator control system controls the target elevator to move towards the target floor;

[0272] Here, the elevator control system responds to the first control command sent by the robot control system and controls the target elevator to run to the target floor.

[0273] Step S719: After the target elevator arrives at the target floor, the elevator control system controls the target elevator to open its doors;

[0274] Step S720: The RCS-controlled robot updates the first map corresponding to the target floor;

[0275] Step S721: RCS sends an exit command to the elevator control system;

[0276] Here, once the RCS determines that the first map matches the floor reached by the target elevator, it controls the robot to leave the target elevator and sends an exit command to the RCS.

[0277] Step S722: The elevator control system updates the elevator status of the target elevator to manual control status;

[0278] Here, after receiving the exit command sent by the RCS, the elevator control system updates the elevator status of the target elevator to manual control status.

[0279] Step S723: The RCS controls the robot to navigate to the target storage location based on the first map, and after placing the material in the target storage location, sends a handling completion instruction to the LCS.

[0280] Step S724: LCS sends a transport completion instruction to WMS;

[0281] Step S725: After binding the material to the target storage location, the WMS outputs the binding information and sends the binding information to the software management system.

[0282] The robot control method described above will be explained below with reference to a specific embodiment. Taking AGV as the robot and battery cell as the material as an example, a possible process applicable to the embodiment of this application will be introduced. However, it is worth noting that this specific embodiment is only for better illustration of this application and does not constitute an improper limitation of this application.

[0283] Traditional flat warehouse management relies mainly on manual or semi-manual methods. However, from the perspective of actual operation, this management method has obvious pain points. For example, the current flat warehouse mainly uses manual labor for dense storage, resulting in the inefficient use of space and easy waste of space; it cannot achieve fully automated material receiving and issuing business scenarios, and the reliance on manual or semi-manual management of flat warehouses means that the entire lifecycle of flat warehouse business scenarios is not guaranteed in terms of information security; the reliance on manual labor for receiving and issuing operations in dense warehouses leads to problems such as high personnel input, large handling range, low handling efficiency, and low utilization rate of storage space.

[0284] This application provides an intelligent logistics management system for a high-density warehouse, supporting the configuration of inventory management strategies such as FIFO (First-In, First-Out) and LIFO (Last-In, First-Out). Users can configure these strategies by selecting them from a dropdown menu on the interface. Furthermore, when designing a flat warehouse layout, the system fully utilizes the warehouse's ceiling height, setting appropriate shelf spacing and height to reduce wasted space and maximize warehouse space utilization.

[0285] This intelligent logistics management system mainly includes software systems and hardware equipment. The software systems include WCS, RCS, LCS, WMS, etc., while the hardware equipment includes: ultra-flat warehouse racks, 5G-enabled robot communication, handling robots, collaborative robots, automatic loading and unloading robots, automatic barcode scanning and accounting doors, tape attaching machines, wrapping machines, etc. Through the collaborative cooperation of software systems and hardware equipment, the entire lifecycle of flat warehouse management, including material loading and unloading, tape attaching, wrapping, accounting, and outbound, can be automated.

[0286] like Figure 8 The diagram shown is a visual layout diagram of the smart logistics management system. It can be seen that LCS acts as the hub of the warehouse management system, interacting with WMS, WCS, SAP, and RCS.

[0287] Furthermore, the system architecture diagram of this intelligent logistics management system is explained, such as... Figure 3As shown, this intelligent logistics management system is equipped with LCS 4. LCS 4 is located in the management layer, upstream of which is the decision-making layer, including SAP 6, MES 8, and LES 7. Downstream of the management layer is the control layer, including WMS 3, RCS1, and WCS 5. LCS 4 enables information exchange between the decision-making and control layers. During implementation, the logistics factory workshop generates material requisition and scheduling requests through LES 7, MES 8, and SAP 6. These scheduling requests are then coordinated and forwarded by LCS 4 to the appropriate downstream systems (e.g., WMS 3, RCS1, and WCS 5). Finally, the downstream systems issue instructions to the execution layer to control the automated equipment at the execution layer to perform specific scheduling tasks.

[0288] In addition, the intelligent logistics management system also has the following functions: LCS has an embedded intelligent scheduling algorithm to control the production cycle; the storage locations managed by WMS have scalability and support switching from two-lift storage locations to three-lift storage locations; materials can be automatically unloaded and loaded onto trucks at the platform; materials can be automatically scanned and recorded when passing through the barcode gate; materials can be automatically allocated and released from storage locations when passing through the barcode gate; the storage location layout adopts a dense and multi-layered storage method, which can improve the utilization rate of floor storage locations.

[0289] The following section introduces the implementation scheme of the intelligent logistics management system for intelligent high-density warehouses from four aspects: layout planning and design, multi-level racking design, automated equipment, and intelligent control system:

[0290] I. Layout Planning and Design

[0291] Here, the floors are rationally allocated for battery cell storage areas, parking and charging areas, inbound connection areas, outbound connection areas, shipping areas, and sorting areas; storage areas, connection areas, and recycling areas are distinguished according to raw materials; each floor supports double-deep and triple-deep layouts; and the warehouse is divided into low-temperature and low-humidity warehouses for raw materials and normal-temperature warehouses.

[0292] 1. Zoning Layout: The warehouse is divided into high-frequency goods storage area, medium-frequency goods storage area and low-frequency goods storage area using the "ABC zoning method". The high-frequency goods storage area is located near the warehouse door or entrance to facilitate the rapid entry and exit of high-frequency materials.

[0293] 2. Aisle planning: Ensure that the aisle width in the warehouse is reasonable so that automated guided vehicles (AGVs) and other equipment (such as forklifts and personnel) can pass smoothly; the aisle layout should avoid intersections and conflicts to improve logistics efficiency.

[0294] 3. Shelving Layout: Based on the characteristics of the goods and storage requirements, select the appropriate shelving type and layout. The shelving layout should facilitate AGV access operations, minimizing AGV travel distances and waiting times. The shelving type should consider its load-bearing capacity, stability, and adjustability to ensure safety and reliability.

[0295] Here, cargo characteristics can be understood as the hazardous attributes of the cargo. For example, if the cargo type is battery cells, battery cells belong to Class 9 dangerous goods, which mainly involves requirements for the fire protection equipment in the warehouse. Currently, battery cells are generally stored in general warehouses, and the warehouse layout is mainly based on the "five distances" requirements.

[0296] Storage requirements can be understood as: warehouse layout based on the "five distances" principle, primarily considering the safety and efficiency of warehouses, production workshops, and other similar locations. By rationally planning the distances between goods and equipment, the safety and operational efficiency of warehouses or production workshops can be effectively improved, ensuring safe, orderly, and efficient operation on-site. The following are specific suggestions for on-site layout based on the "five distances" principle:

[0297] (I) Definition and Function of the Five Distances

[0298] Top clearance: This refers to the distance between the top of the stack and the roof of the warehouse. Its main function is to prevent flames from spreading directly to the roof during a fire, thus preventing the building from catching fire. It is generally recommended that the top clearance be more than 30 centimeters (for gable roofs, it should not exceed the crossbeams).

[0299] Light distance: This refers to the distance between fixed lighting fixtures in the warehouse and the goods. Its main purpose is to prevent the heat generated by the lighting fixtures from igniting the goods. It is generally recommended that the light distance be greater than 50 centimeters.

[0300] Wall distance: This refers to the distance between the wall and the stacked goods. The wall distance facilitates ventilation, moisture dissipation, and fire prevention, while also allowing access for firefighters in case of fire. A wall distance of at least 50 centimeters is generally recommended.

[0301] Column spacing: This refers to the distance between the stack of goods and the warehouse columns. The purpose of column spacing is to prevent goods from being too close to the columns, which could cause the columns to become damp or damaged. It also prevents flames from directly burning the columns in the event of a fire, thus protecting the building's structural safety. A column spacing of 30 centimeters is generally recommended.

[0302] Stack spacing: refers to the distance between stacks of goods. Setting proper stack spacing helps prevent goods from getting mixed up, facilitates ventilation and inspection, and aids in rescue and evacuation during a fire. A stack spacing of 100 centimeters is generally recommended.

[0303] (II) Site Layout Recommendations

[0304] Plan passageways reasonably: Ensure that the main passageways in the warehouse or production workshop are at least 2 meters wide to facilitate the smooth passage of personnel and goods and emergency evacuation.

[0305] Clearly define the zoning: Divide the site into different areas based on production or storage needs, such as raw material area, finished product area, equipment area, etc., and distinguish them with clear signs.

[0306] Strictly adhere to the five-distance principle: When stacking goods, strictly follow the requirements for top distance, light distance, wall distance, column distance, and stack distance to ensure on-site safety and cleanliness.

[0307] Set up safety warning signs: Set up safety warning signs in key locations, such as the location of fire-fighting equipment, emergency exits, and no-smoking signs, to raise employees' safety awareness.

[0308] Strengthen on-site management: Conduct regular on-site inspections to ensure the implementation of the five-distance principle, and promptly identify and correct any violations. Simultaneously, enhance employee training and education to raise their awareness of the importance of on-site layout.

[0309] Optimize equipment layout: The layout of equipment in the production workshop should take into account the convenience of worker operation and maintenance, as well as the smooth flow of logistics. Ensure reasonable spacing between equipment to avoid mutual interference and safety hazards.

[0310] (III) Examples

[0311] Taking a warehouse as an example, a warehouse layout that follows the five-distance principle might look like this:

[0312] Goods should be stacked according to the requirements for top distance, light distance, wall distance, column distance, and stack distance to ensure sufficient safe distance.

[0313] The warehouse has clearly marked main and secondary passageways, both with sufficient width to accommodate the passage of people and goods.

[0314] Firefighting equipment such as fire extinguishers and fire hydrants are placed in obvious and easily accessible locations, with no debris piled up around them.

[0315] Emergency evacuation signs are placed at the warehouse entrance and exit to ensure that personnel can evacuate quickly in case of an emergency.

[0316] 4. AGV Path Planning: Utilize path planning algorithms (e.g., traffic control, intelligent charging, intelligent rest, intelligent obstacle avoidance and unlocking, autonomous equipment planning) or path planning software to plan the optimal travel path for the AGV. When planning AGV routes, parameters such as the AGV's travel speed, acceleration, and turning radius need to be considered, as well as obstacles and constraints within the warehouse, to ensure that the AGV can autonomously avoid obstacles and maintain a safe distance from other equipment and personnel during its journey.

[0317] 5. Charging area planning: Set up a dedicated charging area for AGVs to ensure that AGVs can be charged in time when their power is low. When planning the charging area, the charging area should be located in a place that is easy for AGVs to reach and equipped with sufficient charging equipment.

[0318] II. Multi-level shelving design

[0319] The height and number of shelves are determined based on the warehouse height and the dimensions of the goods to achieve efficient storage. Here, we introduce the steps and related calculation formulas for shelf calculation.

[0320] 1. Calculate the length of the crossbeam;

[0321] The length of the crossbeam = the length of the pallet × 2 + the gap between the pallet and the column (6);

[0322] For example, if the pallet length is 1200mm, the pallet gap is 100mm, and the gap between the pallet and the column is 100mm, according to the above formula (6), the beam length = 1200mm × 2 + 100mm + 100mm = 2700mm.

[0323] 2. Determine the number of shelf layers;

[0324] The number of shelf layers is determined based on the total height of the goods and the height of each layer of goods (including pallets).

[0325] For example, the total height of the warehouse allows for three layers of shelving, and each layer is high enough to accommodate goods on a pallet (including the pallet).

[0326] 3. Calculate the shelf height;

[0327] Shelf height = cargo height × number of layers + beam height × number of layers + top safety distance (7);

[0328] For example, the height of the goods (including the pallet) is 1100mm, the height of the beam is 120mm (this is just an example, the actual height may vary depending on the beam material and design), and the top safety distance is 500mm. According to the above formula (7), the shelf height = 1100mm×3 + 120mm×3 + 500mm = 4460mm.

[0329] 4. Verification and adjustment;

[0330] After completing the above calculations, it is necessary to verify whether the height, length, and number of layers of the shelving meet the actual needs and space limitations of the warehouse, and adjustments can be made accordingly based on the verification results.

[0331] During implementation, the above parameters can be entered into a simulation system to verify the planning example of multi-level shelving.

[0332] III. Automated Equipment: Integrated automated loading and unloading equipment, barcode scanning doors, AGVs, elevators, automatic tape-making machines, automatic wrapping machines, etc.

[0333] Here, we will take the docking solution between AGV and elevator equipment as an example for explanation.

[0334] First, let me introduce the docking solution between AGV and elevator equipment, such as... Figure 9 As shown, the scheme includes steps S801 to S811:

[0335] Step S801: RCS requests resources from the elevator control.

[0336] Here, the RCS sends a control request command to the elevator controller, which corresponds to the elevator control system in the above embodiment.

[0337] Step S802: The elevator control determines whether the elevator is locked;

[0338] Here, the elevator corresponds to the target elevator in the above embodiment.

[0339] Step S803: The elevator controller returns a judgment signal to the AGV;

[0340] Here, after determining whether the elevator is locked, the elevator control system outputs a judgment signal and sends the judgment signal to the RCS.

[0341] When the signal indicates that the elevator is not locked, it means that the elevator resource is not occupied, and proceed to step S804; when the signal indicates that the elevator is locked, the RCS controls the AGV to wait at the elevator door until the elevator resource is released.

[0342] Step S804: RCS controls the AGV to enter the elevator;

[0343] Here, when the elevator resources are not locked, the AGV is controlled to enter the elevator after the elevator reaches the floor where the AGV is currently located.

[0344] Step S805: The RCS notifies the elevator controller to execute the next action;

[0345] Here, after the AGV enters the elevator, the elevator control system controls the elevator door to close, and the RCS sends the first control command to the elevator control system.

[0346] Step S806: The elevator control system moves the elevator across floors to reach the target floor;

[0347] Here, after receiving the first control command, the elevator control system controls the elevator to run towards the target floor, and after the elevator arrives at the target floor, it controls the elevator door to open.

[0348] Step S807: Elevator control notifies RCS;

[0349] Here, after the elevator reaches the target floor, the elevator control system controls the elevator door to open and sends the target floor arrival command to the RCS.

[0350] Step S808: RCS controls the AGV to switch maps and inquires whether the level is flat;

[0351] Here, after receiving the arrival instruction for the target floor, the RCS controls the AGV to update to the map corresponding to the target floor, and sends the information of the switched map to the elevator controller to inquire whether the confirmed switched map matches the target floor.

[0352] For example, when an AGV takes an elevator from the first floor to the second floor, the AGV map distinguishes between the first-floor map and the second-floor map. Controlling the AGV to update the map means that after the AGV arrives at the second floor, the AGV map needs to be switched from the first-floor map to the second-floor map.

[0353] Step S809: The elevator control determines whether a leveling signal has been returned;

[0354] Here, if the elevator control system determines that the map updated by the AGV matches the target floor, it returns a leveling signal to the RCS, indicating that the AGV map update is successful. If the elevator control system determines that the map updated by the AGV does not match the target floor, it returns a non-leveling signal to the RCS, indicating that the AGV map update has failed. After receiving the non-leveling signal, the RCS sends an alarm signal to the AGV, indicating that the AGV map update is abnormal.

[0355] Step S810: The RCS controls the AGV to exit the elevator and notifies the elevator control.

[0356] Here, when the elevator control system returns a leveling signal, the RCS controls the AGV to exit the elevator and sends an exit command to the elevator control system.

[0357] Step S811: Resource release.

[0358] Here, when the elevator control system receives the exit command sent by the RCS, it updates the elevator's status to manual control.

[0359] Second, let me introduce the protocol of the AGV control elevator solution.

[0360] As shown in Table 1 below, the elevator includes multiple registers. The elevator control system can control the operation of the elevator by updating the data in the registers. For example, for register 40101, updating the data in the register from 0 to 1 will result in the following elevator operation mode: locking the internal call button and the external call button, clearing the external call instruction, and running the existing internal call instruction.

[0361]

[0362]

[0363] It should be noted that for register 40101, the AGV waiting state corresponds to the waiting robot control state in the above embodiments; the AGV running state corresponds to the robot control state in the above embodiments.

[0364] Third, AGV-controlled elevator system

[0365] like Figure 10 As shown, the MOD2 port on the elevator control system MCTC-MCB 212 is connected to the MOD-MCB port on the protocol expansion board MCTC-KZ-BOS213 via an RS485 bus. The MOD2 port on the protocol expansion board MCTC-KZ-BOS213 is connected to the AGV device 222 via an RS485 bus.

[0366] It should be noted that if the AGV device 222 uses the TCP / IP protocol, a TCP protocol conversion module needs to be added between the protocol expansion board MCTC-KZ-BOS213 and the AGV device 222. This protocol conversion module is connected to the MOD2 or MOD1 port on the protocol expansion board MCTC-KZ-BOS213 via an RS485 bus.

[0367] Fourth, description of the AGV-controlled elevator solution.

[0368] After the AGV is connected to the RCS, the elevator status can be obtained in real time through the open Modbus-RTU protocol. Under normal circumstances, the elevator will operate according to normal logic and will not be controlled by the AGV.

[0369] When the AGV device wants to control the elevator, it sends a control request command to the elevator control system. Upon receiving the command, the control system writes 1 [01 06 9C A4 00 01 27B9] to register 40100, controlling the elevator to enter AGV mode. In AGV mode, the control system disables input of internal and external call buttons, clears registered external call commands, continues to respond to registered internal call commands, and switches the state of register 40101 from 0 (manual control state) to 1 (AGV waiting state). After the elevator reaches the last internal call floor and waits for 5 seconds, the control system switches the state of register 40101 from 1 to 2 (AGV running state) and sends the data in register 40101 to the RCS. After confirming that the data in register 40101 is updated to 2, the RCS sends the desired floor to the elevator control system, which then controls the elevator by writing the floor number to register 40089. After the AGV finishes using the elevator, it sends an exit command to the elevator control system. Upon receiving the exit command, the elevator control system writes 0 ([01 06 9C A400 00E6 79]) to the 40100 register to control the elevator to exit AGV mode. After the elevator exits AGV mode, the elevator control system unlocks the elevator's internal and external call buttons, and the door hold mode automatically closes.

[0370] It should be noted that in AGV mode, the elevator automatically opens the door when it arrives at the station, and then automatically enters the door-opening hold state. It will not close the door automatically. After the elevator control system receives the door-closing command or the floor registration command sent by the RCS, the elevator control system controls the elevator car to close the door automatically.

[0371] Fifth, AGV status description

[0372] like Figure 11The diagram illustrates the elevator's transitions and operating modes across different elevator states. These states include manual control (311), AGV waiting (312), and AGV operation (313). First, the elevator's operation modes in each state are explained: In manual control (311), the elevator operates normally. In AGV waiting (312), registration of internal and external call buttons is disabled; registered external calls are cleared; and registered internal call commands are responded to. In AGV operation (313), registration of internal and external call buttons is disabled; the elevator automatically opens its doors upon arrival at its destination; and the doors remain open automatically after reaching the designated location. Next, the transitions between different elevator states are explained. In manual control state 311, when the data in register 40101 is updated to 1, the elevator enters AGV waiting state 312. In AGV waiting state 312, when the data in register 40101 is updated to 0, the elevator enters manual control state 311. Alternatively, in AGV waiting state 312, if the elevator has no internal or external call commands and stops for more than 5 seconds, the elevator enters AGV running state 313. In AGV running state 313, when the data in register 40101 is updated to 0, the elevator enters manual control state 311.

[0373] Sixth, AGV control process

[0374] To facilitate the development of AGV equipment, such as Figure 12 The diagram shows a basic AGV control flowchart, where the AGV control logic is implemented by the AGV device according to the on-site application conditions. The AGV control flow can be found in steps S1101 to S1109:

[0375] S1101: RCS reads the elevator status;

[0376] Here, the elevator control system sends the data in the elevator's 40101 register to the RCS, and the RCS can obtain the elevator's status through the data received in the 40101 register.

[0377] S1102: Do we need to enter AGV mode?

[0378] Here, if it is (Y), proceed to step S1103; if it is (N), proceed to step S1101.

[0379] RCS reads the data in register 40101 and determines that the elevator can enter AGV mode when the data indicates a manual control state.

[0380] S1103: RCS sends a control request command to the elevator controller (write 1 to 40100);

[0381] Here, the RCS sends a control request command to the elevator control system. After receiving the control request command, the elevator control system writes 1 to register 40100 and updates the data in register 40101.

[0382] S1104: 40101 = 2;

[0383] Here, the elevator control system sends the data in register 40101 to the RCS. The RCS can obtain the elevator status through the received data in register 40101. If the data in register 40101 is 2, proceed to step S1106; otherwise, proceed to step S1105.

[0384] S1105: 40101 = 1;

[0385] Here, if it is (Y), proceed to step S1104; if it is (N), proceed to step S1103.

[0386] When the data in register 40101 is 1, the elevator status is AGV waiting state.

[0387] S1106: AGV control logic;

[0388] Here, the AGV control logic is implemented according to actual needs.

[0389] S1107: Do we need to exit the AGV?

[0390] Here, after the AGV arrives at the floor, it is determined whether the elevator has exited AGV mode. If yes (Y), proceed to step S1108; if no (N), proceed to step S1106.

[0391] S1108: Send exit command (write 0 to 40100);

[0392] Here, if it is determined that the elevator will not be used, the RCS sends an exit command to the elevator control system. After receiving the exit command, the elevator control system writes 0 to register 40100 and updates the data in register 40101.

[0393] S1109:40101=0.

[0394] Here, if the data in register 40101 is 0, it means that the elevator is in manual control mode and the internal and external call buttons can be used normally.

[0395] It should be noted that the AGV waiting state corresponds to the waiting robot control state in the above embodiments, and the AGV running state corresponds to the robot control state in the above embodiments.

[0396] IV. Intelligent Control System

[0397] By introducing a factory-level logistics control system, the entire lifecycle of goods can be automated, from unloading, automatic accounting, unloading finished battery cells, wrapping and strapping, to loading goods onto trucks.

[0398] The following describes the scenario control logic for the full lifecycle automation of goods unloading, automatic posting, finished battery cell unloading, wrapping and strapping, and goods loading, which may include steps S200 to S208:

[0399] Step S200: The logistics vehicle stops at the platform, the materials are automatically unloaded, the materials are automatically scanned by the conveyor belt, and the material stickers are checked for receiving and warehousing operations, replacing the manual use of PDA for pallet binding.

[0400] Here, the conveyor belt is equipped with laser sensors on both sides, which can scan materials and transmit the information after scanning to the SAP system to complete the material receiving.

[0401] In some implementations, warehouse personnel can use handheld PDAs to log into the SAP system to scan and affix stickers to materials for receiving them.

[0402] Step S201: After receiving the goods, the LCS system issues a task instruction and forwards it to the RCS after being dispatched through the logistics transfer center. After receiving the task, the RCS calls the AGV and assigns the task to the AGV, controlling the AGV to go and move the goods.

[0403] Here, after the materials on the logistics vehicle are received, SAP sends a task to the LCS through the interface with the LCS. After receiving the task, the LCS sends the task to the WMS to create document job information. The WMS calls the LCS periodically, and the LCS calls the RCS according to the pending task.

[0404] The logistics transfer scheduling is handled by LCS, which typically uses an interface to call a handler that listens for events of the task type to process the task.

[0405] During implementation, three main factors are considered: task priority, task proximity, and task generation time. These factors are then weighted and considered in conjunction with different weighting factors, as shown in formula (5), to calculate the evaluation value (Task) for each AGV performing the task. cost The smallest Task obtained will be... cost The corresponding AGV is determined to be the idle optimal AGV for performing this task.

[0406] LCS generates a transport task for the AGV with the best available space and sends the transport task to RCS, which then controls the AGV with the best available space to execute the transport task.

[0407] Step S202: The AGV arrives at the starting position of the transport and picks up the goods. When the AGV transports the materials through the barcode gate, the materials are automatically posted by scanning the stickers on the materials. At the same time, the WMS allocates storage locations for the materials and sends the storage location information to the LCS. After receiving the storage location information, the LCS sends the storage location information to the RCS. After receiving the storage location information, the RCS controls the AGV to go to the target warehouse.

[0408] Here, the AGV arrives at the barcode scanning gate and uses a scanning device (such as a barcode scanner or RFID reader) to scan the unique identifier on the material. After successful scanning, the material information, such as material model, material type, and material quantity, is obtained and transmitted to the WMS via wireless communication (such as 5G).

[0409] Step S203: During the AGV's journey to the target warehouse, if there is cross-floor transport, the RCS controls the AGV to reach the elevator position and sends an opening command to the elevator control system. The elevator control system processes the received opening command logically, controls the elevator to open, and sends an entry command to the RCS. After receiving the entry command, the RCS controls the AGV to enter the elevator and simultaneously sends an arrival command to the elevator to the designated floor (i.e., the first control command). After receiving the designated floor command, the elevator control system controls the elevator to run to the designated floor (i.e., the target floor), and sends a target floor arrival command to the RCS after the elevator reaches the designated floor. After receiving the target floor arrival command, the RCS issues an elevator command, controls the AGV to leave the elevator, and controls the AGV to reach the target location based on the planned path, placing the goods into the designated target storage location, completing the raw material warehousing operation.

[0410] The following describes the logic control process of the elevator control system receiving instructions, which may include steps S231 to S236:

[0411] Step S231: Command reception and verification;

[0412] Receiving instructions: The elevator control system receives door opening instructions from the RCS via a network interface (5G network).

[0413] Verification Instruction: The elevator control system verifies the received door opening instruction to confirm its legality and completeness. The verification process includes checking the instruction format, check code, etc., to prevent illegal instructions or data errors.

[0414] Step S232: Elevator status check;

[0415] Current status assessment: The elevator control system checks the current status of the elevator, including whether it is running, the floor it is on, and whether the elevator doors are closed.

[0416] Operation priority judgment: If the elevator is performing other tasks (such as carrying people or goods), the elevator control system will determine whether it is necessary to suspend the current task in response to the RCS door opening request according to the preset scheduling rules.

[0417] Step S233: Prepare to open the door;

[0418] Adjusting the operating trajectory: If the elevator needs to move to reach the floor where the AGV is located, the elevator control system will adjust the operating trajectory to ensure that the elevator can arrive safely and quickly.

[0419] Door opening signal transmission: When the elevator arrives at the floor where the AGV is located and is ready to open the door, the elevator control system will send an opening signal to the elevator door control system.

[0420] Step S234: Open the door and execute;

[0421] Door control system response: After receiving the door opening signal, the elevator door control system executes the door opening action to ensure that the elevator door is fully opened and remains open so that the AGV can enter.

[0422] Status feedback: The elevator door control system feeds back the door opening status to the elevator control system so that the elevator control system can perform the next operation.

[0423] Step S235: Wait for the AGV to enter;

[0424] Keep the door open: The elevator control system keeps the elevator door open until it receives a signal that the AGV has entered the elevator or reaches the preset waiting time.

[0425] Safety checks: During the process of the AGV entering the elevator, the elevator control system may perform safety checks to ensure that there are no obstacles blocking the closing of the elevator doors.

[0426] Step S236: Close the door and continue operation.

[0427] Continue operation: After the elevator door closes, the elevator control system will continue to operate the elevator according to the AGV's designated floor instruction, delivering the AGV to the designated floor.

[0428] It should be noted that a stable communication connection needs to be maintained between the elevator control system and the AGV throughout the process to ensure accurate transmission of instructions and timely response of the elevator.

[0429] Step S204: Battery cells are unloaded from the warehouse. The AGV transports the battery cells to the automatic barcode scanning door to complete the payment process, and then transports the battery cells to the transfer area.

[0430] Step S205: When there are battery cells in the docking area, the LCS issues a task to call the AGV to transport the battery cells from the docking area to the battery cell wrapping machine port, and requests the host computer whether the battery cells can be put in. The host computer can be a wrapping machine, which has a host computer program. After receiving the instruction on whether the battery cells can be put in, the wrapping machine processes the business logic and reports a feedback instruction that the cells can be put in. The feedback instruction is relayed to the RCS through the LCS. The RCS puts the battery cells into the wrapping machine conveyor belt port to complete the automatic wrapping operation.

[0431] Here, LCS manages the storage locations in the transfer area, sets up transfer area scheduling tasks, and polls to monitor and query the empty / full status of the storage locations in the transfer area. When the AGV puts down goods, it reports the status to WMS to indicate that the storage location is full of battery cells.

[0432] Step S206: Automatic tape-making of battery cells is completed. A completion instruction is issued, and the AGV is called with a command that the battery cells can be delivered. The RCS assigns tasks and forwards the storage location assigned by the WMS to the RCS through the LCS. The AGV will store the battery cells with complete tape-making in the warehouse.

[0433] Step S207: When there is an empty storage space in the warehouse preparation area, the optimal AGV is automatically called to transport the battery cells from the storage area to the designated storage space in the preparation area according to the first-in-first-out principle.

[0434] Here, WMS stores data synchronized with SAP in chronological order, while RCS also handles finished battery cells according to the first-in, first-out principle.

[0435] Step S208: When the logistics vehicle arrives at the platform, the automatic battery cell loading function is activated, and the AGV is called to transport the finished battery cells from the preparation area to the automatic loading conveyor belt to complete the loading operation.

[0436] The following describes the material posting scenario. First, the business logic of the material posting scenario is as follows: Finished battery cells produced in the factory are put into storage. The upstream production system issues a production completion order to SAP. SAP sends the warehouse order to WMS via an interface. WMS uses the warehouse order and LOTID information to allocate storage inventory according to the storage rules and instructs AGVs to move the cells to the designated storage location. After the storage is completed, the posting information is sent back to SAP. In actual implementation: SAP will configure both automatic and manual posting methods. The calling procedures for both are the same. In the initial stage of system launch, to prevent posting errors, manual posting can be used first, followed by storage. This can be changed to automatic posting later.

[0437] Let's take an automatic posting scenario as an example. Figure 13 As shown, steps S1201 to S1207 may be included:

[0438] Step S1201: Synchronize the issuance of battery cell warehouse receipts;

[0439] Warehouse order synchronization interface: SAP synchronizes the battery cell warehouse order to WMS, and WMS generates a battery cell warehouse entry order; the information transmission process is: SAP-LCS-WMS.

[0440] Here, SAP identifies the battery cells that need to be placed in a warehouse order and generates a battery cell placement order. The battery cell placement order is then sent to the WMS via the LCS. After receiving the battery cell placement order, the WMS generates a battery cell placement and receipt order for that battery cell.

[0441] Step S1202: Physical object scanning gate;

[0442] Material information synchronization interface: The barcode scanning gate scans the LOTID and synchronizes the material information to the WMS; the information transmission process is: RCS barcode scanning gate - LCS - WMS.

[0443] Here, the barcode scanner obtains the material's LOTID information by scanning the LOTID information on the material and reports it to the RCS. After receiving the material's LOTID information, the RCS sends the material's LOTID information to the WMS through the LCS.

[0444] Step S1203: Send out information on third-party AGV connection points;

[0445] Connection point location information transmission interface: After the WMS obtains the material information, it transmits the connection point location information to the third-party AGV; the information transmission process is: WMS-LCS-third-party AGV.

[0446] Here, after obtaining the material LOTID information, the WMS can determine the location information of the corresponding docking point and send the docking point location information to the third-party AGV through LCS.

[0447] Step S1204: The third-party AGV transports the goods to the designated docking point; the information indicating completion of the transport is transmitted back.

[0448] Third-party AGV transport completion information feedback interface: After the third-party AGV transports the goods to the designated transfer point, it sends the transport completion information back to the WMS, triggering the WMS to generate a receiving record; the information transmission process is: third-party AGV-LCS-WMS.

[0449] Here, after the third-party AGV transports the battery cells to the docking point, it notifies the WMS that the transport has been completed via LCS. After receiving the transport completion information sent by the third-party AGV, the WMS is triggered to generate a receipt record.

[0450] Step S1205: WMS generates an inbound record and automatically assigns a target storage location; RCS sends the inbound task to the AGV;

[0451] WMS assigns target storage locations to AGV interfaces: WMS determines whether the battery cell order has a temporary storage tag. If it does, it assigns the battery cell to a temporary storage location; if it does not, it assigns it to a storage location. If there is an error in the barcode scanner or the order is not processed, the battery cell is assigned to an error location. The information transmission process is: WMS-LCS-RCS.

[0452] Here, the WMS allocates target storage locations to the battery cells based on the battery cell warehouse order and sends the target storage locations to the RCS via the LCS. After receiving the target storage locations sent by the WMS, the RCS generates an inbound task and sends it to the AGV so that the AGV can perform the handling task.

[0453] Step S1206: The AGV transports the goods to the target storage location;

[0454] AGV transport completion information feedback interface: After the AGV transports the battery cell to the designated location according to the RCS transport task, it transmits the transport status back to WMS through RCS, and WMS inventory is updated; the information transmission process is: RCS-LCS-WMS.

[0455] Here, after receiving the target storage location, the RCS issues an inbound task to the AGV. After receiving the inbound task, the AGV controls itself to reach the current position of the battery cell, picks up the battery cell, and after moving the battery cell to the target storage location, sends a transport completion message to the WMS through the LCS.

[0456] Step S1207: WMS generates an inbound record and updates the inventory; SAP inventory posting information is sent back.

[0457] Automatic inventory posting interface: WMS sends the inventory update results back to SAP; the information transmission process is: WMS-LCS-SAP.

[0458] Here, after receiving the handling completion information sent by RCS, WMS generates an inbound record, updates the inventory, and sends the storage location result back to SAP via LCS to complete the automatic posting of the battery cells.

[0459] The intelligent logistics management system for high-density warehouses proposed in this application can achieve the following beneficial effects:

[0460] 1) Battery cell storage and material preparation locations support dual-lift and triple-lift switching, resulting in high storage space utilization; 2) Supports ultra-large, dense, flat, automated storage, improving space utilization, reducing personnel costs, and achieving cost reduction and efficiency improvement; 3) Integrates automated equipment and intelligent control systems, automating the equipment lifecycle, reducing warehouse personnel costs, and achieving cost reduction and efficiency improvement.

[0461] It should be noted that, in the embodiments of this application, if the above-described status monitoring method is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiments of this application, or the part that contributes to the related technology, can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause a smart logistics management system to execute all or part of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, mobile hard drives, read-only memory (ROM), magnetic disks, or optical disks. Thus, the embodiments of this application are not limited to any specific hardware, software, or firmware, or any combination of hardware, software, and firmware.

[0462] This application provides a computer-readable storage medium storing a computer program thereon. When executed by a smart logistics management system, the computer program implements some or all of the steps in the above-described method. The computer-readable storage medium can be transient or non-transient.

[0463] This application provides a computer program including computer-readable code. When the computer-readable code runs in an intelligent logistics management system, the intelligent logistics management system is used to implement some or all of the steps in the above method.

[0464] This application provides a computer program product, including a computer program or instructions, which, when executed by a smart logistics management system, implement the steps in the above-described method.

[0465] The computer program product can be implemented in hardware, software, or a combination thereof. In some embodiments, the computer program product is specifically embodied in a computer storage medium; in other embodiments, the computer program product is specifically embodied in a software product, such as a software development kit (SDK), etc.

[0466] It should be noted that the descriptions of the various embodiments above tend to emphasize the differences between them, while their similarities or commonalities can be referred to interchangeably. The descriptions of the storage medium, computer program, and computer program product embodiments above are similar to the descriptions of the method embodiments above, and have similar beneficial effects. For technical details not disclosed in the storage medium, computer program, and computer program product embodiments of this application, please refer to the descriptions of the method embodiments of this application for understanding.

[0467] It should be understood that the phrase "one embodiment" or "an embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of this application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. It should be understood that in the various embodiments of this application, the sequence numbers of the above steps / processes do not imply a sequential order of execution; the execution order of each step / process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application. The sequence numbers of the above embodiments of this application are merely descriptive and do not represent the superiority or inferiority of the embodiments.

[0468] It should be noted that, in this document, 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. Unless otherwise specified, 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 that element.

[0469] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple units or components can be combined, or integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or units can be electrical, mechanical, or other forms.

[0470] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units. They may be located in one place or distributed across multiple network units. Some or all of the units may be selected to achieve the purpose of this embodiment according to actual needs.

[0471] In addition, each functional unit in the various embodiments of this application can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the integrated unit can be implemented in hardware or in the form of hardware plus software functional units.

[0472] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as mobile storage devices, read-only memory (ROM), magnetic disks, or optical disks.

[0473] Alternatively, if the integrated units described above are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence or the part that contributes to related technologies, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, ROM, magnetic disks, or optical disks.

[0474] The above are merely embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. A robot control method, characterized in that, The robot control method includes: In response to the elevator control system sending an elevator status indicating robot control status, and the robot entering the target elevator, a first control command is sent to the elevator control system; wherein, the first control command includes the target floor to which the robot is to go; the elevator status includes manual control status, waiting for robot control status, and robot control status; Control the robot to update to the first map corresponding to the target floor; If the first map matches the floor reached by the target elevator, the robot is controlled to leave the target elevator, and the robot is controlled to navigate based on the first map.

2. The robot control method based on claim 1, characterized in that, The robot control method includes: Before the robot leaves the target elevator and navigates based on the first map, it sends an exit command to the elevator control system; wherein the exit command is used to instruct the elevator control system to control the target elevator from the robot control state to the manual control state.

3. The robot control method based on claim 1, characterized in that, The robot control method includes: Send a control request command to the elevator control system and receive the elevator status of the target elevator from the elevator control system; Upon receiving a target elevator status indication that it is in robot control mode, a second control command is sent to the elevator control system; the second control command includes the current floor where the robot is located. Upon receiving a floor arrival command from the elevator control system, the robot is controlled to enter the target elevator; wherein, the floor arrival command indicates that the target elevator has arrived at the current floor.

4. The robot control method based on claim 3, characterized in that, The robot control method includes: In response to the target storage location corresponding to the material being handled by the robot sent by the logistics scheduling system, the target floor corresponding to the target storage location is determined; wherein, the target storage location is determined by the warehouse management system based on the storage location status and the material information of the material, and then sent to the logistics scheduling system. If the target floor is different from the current floor where the robot is located, the control request command is sent to the elevator control system.

5. The robot control method based on claim 1, characterized in that, The robot control method includes: In response to the target storage location corresponding to the material being handled by the robot, sent by the logistics scheduling system, the target floor corresponding to the target storage location is determined; If the target floor is the same as the current floor where the robot is located, control the robot to navigate based on the first map.

6. The robot control method based on claim 4 or 5, characterized in that, The robot control method includes: In response to the material handling task sent by the logistics scheduling system, the robot is controlled to move to the current location of the material and handle the material; The material handling task is generated and sent to the robot control system by the logistics scheduling system after it receives the material information of the material and determines the robot to handle the material. In response to the material information reported by the robot when it carries the material through the barcode scanning device, the robot sends the material information to the logistics scheduling system and waits to receive the target storage location of the material from the logistics scheduling system.

7. The robot control method according to any one of claims 1 to 5, characterized in that, The robot control method includes: After controlling the robot to reach the target storage location and placing the materials in the target storage location, a handling completion instruction is sent to the logistics scheduling system. The handling completion instruction is used to instruct the warehouse management system to bind the material to the target storage location, output binding information, and send the binding information to the software management system.

8. The robot control method according to any one of claims 1 to 5, characterized in that, The robot control method includes: Send the first map to the elevator control system; Receive the judgment result sent by the elevator control system regarding whether the first map and the second map corresponding to the target floor are the same; Based on the judgment result, it is determined whether the first map matches the floor reached by the target elevator; If the first map does not match the floor reached by the target elevator, an alarm signal is sent to the robot to indicate that the map update is abnormal.

9. An elevator control method, characterized in that, The elevator control method is applied to an elevator control system and includes: In response to a control request command sent by the robot control system, the elevator state of the target elevator is controlled to enter the robot control state; wherein, the control request command is used to control the target elevator to enter the robot control state from the manual control state; In response to a second control command sent by the robot control system, the target elevator is controlled to move towards the current floor where the robot is located; wherein, the second control command includes the current floor where the robot is located; After the target elevator arrives at the current floor, a floor arrival command is sent to the robot control system to control the target elevator to open its doors; In response to a first control command sent by the robot control system, the robot controls the target elevator to move toward the target floor; the first control command is sent after the robot enters the target elevator. After the target elevator arrives at the target floor, control the target elevator to open its doors.

10. The elevator control method according to claim 9, characterized in that, The elevator control method includes: Upon receiving an exit command from the robot control system, the elevator status of the target elevator is updated to manual control status; wherein, the exit command is used to instruct the elevator control system to control the target elevator to transition from the robot control status to the manual control status.

11. The elevator control method according to claim 10, characterized in that, The step of responding to a control request command sent by the robot control system and determining the elevator state of the target elevator to enter the robot control state includes: In response to a control request command sent by the robot control system, and based on the elevator scheduling rules, a target elevator to be controlled is determined from at least one elevator corresponding to the elevator control system. Update the elevator status of the target elevator to a waiting state for robot control, and send the elevator status of the target elevator to the robot control system; When the target elevator is in a waiting state for robot control, lock the outbound call button and the inbound call button of the target elevator, clear the outbound call command corresponding to the outbound call button of the target elevator, and control the target elevator to execute the inbound call command corresponding to the inbound call button. When the target elevator is controlled to complete the internal call command, the elevator status of the target elevator is updated to robot control status, and the elevator status of the target elevator is sent to the robot control system.

12. The elevator control method according to any one of claims 9 to 11, characterized in that, The elevator control method includes: Receive the first map sent by the robot control system, and obtain the second map corresponding to the target floor; Determine whether the first map and the second map match, and send the determination result to the robot control system.

13. A smart logistics management system, characterized in that, This includes robot control systems and elevator control systems; among which, The robot control system is configured to respond to an elevator control system indicating that the elevator status is robot control state and the robot has entered the target elevator, by sending a first control command to the elevator control system; wherein the first control command includes the target floor to which the robot is to proceed; the elevator status includes manual control state, waiting for robot control state, and robot control state; control the robot to update to a first map corresponding to the target floor; and, if it is determined that the first map matches the floor reached by the target elevator, control the robot to leave the target elevator and control the robot to navigate based on the first map; The elevator control system is configured to, in response to a control request instruction sent by the robot control system, control the elevator state of the target elevator to enter the robot control state; wherein, the control request instruction is used to control the target elevator to enter the robot control state from the manual control state; in response to a second control instruction sent by the robot control system, control the target elevator to open its door after the target elevator reaches the current floor where the robot is located; wherein, the second control instruction includes the current floor where the robot is located; and in response to a first control instruction sent by the robot control system, control the target elevator to run towards the target floor.

14. The intelligent logistics management system based on claim 13, characterized in that, The intelligent logistics management system includes a logistics dispatching system and a warehouse management system; wherein... The warehouse management system is used to determine the target storage location corresponding to the material being handled by the robot based on the storage location status and the material information of the material, and to send the target storage location to the logistics scheduling system. The logistics scheduling system is used to send the target storage location received from the warehouse management system to the robot control system; The robot control system is used to respond to the target storage location corresponding to the material being transported by the robot sent by the logistics scheduling system, determine the target floor corresponding to the target storage location, and send a control request command to the elevator control system if the target floor is different from the current floor where the robot is located.

15. A computer-readable storage medium having a computer program stored thereon, which, when executed by an intelligent logistics management system, implements the steps of the method according to any one of claims 1 to 12.

16. A computer program product comprising a computer program or instructions, wherein when executed by an intelligent logistics management system, the computer program or instructions implement the steps of the method according to any one of claims 1 to 12.

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