Cross-storage transportation control method, apparatus and system

A method for controlling transportation between warehouses, applicable to a source Robot Cooperative System, RCS, in a system for controlling transportation between warehouses, the system further comprising an Automated Guided Vehicle, AGV, and a target RCS, wherein the method comprises:

• sending, to the AGV, first transportation information comprising information of a first to-be-transported object, such that the AGV transports the first to-be-transported object to a handover area and sends a first transferring request to the source RCS;
• and
• receiving the first transferring request from the AGV and removing a control over the AGV, such that the AGV sends a second transferring request to the target RCS, receives a location of a first target storage space from the target RCS, and transports the first to-be-transported object from the handover area to the first target storage space;
• wherein before sending a second transferring request to the target RCS, the AGV receives a first address from the source RCS, the second transferring request corresponding to the first address;
• wherein the handover area is an overlap of an area under the control of the source RCS and an area under the control of the target RCS, and the AGV located in the handover area can be under the control of both the source RCS and the target RCS.

A method for controlling transportation between warehouses, applicable to a target Robot Cooperative System, RCS, in a system for controlling transportation between warehouses, the system further comprising an Automated Guided Vehicle, AGV, and a source RCS, wherein the method comprises:

• receiving a second transferring request sent by the AGV and taking control over the AGV, wherein before sending the second transferring request to the target RCS, the AGV receives, from the source RCS, first transportation information comprising information of a first to-be-transported object, transports the first object to a handover area, and sends a first transferring request to the source RCS;
• and
• sending a location of a first target storage space to the AGV, such that the AGV transports the first to-be-transported object from the handover area to the first target storage space;
• wherein before receiving a second transferring request sent by the AGV, the AGV receives a first address from the source RCS, the second transferring request corresponding to the first address;
• wherein the handover area is an overlap of an area under the control of the source RCS and an area under the control of the target RCS, and the AGV located in the handover area can be under the control of both the source RCS and the target RCS.

A system for controlling transportation between warehouses, comprising a source Robot Cooperative System, RCS, a target RCS, and an Automated Guided Vehicle, AGV;

• wherein
• the source RCS is configured for sending, to the AGV, first transportation information which comprises information of a first to-be-transported object;
• the AGV is configured for receiving the first transportation information from the source RCS, transporting the first to-be-transported object to a handover area, and sending a first transferring request to the source RCS;
• the source RCS is further configured for receiving the first transferring request from the AGV and removing a control over the AGV;
• the AGV is further configured for sending a second transferring request to the target RCS;
• the target RCS is configured for receiving the second transferring request from the AGV and sending a location of a first target storage space to the AGV;
• and
• the AGV is further configured for receiving the location of the first target storage space from the target RCS and transporting the first to-be-transported object from the handover area to the first target storage space;
• wherein before the AGV sends a second transferring request to the target RCS, the AGV receives a first address from the source RCS, the second transferring request corresponding to the first address;
• wherein the handover area is an overlap of an area under the control of the source RCS and an area under the control of the target RCS, and the AGV located in the handover area can be under the control of both the source RCS and the target RCS.