Motion control system and method, and control platform

Abstract

Provided in the embodiments of the present disclosure are a motion control system and method, and a control platform. The motion control system comprises a control platform, mobile devices, and partition detection units, wherein the partition detection units are deployed at the junction of a plurality of storage areas, which are obtained by means of division in advance in a warehousing scenario. A first detection unit is configured to send a first trigger event to the control platform when detecting that a target object enters a target storage area, wherein the first detection unit is a partition detection unit which is deployed in the target storage area and the current detection state of which is an enabled state. The control platform is configured to send a stop instruction to a mobile device in the target storage area in response to the first trigger event, and control the detection state of a second detection unit to be changed to the enabled state, wherein the second detection unit is a partition detection unit deployed in the target storage area, and the second detection unit is different from the first detection unit. The mobile device is configured to stop motion in response to the stop instruction.

Description

Motion control system, method and control platform

[0001] This application claims priority to Chinese patent application No. 202310862888.9 filed on July 13, 2023, priority to Chinese patent application No. 202410015519.0 filed on January 4, 2024, and priority to Chinese patent application No. 202410658323.3 filed on May 24, 2024, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present disclosure relates to the field of warehousing and logistics technology, and in particular to a motion control system, method, and control platform. Background Art

[0003] With the development of mobile device technology, more and more mobile devices are widely used in freight, warehousing, logistics, catering and other industrial services, greatly facilitating human production and life.

[0004] In current unmanned mobile device swarm motion systems, the obstacle avoidance and detection capabilities of the mobile devices themselves are insufficiently safe to meet the safety requirements for mixed human-machine interaction. Therefore, physical fencing is commonly used to separate the mobile devices from personnel during project implementation to ensure that human safety is not endangered in the event of a robot malfunction. In situations where on-site human intervention is necessary, to ensure personnel safety, personnel must first trigger a stop of all robots from outside the site and then enter the mobile device area through a secure entrance to address the issue. During this process, all robots in the area remain stationary until the personnel leave the area, resulting in lower operational efficiency for the mobile devices.

[0005] Summary of the Invention

[0006] An embodiment of the present disclosure provides a motion control system, which includes a control platform, multiple mobile devices and multiple partition detection units, and the partition detection units are deployed at the intersection of multiple storage areas pre-divided in a warehouse scene. The first detection unit is configured to send a first trigger event to the control platform when it detects that a target object enters a target storage area among multiple storage areas; wherein the first detection unit is a partition detection unit deployed in the target storage area and the current detection state is the on state. The control platform is configured to send a stop instruction to the mobile device in the target storage area in response to the first trigger event, and control the detection state of the second detection unit to change to the on state, wherein the second detection unit is a partition detection unit deployed in the target storage area, and the second detection unit is different from the first detection unit. The mobile device is configured to stop moving in response to the stop instruction.

[0007] A second aspect of an embodiment of the present disclosure provides a motion control method, which is applied to a motion control system, wherein the motion control system includes a control platform, multiple mobile devices, and multiple partition detection units, wherein the partition detection units are deployed at the intersection of multiple storage areas pre-divided in a warehousing scene. The motion control method includes: first, when a first detection unit detects that a target object enters a target storage area among multiple storage areas, a first trigger event is sent to the control platform; wherein the first detection unit is a partition detection unit deployed in the target storage area, and the current detection state is an on state. Secondly, in response to the first trigger event, the control platform sends a stop instruction to the mobile device in the target storage area, and controls the detection state of the second detection unit to change to an on state; wherein the second detection unit is a partition detection unit deployed in the target storage area, and the second detection unit is different from the first detection unit. Finally, the mobile device stops moving in response to the stop instruction.

[0008] The third aspect of the embodiments of the present disclosure provides a control platform, which is deployed with a motion control system. The motion control system includes a control platform, multiple mobile devices, and multiple partition detection units. The partition detection units are deployed at the intersection of multiple storage areas pre-divided in the storage scene. The control unit is used to execute computer-executable instructions. When the computer-executable instructions are executed by the control unit, the following are achieved: in response to a first trigger event, a stop instruction is sent to the mobile device in the target storage area, and the detection state of the second detection unit is controlled to change to an on state; wherein the first trigger event is sent to the control unit by the first detection unit when it detects that the target object enters a target storage area among the multiple storage areas; the first detection unit is a partition detection unit deployed in the target storage area, and the current detection state is an on state; the second detection unit is a partition detection unit deployed in the target storage area, and the second detection unit is different from the first detection unit.

[0009] The fourth aspect of the embodiments of the present disclosure provides an electronic device, comprising: a processor and a memory, wherein the memory is used to store computer-executable instructions; the processor is used to read the instructions from the memory and execute the instructions to implement the motion control method described in the second aspect above.

[0010] A fifth aspect of the embodiments of the present disclosure provides a computer-readable storage medium, which stores computer program instructions. When a computer reads the instructions, the motion control method described in the second aspect is executed.

[0011] A sixth aspect of an embodiment of the present disclosure provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer executes the motion control method described in the second aspect above. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] FIG1 is a schematic diagram of a motion control system provided by an embodiment of the present disclosure;

[0013] FIG2 is a schematic diagram of a warehousing scenario provided by an embodiment of the present disclosure;

[0014] FIG3 is a schematic diagram of the interaction of dual positioning channels under a motion control system architecture provided by an embodiment of the present disclosure;

[0015] FIG4 is a schematic diagram of another warehousing scenario provided by an embodiment of the present disclosure;

[0016] FIG5 is a schematic diagram of another motion control system provided by an embodiment of the present disclosure;

[0017] FIG6 is a schematic diagram of another motion control system provided by an embodiment of the present disclosure;

[0018] FIG7 is a schematic diagram of a safety positioning module provided in an embodiment of the present disclosure;

[0019] FIG8 is a schematic diagram of another warehousing scenario provided by an embodiment of the present disclosure;

[0020] FIG9 is a schematic diagram of another warehousing scenario provided by an embodiment of the present disclosure;

[0021] FIG10 is a schematic diagram of another motion control system provided by an embodiment of the present disclosure;

[0022] FIG11 is a schematic diagram of cross-zone detection logic in a motion control system architecture provided by an embodiment of the present disclosure;

[0023] FIG12 is a schematic diagram of a human-computer interaction platform under a motion control system architecture provided by an embodiment of the present disclosure;

[0024] FIG13 is a schematic diagram of a cross-zone detection platform under a motion control system architecture provided by an embodiment of the present disclosure;

[0025] FIG14 is a schematic diagram of a control platform provided in an embodiment of the present disclosure;

[0026] FIG15 is a schematic diagram of system interaction logic under a motion control system architecture provided by an embodiment of the present disclosure;

[0027] FIG16 is a schematic diagram of another warehousing scenario provided by an embodiment of the present disclosure;

[0028] FIG17 is a schematic diagram of another warehousing scenario provided by an embodiment of the present disclosure;

[0029] FIG18 is a schematic diagram of three-terminal interaction in a motion control system provided by an embodiment of the present disclosure;

[0030] FIG19 is a schematic diagram of another control platform provided by an embodiment of the present disclosure;

[0031] FIG20 is a schematic diagram of a mobile device provided by an embodiment of the present disclosure;

[0032] FIG21 is a schematic diagram of a security device provided by an embodiment of the present disclosure;

[0033] FIG22 is a schematic diagram of three-terminal interaction in another motion control system provided by an embodiment of the present disclosure;

[0034] FIG23 is a schematic diagram of an emergency stop communication link for a mobile device under a motion control system architecture provided by an embodiment of the present disclosure;

[0035] FIG24 is a schematic diagram of a data transmission process provided by an embodiment of the present disclosure;

[0036] FIG25 is a schematic diagram of a three-terminal interaction structure in another motion control system provided by an embodiment of the present disclosure;

[0037] FIG26 is a schematic diagram of the structure of another control platform provided in an embodiment of the present disclosure;

[0038] FIG27 is a schematic structural diagram of another mobile device provided by an embodiment of the present disclosure;

[0039] FIG28 is a schematic structural diagram of another security device provided by an embodiment of the present disclosure;

[0040] FIG29 is a schematic diagram of three-terminal interaction in yet another motion control system provided by an embodiment of the present disclosure;

[0041] FIG30 is a schematic diagram of an application of a motion control system provided by an embodiment of the present disclosure;

[0042] FIG31 is a schematic diagram of a partition control system structure under a motion control system architecture provided by an embodiment of the present disclosure;

[0043] FIG32 is a schematic diagram of the interaction of a partitioned control system under a motion control system architecture provided by an embodiment of the present disclosure;

[0044] FIG33 is a schematic diagram of a system architecture of a motion control system provided by an embodiment of the present disclosure;

[0045] FIG34 is a schematic diagram of a risk range under a motion control system architecture provided by an embodiment of the present disclosure;

[0046] FIG35 is a schematic diagram of another warehousing scenario provided by an embodiment of the present disclosure;

[0047] FIG36 is a schematic diagram of an application structure of a motion control system provided by an embodiment of the present disclosure;

[0048] FIG37 is a schematic diagram of a region division provided by an embodiment of the present disclosure;

[0049] FIG38 is a schematic diagram of a motion control method provided by an embodiment of the present disclosure;

[0050] Figure 39 is a schematic diagram of a control platform provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0051] The following description sets forth many specific details to facilitate a full understanding of the present disclosure. However, the present disclosure can be implemented in many other ways than those described herein, and those skilled in the art can make similar generalizations without violating the scope of the present disclosure. Therefore, the present disclosure is not limited to the specific implementations disclosed below.

[0052] The terms used in one or more embodiments of the present disclosure are for the purpose of describing specific embodiments only and are not intended to limit one or more embodiments of the present disclosure. The singular forms "a", "the", and "the" used in one or more embodiments of the present disclosure and the appended claims are also intended to include plural forms, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used in one or more embodiments of the present disclosure refers to and includes any or all possible combinations of one or more associated listed items.

[0053] It should be understood that although the terms first, second, etc. may be used to describe various information in one or more embodiments of the present disclosure, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of one or more embodiments of the present disclosure, the first may also be referred to as the second, and similarly, the second may also be referred to as the first. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0054] In addition, it should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in one or more embodiments of the present disclosure are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0055] First, the terms involved in one or more embodiments of the present disclosure are explained.

[0056] Robot: It is an automated machine. The difference is that this machine has some intelligent capabilities similar to humans or creatures, such as perception, planning, movement and coordination capabilities. It is an automated machine with high flexibility.

[0057] Autonomous Mobile Robot (AMR): refers to a warehouse robot that can autonomously locate and navigate.

[0058] Automated Guided Vehicle (AGV): refers to a transport vehicle equipped with an automatic guidance device, capable of traveling along a prescribed guide path, and having safety protection and various transfer functions.

[0059] Performance Level (PL): It is used to define the ability of the safety-related parts of a control system to perform safety functions under foreseeable conditions. It is divided into five levels from low to high safety performance: a, b, c, d, and e. PLe represents the highest level of safety performance.

[0060] Programmable Logic Controller (PLC): A digital electronic device with a microprocessor, used for automated control. It can load control instructions into memory for storage and execution at any time.

[0061] Grating: An optical device consisting of a large number of parallel slits of equal width and equal spacing.

[0062] Internet Protocol Address (IP) address: also known as Internet Protocol address, is a unified address format provided by the IP protocol. The IP protocol is a protocol designed for computer networks to connect and communicate with each other.

[0063] CIP Safety: An extension of the Common Industrial Protocol (CIP) standard functionality, it can be used in functional safety applications. It extends the model by adding CIP Safety application layer functionality to ensure that safety systems respond with correct behavior or select a predetermined safe state within a known timeframe during normal communication or when an error occurs.

[0064] Profisafe protocol: is a fail-safe protocol that combines standard fieldbus technology and fail-safe technology into one system. That is, fail-safe communication and standard communication coexist on the same cable, and safe communication is not achieved through redundant cables.

[0065] PCIE (Peripheral Component Interface Extend) bus: is a tree-shaped interface bus that mainly provides a bus interface for the core processor (Central Processing Unit, CPU) to access peripheral devices.

[0066] EtherNet / IP: is a modern standard protocol for data encapsulation using the CIP protocol in Ethernet.

[0067] Controller Area Network (CAN): A serial communication protocol bus used for real-time applications and one of the most widely used field buses in the world.

[0068] In mobile device swarm systems with large numbers of unmanned environments, the obstacle avoidance and detection capabilities of the mobile devices themselves are not sufficiently safe to meet the safety requirements for mixed human-machine interaction (e.g., ISO 3691-4, a new standard specifically for the safety of unmanned industrial vehicles and their systems). Therefore, in warehouse implementations, physical fencing is often used to isolate mobile devices (such as mobile robots) from operators to ensure that human safety is not endangered if the robots malfunction. However, in this scenario, the area created by the physical fence is considered a single area. When personnel need to enter the warehouse for intervention (such as troubleshooting or repair), all robots in the entire area must be safely stopped in advance to facilitate personnel entry. In other words, when human intervention is required, emergency stopping all robots in the area can effectively reduce the risk of human-machine interaction and achieve the functional safety level specified in relevant safety standards. However, in large warehouses, due to the large number of robots, stopping all robots in the area as soon as a human enters the warehouse would reduce the robots' operating efficiency.

[0069] In some examples, the needs for manual intervention in warehousing scenarios can be divided into emergency needs and non-emergency needs such as daily maintenance. Therefore, in order to solve the above problems, a flexible safety control system is urgently needed that can make different safety responses according to the urgency of manual intervention, while reducing the risk of human-computer interaction to an acceptable level and taking into account the efficiency requirements of flexible system operation.

[0070] The embodiments of the present disclosure provide a motion control system, method, and control platform that can flexibly control the motion of a mobile device (such as a robot) while reducing the risk of human-computer interaction to an acceptable level, thereby improving the working efficiency of the mobile device.

[0071] Figure 1 is a schematic diagram of a motion control system provided by an embodiment of the present disclosure. As shown in Figure 1, motion control system 100 includes a control platform 1001, multiple mobile devices 1002, and multiple partition detection units 1003. Partition detection units 1003 are deployed at the intersection of multiple pre-divided storage areas in a warehouse scenario.

[0072] For example, the initial detection state of each partition detection unit 1003 may be an off state. For example, when the detection state of the partition detection unit 1003 is off, the partition detection unit 1003 does not have the function of detecting target objects entering the storage area. When the detection state of the partition detection unit changes from off to on, the partition detection unit can detect target objects entering the corresponding storage area.

[0073] In some embodiments, the first detection unit is configured to send a first trigger event to the control platform 1001 upon detecting that a target object has entered a target storage area among multiple storage areas; wherein the first detection unit is a partitioned detection unit deployed in the target storage area and whose current detection state is on. In response to the first trigger event, the control platform 1001 is configured to send a stop instruction to the first mobile device within the target storage area and control the detection state of the second detection unit to be on; wherein the second detection unit is a partitioned detection unit deployed in the target storage area and is different from the first detection unit. The first mobile device is configured to stop moving in response to the stop instruction.

[0074] In some examples, the control platform refers to a platform for controlling multiple mobile devices. For example, in a warehouse management scenario, there is an AMR working area, which includes multiple AMRs, and a control platform is provided outside the AMR working area. The control platform can monitor and control the multiple AMRs in the AMR working area. For example, the control platform can be composed of at least one physical hardware, and its control may include controlling movement, controlling transportation, controlling deceleration, controlling shutdown, etc. The control platform can realize the scheduling and stopping of mobile devices by controlling the mobile devices. Among them, scheduling can be by sending a scheduling instruction to the mobile device to schedule the mobile device; stopping can be by sending a stop instruction (such as an emergency stop instruction) to the mobile device to stop the mobile device from running. The control platform may include a charging and docking subunit, an AMR scheduling subunit, a safety communication master station subunit, and a static partition control subunit.

[0075] In some examples, a mobile device refers to a device that can move or stop autonomously according to the instructions of the control platform. For example, the mobile device can be an AMR, AGV, etc. Among them, the selection of AGV or AMR by the mobile device can be based on the specific functions that the mobile device needs to implement in the warehousing scenario, such as only needing to travel according to the guide path or needing autonomous positioning, autonomous navigation, etc., which is not limited in this disclosure. The mobile device performs corresponding processing based on the instructions of the control platform, and the control platform can realize the control of the robot device. The mobile device may include a first ranging subunit, a first safety communication slave subunit, and a motion control subunit.

[0076] Exemplarily, a partition detection unit is a unit that detects whether a target object has entered a target storage area. For example, if the target object is currently in partition 1, partition detection unit 1 is located at the boundary between partitions 1 and 2. When the target object enters partition 2 from partition 1, it will be detected by partition detection unit 1.

[0077] In some examples, the partition detection unit can be a device for performing security detection. For example, the partition detection unit can be a device such as a security protection grating, a security protection radar, a security sensor, a security door lock, etc. that can detect whether there is human intrusion. The partition detection unit can be deployed at the junction between various storage areas (for example, the junction between the picking area and the storage area, the junction between adjacent storage areas, the junction between the storage area and the high-speed operation area, etc.), or the partition detection unit can also be deployed at the entrance and exit of the storage area (for example, the entrance and exit of the picking area, the entrance and exit of the storage area, etc.).

[0078] In some examples, the target object refers to an object that breaks into the warehouse scene. For example, the target object may include a mobile device (such as a robot) or a person (such as a project worker, an authorized person, an unauthorized person, etc.). The target object can move in the project site of the warehouse scene. The project site can be divided into multiple different target areas. For example, the project site can be divided into regions based on multiple evaluation dimensions such as the frequency of contact between personnel and mobile devices, the degree of dangerous injuries, the difficulty of avoidable risks, storage unit segmentation, and path planning. The target area may include a picking area, a storage area, an area where mobile devices operate at high speed (such as a connecting area between two floors), etc.

[0079] In some examples, the first triggering event refers to an event in which the first detection unit detects that a target object enters a target storage area, where the target storage area is any one of the plurality of storage areas. For example, the first triggering event may be an event in which a person enters the target storage area.

[0080] For example, the initial detection state of the partition detection unit is off, and the detection state of each partition detection unit can be changed. For example, the detection state of the partition detection unit can be changed by the control platform. For example, the control platform can control the detection state of the partition detection unit to change from off to on, or from on to off. When the detection state of the partition detection unit is on, the partition detection unit has the function of detecting whether the target object has entered the corresponding storage area.

[0081] In some examples, a warehouse scenario refers to a scenario in which multiple mobile devices are operating, performing handling tasks within the warehouse scenario. The warehouse scenario can be pre-divided into multiple storage areas. For example, the warehouse scenario can include multiple floors, each of which can be a storage area. Alternatively, a floor can be further divided into multiple storage areas. The number of storage areas corresponding to each floor can be the same or different, and this is not limited in the present embodiments.

[0082] It should be noted that dividing a warehouse scene into multiple storage areas does not mean isolating each storage area through physical fencing. Instead, it virtually divides the warehouse scene into multiple storage areas and deploys partition detection units at the intersection of each storage area to detect whether the target object crosses the area. In other words, the warehouse scene can be (virtually) divided into multiple storage areas through the deployed partition detection units.

[0083] For example, a first through-beam sensor can be deployed on a vertical plane at the intersection of each storage area to detect when a target object (such as a person) crosses the area. The sensing range of the first through-beam sensor can be consistent with or different from the area of ​​the storage area intersection.

[0084] For another example, a positioning device can be installed at the intersection of each storage area to detect whether a mobile device crosses the area. For example, the positioning device can be a second through-beam sensor, which detects mobile devices and is located lower than the first through-beam sensor that detects target objects (such as people).

[0085] In some examples, the current detection state of the first detection unit is the on state. When the first detection unit detects a first trigger event in which the target object enters the target storage area, the first trigger event is sent to the control platform so that the control platform sends a stop instruction to the first mobile device in the target storage area in response to the first trigger event.

[0086] Exemplarily, the target storage area is any storage area in a warehousing scenario, and the target storage area may be provided with multiple partition detection units, such as a first detection unit and a second detection unit. The first detection unit may be provided at the boundary between the target storage area and the previous adjacent storage area, and the second detection unit may be provided at the boundary between the target storage area and the next adjacent storage area.

[0087] For example, all partition detection units deployed at the boundary between a target storage area and at least one adjacent storage area may be referred to as partition detection units deployed in the target storage area, which is not limited in the embodiments of the present disclosure.

[0088] Figure 2 is a schematic diagram of a warehousing scenario provided by an embodiment of the present disclosure. As shown in Figure 2, warehousing scenario 1 can be divided into five storage areas, namely, Partitions 1 to 5. Detection unit A is located at the junction between Partitions 1 and 2, and detection unit B is located at the junction between Partitions 2 and 3.

[0089] For example, since detection unit A is deployed at the junction of zone 1 and zone 2, detection unit A can be called a zone detection unit deployed in zone 1, or a zone detection unit deployed in zone 2. In other words, detection unit A and detection unit B can both be called zone detection units deployed in zone 2. Detection unit A and detection unit B can each be a set of two through-beam sensors.

[0090] As shown in Figure 2, taking partition 2 as the target storage area and detection unit A in the on state as an example, when the target object crosses from partition 1 to partition 2, detection unit A (i.e., the first detection unit) at the junction of partitions 1 and 2 can detect the cross-region operation of the target object and send a first trigger event to the control platform. In response to the first trigger event, the control platform sends a stop command to the mobile devices in partition 2 to control each mobile device in partition 2 to stop running. At the same time, the control platform can also control the detection state of detection unit B (i.e., the second detection unit) deployed at the junction of partitions 2 and 3 to change to the on state.

[0091] It should be noted that the state of the detection unit A is the open state, which may be that when the control platform responds to the target object crossing the zone and entering the zone 1, the detection state of the control detection unit A is changed from the closed state to the open state.

[0092] For example, the control platform can send a command to a mobile device in the target storage area to stop the mobile device in the target storage area. In this way, when the target object enters the target storage area, the mobile device in the target storage area will not affect the safety of the target object. At the same time, the mobile devices in other storage areas can also operate normally. Therefore, the present disclosure can improve the working efficiency of the handling equipment while ensuring the safety of personnel.

[0093] In some examples, after the target object reaches the target storage area (e.g., partition 2), it may also cross from partition 2 to a storage area adjacent to partition 2 (e.g., partition 3). Therefore, the control platform can pre-control the detection status of other partition detection units (i.e., detection unit B) in partition 2 to be turned on, so that when the target object crosses from partition 2 to partition 3, it can be detected by detection unit B, thereby controlling the mobile device in partition 3 to stop operating.

[0094] For example, before the control platform sends a stop instruction to the first mobile device in the target storage area, it needs to obtain the mobile device in the target storage area. It should be noted that the mobile device in the target storage area can be referred to as the first mobile device.

[0095] In some examples, there are multiple ways for the control platform to obtain the first mobile device in the target storage area. For example, the mobile devices in each storage area have a scene arrangement for passing through different storage areas, so multiple positioning units are pre-set and deployed at the movement points of the mobile devices at the intersection of each storage area. The area management table is updated by the positioning units. The area management table records the device information of the mobile devices corresponding to each storage area, and the information is obtained by looking up the table; or, the mobile devices in each storage area do not have a scene arrangement for passing through different storage areas, so the mobile devices in each storage area are fixed, so the first mobile device in the target storage area can be obtained directly by looking up the table; or, multiple collection devices are set up in the target storage area. When the control platform responds to the first trigger event and needs to send a stop command to the first mobile device in the target storage area, the mobile devices in the target storage area are collected by the collection device, and the first mobile device in the target storage area is determined based on the collection results.

[0096] After determining the mobile device (such as the first mobile device) in the target storage area, the control platform sends a stop instruction to the first mobile device in the target storage area. The control platform may send a stop instruction to the motion control subunit included in each first mobile device in the target storage area, and the motion control subunit controls the main body to stop moving.

[0097] For example, in order to ensure the safety of people in the venue, when the partition detection unit is triggered, it can be considered that someone has entered the corresponding target area, and the partition detection unit remains in the triggered state until the relevant staff manually resets the triggered partition detection unit.

[0098] In some examples, after the mobile device in the target storage area stops moving in response to the stop command, the mobile device in the target storage area can resume normal operation in response to a reset command sent by the control platform. The reset command can be sent by the control platform to the mobile device when a person leaves the target storage area.

[0099] In some examples, to ensure personnel safety, a triggered partition detection unit can be manually reset after relevant staff confirm that all personnel have left the site. Upon receiving the reset command, the triggered partition detection unit can send a reset command containing zone information to the control platform, which in turn sends the reset command to the stopped mobile devices in the target storage area, controlling them to resume operation.

[0100] In some embodiments, the control platform is further configured to query the area management table for mobile devices within the target storage area based on the area information of the target storage area.

[0101] That is, the mobile device in the target storage area can be determined based on the area information of the target storage area and the area management table, wherein the area management table stores the area information of the storage area and the device information of the mobile device in the storage area.

[0102] In some examples, a region management table can be used to record the correspondence between the real-time operating location of mobile devices and the storage areas within the site. The region management table can be a single relationship table maintained for the entire warehouse scene, or it can be a relationship table maintained for each storage area within the warehouse scene.

[0103] For example, the region management table may store a correspondence between region information of each of the plurality of storage regions and device information of the mobile devices within each storage region. For example, after determining the region information of the target storage region, the region management table may be queried to determine the device information corresponding to the region information, thereby further identifying the corresponding mobile device.

[0104] In some examples, as mobile devices move within a warehouse, they may move from one storage area to another, meaning the number of mobile devices in each storage area changes dynamically. When the number of mobile devices in each storage area changes, the area management table corresponding to each storage area can be updated, allowing the control platform to more accurately control the mobile devices in each storage area.

[0105] For example, the region information may be region identification information representing the corresponding storage region, wherein the region identification information can uniquely identify each storage region.

[0106] In some examples, the control platform queries the target storage area from the area management table based on the area information of the target storage area and determines the first mobile device within the target storage area. For example, the control platform may compare the area information of the target storage area with multiple areas of area information stored in the area management table, determine the target area information based on the comparison result, and obtain device information corresponding to the first mobile device from the area management table based on the target area information.

[0107] The motion control system provided by the embodiment of the present disclosure queries the first mobile device in the target storage area from the area management table. When the target object triggers the first trigger event, the first mobile device in the corresponding target storage area can be directly queried from the area management table without spending additional time to re-identify and search for the first mobile device currently running in the target storage area. This improves the query efficiency of the first mobile device and thereby improves the operating efficiency of the mobile device.

[0108] An implementation method for updating the area management table is exemplified below.

[0109] In some embodiments, the motion control system further includes a plurality of positioning units, which are deployed at the movement path points of the mobile device at the intersections of the storage areas.

[0110] In some examples, the area management table can be updated based on the positioning unit. For example, the area management table can be a pre-stored initial area management table that records each storage area, as well as the mobile devices initially deployed in each storage area and the corresponding deployed storage area. The initial area management table can be updated using the positioning unit to obtain an updated area management table.

[0111] In some embodiments, the positioning unit is configured to send the target device information and target location information of the second mobile device that triggered the motion event to the control platform when a motion event of the second mobile device moving across the storage area is detected; the control platform is further configured to determine the target area information of the update area where the second mobile device is located based on the target location information, and update the area management table based on the target device information and the target area information.

[0112] That is, when the positioning unit detects that a mobile device (such as a second mobile device, which can be any mobile device in the warehouse scenario) has moved from a first storage area to a second storage area across regions, it can determine that the second mobile device has triggered a motion event for moving across storage areas, and thus can send a positioning result to the control platform. Based on the positioning result, the control platform determines the target device information and target location information of the mobile device; determines the target area information of the second storage area based on the target location information; and updates the area management table based on the target device information and target area information.

[0113] The positioning result sent by the positioning unit may include a motion event in which the second mobile device triggers movement across the storage area, or a motion event in which the second mobile device does not trigger movement across the storage area.

[0114] For example, the positioning unit is a unit for locating the storage area to which the mobile device belongs. The positioning unit can be deployed at a point on the mobile device's movement path at the intersection of each storage area to monitor whether the mobile device has a motion event of moving across storage areas.

[0115] In some examples, a mobile device motion path point may be provided at the junction between any two adjacent storage areas, and a mobile device may use the mobile device motion path point to cross from one storage area (e.g., the first storage area) to another storage area (e.g., the second storage area). It should be noted that the number of mobile device motion path points provided at the junction between two storage areas may be one or more. When there are multiple mobile device motion path points, the mobile device may pass through any of the mobile device motion path points to cross the area.

[0116] For example, the positioning unit can determine whether the mobile device has triggered a motion event for movement across storage areas by detecting whether the mobile device has passed through a mobile device motion path point. For example, when the positioning unit detects that the second mobile device has passed through a mobile device motion path point at the boundary between the first storage area and the second storage area, it can be determined that the second mobile device has triggered a motion event for movement across storage areas. In this case, the positioning unit can send a positioning result indicating that the second mobile device has triggered a motion event for movement across storage areas to the control platform.

[0117] In some examples, the movement pattern of the mobile device within each storage area can be a U-shaped pattern, and the path in and out of each storage area can be a fixed path. Therefore, by deploying a positioning unit on the movement path point of the mobile device at the intersection of each storage area, it is possible to detect whether a motion event of the mobile device moving across storage areas occurs.

[0118] In some embodiments, the positioning unit includes a positioning detection device and a positioning module, wherein the positioning detection device is used to detect the mobile device, and the positioning module is used to send the detected positioning result to the control platform.

[0119] In some examples, at least one set of device tags may be deployed on a mobile device, each of which may include at least one device tag. The number of device tag sets may vary depending on how the positioning units are deployed. For example, if at least two positioning channels are deployed on both sides of a path point along the mobile device, a set of device tags may be deployed on one side of the mobile device. If at least two positioning channels are deployed on one side of a path point along the mobile device, a set of device tags may be deployed on both sides of the mobile device.

[0120] For example, the device tag can be a barcode tag, an induction tag, etc. For example, when the device tag is a barcode tag, a group of barcode tags can correspond to multiple barcode tags, such as a group of barcode tags can include 3 or 5 barcode tags; when the device tag is an induction chip tag, a group of induction chip tags can correspond to one or more induction chip tags.

[0121] In some examples, the target device information refers to the device information of the mobile device that triggered the motion event. In other words, the target location information refers to the location information of the mobile device corresponding to the motion event that moved across storage areas. The location information may include the updated storage area of ​​the mobile device and the original storage area.

[0122] In some examples, after obtaining the positioning result sent by the positioning unit, the control platform can determine the target device information and target location information of the mobile device, and determine the target area information of the second storage area according to the target location information.

[0123] For example, when the control platform determines that the second mobile device triggers a motion event of moving across storage areas, it indicates that the second mobile device has passed the mobile device motion path point at the junction between the first storage area and the second storage area. In this case, it can be determined that the second mobile device is about to enter the second storage area from the first storage area. The target location information of the second mobile device includes the original storage area (i.e., the first storage area) and the updated storage area (i.e., the second storage area), that is, the target area information includes the first storage area and the second storage area.

[0124] Exemplarily, the control platform updates the area management table based on the target device information and the target area information, including: the control platform deletes the correspondence between the area information of the first storage area and the device information of the second mobile device in the area management table, and adds the correspondence between the area information of the second storage area and the device information of the second mobile device.

[0125] Exemplarily, the control platform updates the area management table based on the target device information and the target area information, further comprising: the control platform searches for the area management subtable corresponding to the target storage area based on the target area information, and modifies the area management subtable based on the target device information.

[0126] In some examples, the control platform can determine the original area information of the original area (i.e., the first storage area) where the second mobile device is located and the target area information of the update area (e.g., the second storage area) based on the target location information, and update the area management table based on the original area information, the target area information, and the device identifier of the second mobile device determined in the target device information. The target location information can be generated by the positioning unit identifying the device tag of the second mobile device to obtain the original area information of the original area, and determining the target area information of the update area through the motion event of the second mobile device moving across the storage area. Therefore, the target location information is generated based on the original area information of the original area and the target area information of the update area. After determining the target area information of the update area, the positioning unit modifies the area information recorded in the device tag of the second mobile device based on the target area information of the update area, so that when the second mobile device next crosses the storage area, it is convenient for the positioning unit to obtain the original area information of the original area corresponding to the second mobile device.

[0127] In some examples, the control platform may also determine the original area information of the original area corresponding to the positioning unit based on the number of the positioning unit, determine the target area information of the updated area based on the target location information sent by the positioning unit, and update the area management table based on the device identification of the second mobile device determined in the original area information, the target area information and the target device information.

[0128] The motion control system provided by the embodiment of the present disclosure deploys a positioning unit so that when a mobile device moves across storage areas, a motion event is triggered, so that the control platform can update the area management table. When a stop command needs to be sent to a mobile device in a target storage area, the corresponding first mobile device can be queried from the area management table, and a stop command can be accurately sent to the first mobile machine to stop the first mobile device in the target storage area from moving.

[0129] Exemplarily, upon detecting a motion event in which the second mobile device moves across storage areas, the positioning unit may also directly send the target device information and target location information of the second mobile device to the control platform. For example, the positioning unit may detect whether the mobile device moves across storage areas via a fixed motion path. Upon detecting a motion event in which the second mobile device moves across storage areas, the positioning unit may generate target device information and target location information of the second mobile device based on the motion event, and send the target device information and target location information to the control platform, so that the control platform updates the area management table based on the target device information and target location information.

[0130] In some embodiments, the positioning unit includes at least two positioning channels, and the control platform includes a first voting module. The positioning channels are configured to perform a positioning operation based on the recognition results of the tag data on the second mobile device to obtain a positioning result; the first voting module is configured to vote on the positioning results of the at least two positioning channels to determine the target device information and target location information of the second mobile device.

[0131] In some examples, the first voting module refers to a module that votes on at least two inputs, and the voting method can be set according to actual conditions.

[0132] Exemplarily, a device tag is deployed on the mobile device (such as the second mobile device), and the device tag records tag data.

[0133] In some examples, the positioning channel performs a positioning operation based on the recognition result of the tag data on the second mobile device to obtain a positioning result, including: the positioning channel obtains the motion-related storage area and motion direction of the second mobile device, and extracts the device information in the tag data on the second mobile device, determines the location information (and target location information) of the second mobile device based on the motion direction and motion-related storage area, and determines the device information and location information as the positioning result.

[0134] Exemplarily, the at least two positioning channels include a first positioning channel and a second positioning channel, wherein the first positioning channel performs a positioning operation based on the identification result of the tag data of the second mobile device to obtain a first positioning result, and the second positioning channel performs a positioning operation based on the identification result of the tag data of the second mobile device to obtain a second positioning result. For example, the positioning result may include whether the second mobile device triggers a motion event of cross-storage area movement and which storage area is involved in the cross-storage area movement.

[0135] In some examples, after receiving the first positioning result and the second positioning result sent by the first positioning channel and the second positioning channel, respectively, the first voting module can vote on the first positioning result and the second positioning result. For example, if the first positioning result and the second positioning result are consistent, and both are motion events triggered by the second mobile device moving across storage areas, the target device information and target location information of the second mobile device can be determined based on the positioning result. If the first positioning result and the second positioning result are inconsistent, the positioning result of one of the positioning channels can be used as the basis, or the determination can be made based on historical data, which is not limited in the present embodiment.

[0136] FIG3 is a schematic diagram of the interaction of dual positioning channels under a motion control system architecture provided by an embodiment of the present disclosure.

[0137] As shown in Figure 3, the positioning unit includes two positioning channels. Tag data is input into each positioning channel for safe positioning calculations to obtain positioning results. The two positioning channels generate two positioning results. The positioning results of the two positioning channels are processed by the data access device and input into the first voting module, so that the first voting module can determine the target positioning result from the two positioning results. The data access device can include a protocol converter, such as IO-Link to Ethernet / IP, or a parallel-to-serial conversion module with the function of converting multiple channels to a single channel. IO-Link is a protocol for transmitting data between the execution layer and the field layer.

[0138] In some examples, a dual-channel 1oo2 (1out of 2) voting system design enables the hardware architecture of the safety positioning function to achieve Category 3 architecture (ISO 13849-1), with a medium mean time to dangerous failure (MTTFd) and hardware safety integrity indicators for the entire link meeting PLd requirements. Regarding digital communication reliability, protocols compliant with the safety communication standard (IEC 61784) are used to meet functional safety requirements for digital communication, such as the residual bit error rate and other communication indicators.

[0139] The motion control system provided by the embodiments of the present disclosure obtains positioning results output by the at least two positioning channels by deploying at least two positioning channels in the positioning unit, and then obtains target device information and target area information from the at least two positioning results through voting by a first voting module, so that the hardware safety integrity indicators of the entire link design meet the PLd level requirements. In terms of digital communication reliability, a protocol of a composite safety communication standard is adopted to meet the functional safety requirements for digital communication, for example, meeting the functional safety requirements for the communication residual bit error rate and other indicators.

[0140] In some embodiments, the plurality of storage areas in the storage scenario include an initial storage area, wherein the initial storage area is provided with interaction points. The motion control system further includes a protection detection unit, which is deployed at the interaction points in the initial storage area.

[0141] In some embodiments, upon detecting that a target object enters the initial storage area through an interaction point, a fifth trigger event is sent to the control platform. The control platform is further configured to, upon the detection state of the protection detection unit being triggered to a triggered state, send a stop command to the mobile device within the initial storage area; in response to the fifth trigger event detected by the protection detection unit upon detecting that the target object enters the initial storage area, control the detection state of the fifth detection unit to be changed to an on state; wherein the fifth detection unit is deployed in a partition detection unit within the initial storage area.

[0142] In some examples, when the protection detection unit detects that the target object has entered the initial storage area through the interaction point, the protection detection unit is triggered into a triggered state. In response to the protection detection unit being triggered into the triggered state, the control platform controls the mobile devices in the initial storage area to stop operating. In other words, when the protection detection unit detects that the target object has entered the initial storage area, the control platform can control the mobile devices in the initial storage area to stop operating.

[0143] In some examples, when the protection detection unit detects that the target object enters the initial storage area through the interaction point, the protection detection unit is triggered to a triggered state and sends a trigger event (i.e., the fifth trigger event) to the control platform. The control platform controls the partition detection unit (such as the fifth detection unit) in the initial storage area according to the trigger event to change the detection state to the on state.

[0144] In some examples, the protection detection unit is a detection unit deployed in the initial storage area. The detection method of the protection detection unit may be similar to the detection method of the partition detection unit in the above embodiment. To avoid repetition, it will not be repeated here.

[0145] In some examples, the initial storage area is a storage area within the multiple storage areas that contains interaction points. Interaction points are locations where human-machine interaction typically occurs. For example, interaction points can include picking points, sorting and delivery points, inbound and outbound points, and maintenance access points.

[0146] For example, the number of initial storage areas can be one or more, and the number of initial storage areas can be determined based on the number of interaction points in the storage scene. In other words, the initial storage area is a special storage area among the multiple storage areas in the storage scene.

[0147] In some examples, the initial state of the protection detection unit may be an on state, and when the target object enters the initial storage area through the interaction point, the protection detection unit will be triggered to a triggered state.

[0148] In some cases, the interaction point may be blocked. In this case, the intrusion detection function of the protection detection unit can be disabled, setting the protection detection unit to the shielded state. For example, if the interaction point is a picking point and a mobile device moves a shelf to the picking point, blocking the picking point and preventing the object from entering the warehouse scene through the picking point, the protection detection unit can be switched to the shielded state.

[0149] The motion control system provided by the disclosed embodiments uses a control platform to send a stop command to mobile devices within the initial storage area when the protection detection unit is triggered to a trigger state, thereby preventing safety damage to target objects entering the initial storage area. The control platform can also control the initial storage area's partition detection unit (i.e., the fifth detection unit) to change its detection state to an on state, so that when a person moves across rows from the initial storage area to an adjacent storage area, the fifth detection unit can promptly detect the movement and perform appropriate processing, further preventing mobile devices in other storage areas from posing a danger to personnel.

[0150] Figure 4 is a schematic diagram of another warehousing scenario provided by an embodiment of the present disclosure. As shown in Figure 4, the warehousing scenario 1 can be divided into two layers, and mobile devices can be transferred between the two layers through a cross-layer channel.

[0151] For example, cross-layer passages between different floors may include elevator transportation, lifting mechanism transportation, etc. During normal operation, the warehouse scene is unmanned and surrounded by fixed fences.

[0152] As shown in Figure 4, each layer can be provided with two picking areas for performing picking operations (and the initial storage area described in the above embodiment). For example, the first layer is provided with two picking areas, Partition 1 and Partition 2, and the second layer is provided with two picking areas, Partition 4 and Partition 5. Each picking area can be composed of 4*3 squares, and mobile equipment enters and exits the picking area in a circular route. Each picking area corresponds to a picking point. For example, Partition 1 corresponds to Picking Point 1, Partition 2 corresponds to Picking Point 2, Partition 3 corresponds to Picking Point 3, and Partition 2 corresponds to Picking Point 4. Operators can perform picking operations at the picking points.

[0153] As shown in Figure 4, the first floor can be divided into three areas according to business functions, among which Partition 1 and Partition 2 have interfaces for human-machine picking operations, and Partition 3 is a high-speed operation area for mobile equipment, which is an unmanned scene during normal operation. The layout of the second floor can be similar to that of the first floor, including Partition 4, Partition 5 and Partition 6. Among them, Partition 4 and Partition 5 are picking areas, corresponding to picking point 3 and picking point 4 respectively. For example, each picking point is deployed with a protective grating (such as a protective detection unit). Partition gratings (such as partition detection units) can be deployed between each partition, such as between Partition 1 and Partition 3, Partition 2 and Partition 3, cross-layer channels, Partition 4 and Partition 6, and Partition 5 and Partition 6.

[0154] In some examples, each mobile device is equipped with at least two device tags. The positioning device included in the positioning unit can simultaneously identify the tag data recorded in the device tags deployed on the mobile device and obtain an identification result. This allows positioning operations to be performed based on the tag data identification results of at least two positioning channels, obtaining at least two positioning results. A first voting module then votes based on the at least two positioning results to obtain target device information and target location information corresponding to the mobile device. For example, positioning devices are deployed at motion path points corresponding to the fixed motion paths of the mobile device at the intersections of the storage areas. When the mobile device enters zone 1 from zone 3, the positioning device senses the entry of the mobile device. The positioning module then feeds back the mobile device ID and mobile device location information to the main station security control mechanism via the data access device. When the mobile device completes its picking task and returns from zone 1 to zone 3, the positioning device senses the departure of the mobile device. The positioning module then feeds back the mobile device ID and mobile device location information to the main station security control mechanism via the data access device.

[0155] For example, when a person triggers the protective light barrier at the picking point in zone 1, the substation safety control organization transmits the trigger information to the main station safety control organization via the switch. The main station queries the mobile device identification (ID, InDesign) and the area code comparison table, and issues an emergency stop command to the mobile device in zone 1. After receiving the emergency stop command, the mobile device in zone 1 triggers the main body to decelerate to zero and executes the motor power-off brake (STO, Safe Torque Off), completing the safe stop action.

[0156] For example, when a person triggers the protective grating at the picking point of partition 1, the substation safety control mechanism controls the partition grating for detection at the intersection of partitions 1 and 3 to change to the open state for personnel entry detection. If the protective grating (i.e., the protective detection unit) at picking point 1 is triggered, the partition grating (i.e., the partition detection unit) at the intersection of partitions 1 and 3 is triggered, indicating that a person has broken into partition 3 from partition 1. At this time, the main station safety control mechanism issues an emergency stop command to the mobile equipment in partition 3. At the same time, the partition grating at the interface between partitions 3 and partition 2 and the partition grating at the interface of the cross-layer channel are changed to the open state for personnel entry detection, and so on.

[0157] The motion control system provided by the disclosed embodiments can be expanded to cross-floor zoning scenarios. Positioning units can be added to cross-floor passageways to safely locate the floor location of mobile devices. Zoned light barriers can also be added to cross-floor passageways to detect personnel entering different zones. The human triggering and mobile device responses are similar to those described above.

[0158] The above embodiment updates the area management table (i.e., determines the mobile device in the storage area) through the positioning unit and the control platform in the motion control system. In some examples, the management table can also be updated through the mobile device and the control platform.

[0159] Another implementation method of updating the area management table is described below.

[0160] FIG5 is a schematic diagram of another motion control system provided by an embodiment of the present disclosure. As shown in FIG5 , a mobile device 1002 may include a secure positioning module 10022 and a secure communication module 10024 .

[0161] In some embodiments, the secure positioning module is configured to identify an identifier of the mobile device along its path and determine the second storage area in which the mobile device is currently located. The secure communication module is configured to transmit target area information of the second storage area to the control platform. The control platform is configured to record the correspondence between the mobile device and the second storage area in a region management table based on the target area information, thereby updating the region management table.

[0162] In some examples, the secure positioning module 10022 can be used to enable the mobile device to autonomously identify its own location, and the secure communication module 10024 can be used to securely upload the mobile device's location information. The secure positioning module 10022 and the secure communication module 10024 can enable the mobile device to identify its own location information in real time during operation and upload the location information to the control platform 1001 in a manner that meets security requirements.

[0163] In some examples, a communication connection is established between the control platform 1001 and each mobile device 1002 and each partition detection unit 1003 via a network. The network provides a medium for the communication link between the control platform 1001 and each mobile device 1002, and between the control platform 1001 and each group of partition detection units 1003. The network may include various connection types, such as wired, wireless communication links or fiber optic cables, etc. Each mobile device 1002 and each group of partition detection units 1003 can transmit data to the control platform 1001 in a form that complies with security standards. The data transmitted by each mobile device 1002 and each group of partition detection units 1003 may need to be encoded, transcoded, compressed, and other processes before being sent to the control platform 1001.

[0164] In some examples, the control platform 1001 can maintain a real-time secure link with each mobile device 1002 in the warehouse scenario. For example, a black channel security mechanism can be used to establish a real-time secure link. The control platform 1001 can act as the master end, and each mobile device 1002 can act as a slave end.

[0165] In some examples, the mobile device 1002 can maintain a secure communication link with the control platform 1001 through the secure communication module 10024. The secure positioning module 10022 can identify the identifier of the mobile device on the travel path and determine the storage area (such as the second storage area) where the mobile device is currently located by identifying the coded information corresponding to the identifier. The secure communication module 10024 can send the area information (such as the target area information) of the second storage area to the control platform 1001, so that the control platform 1001 can dynamically maintain the area management table of mobile devices operating in the venue. The second storage area can be the target area where the mobile device is currently located, which is determined by the secure positioning module 10022 identifying the identifier of the mobile device on the travel path.

[0166] For example, during the operation of a mobile device, if the mobile device moves across regions, the region information can be sent to the control platform 1001 through the secure communication module 10024, and the control platform 1001 can dynamically update the corresponding relationship recorded in the region management table.

[0167] The motion control system provided by the disclosed embodiments uses a secure positioning module to identify the identifier of a mobile device on its path and determine the second storage area where the mobile device is currently located, thereby enabling the mobile device to autonomously identify its own location. The secure communication module transmits the area information of the second storage area to the control platform, which then records the correspondence between the mobile device and the second storage area. This integrates the location identification of the mobile device into the system's safety loop, enabling secure identification of the location of each mobile device in the system. Furthermore, the acquisition of the mobile device's secure location information is decoupled from the mobile device scheduling system, making the acquisition and use of secure location information relatively independent, achieving lightweight and meeting system safety requirements. Furthermore, by pre-dividing the target area in the warehouse scenario, when an intruder intrudes, a stop command is only sent to the mobile devices in the corresponding target area, avoiding the need to send a stop command to all mobile devices in the entire warehouse scenario, thus achieving efficient operation of the mobile devices. Multiple partition detection units are deployed at the intersection of each target area to detect whether the intruder has entered an area adjacent to the target area, ensuring both motion efficiency and the safety of the intruder.

[0168] In some embodiments, the safety positioning module may include an identification unit and a voting unit, and the identification unit may include at least one identification channel.

[0169] In some embodiments, the identification channel is configured to identify an identifier of the mobile device on its path and determine target area information corresponding to the identifier. The voting unit is configured to vote on the target area information output by at least two identification channels to determine the second storage area where the mobile device is currently located.

[0170] In some examples, the floor of a warehouse scene can be divided into multiple cells, and identifiers can be pre-set in each cell on the floor. For example, the identifier can include an RFID tag, a one-dimensional code, a two-dimensional code, an NFC tag, a Bluetooth tag, etc., and the identifier type corresponds to the identifier type that the identification unit can recognize. In an architecture that uses multiple identifiers, multiple identifiers can be physically stacked. For example, a two-dimensional code can be overlaid on an RFID identifier. The target area information can be the area information corresponding to the identifier, and the area information can be coded information.

[0171] It should be noted that identification can be set for multiple cells on the ground of the warehouse scene, or identification can be set for some cells in the multiple units. This formula embodiment does not limit this.

[0172] For example, the recognition unit can be an identifier or a reader / writer capable of reading and identifying the identifier set in the ground cell. For example, the recognition unit can be a visual camera, a QR code reader, etc. The recognition unit corresponds to the identifier.

[0173] In some examples, a single identification channel can be used to collect identifiers set within ground cells and identify the area information corresponding to the identifiers; alternatively, at least two identification channels can be used to collect identifiers set within ground cells and determine the area information corresponding to the identifiers. It should be noted that the following embodiments are illustrative examples of a secure positioning module including at least two identification channels.

[0174] In some examples, when the safety positioning module includes at least two identification channels, the at least two identification channels can simultaneously identify the same marker on the travel path, or can also identify different markers on the travel path. For example, two identification channels can be used, one in front and one behind, to identify two adjacent markers on the travel path.

[0175] In some examples, the recognition channel identifies a marker on a travel path of the mobile device to determine target area information corresponding to the marker and outputs the target area information.

[0176] In some examples, when a warehousing scenario is divided into multiple storage areas, the number of identifiers set for each storage area may be the same or different. For example, each identifier has identification information, and there is a pre-correspondence between the identification information and the area information, and the pre-correspondence can be pre-generated and stored. After the identification information of the identifier is obtained, the area information corresponding to the identification information can be determined based on the preset correspondence, thereby further determining the storage area where the identifier is located. For example, when a mobile device enters the second storage area, the identification channel can identify the identifier set for the second storage area, and determine the target area information corresponding to the second storage area based on the identifier.

[0177] Exemplarily, the voting unit may be configured to vote on the area information (ie, target area information) respectively identified by the at least two identification channels to determine the second storage area where the mobile device is currently located. For example, the voting unit may include an MCU or a hardware voting circuit.

[0178] The motion control system provided by the embodiment of the present disclosure can realize autonomous identification of the location information of the mobile device by identifying the identification of the mobile device on the travel path and determining the target area information corresponding to the identification; by voting on the target area information output by at least two identification channels, the second storage area where the mobile device is currently located is determined, which can improve the accuracy of the identification of the location information of the mobile device.

[0179] For example, the identifier may include a passive tag, and the secure positioning module is always enabled. The identification channel can transmit a radio frequency signal to receive a tag signal reflected by the passive tag based on the radio frequency signal, thereby identifying the target area information carried by the tag signal and transmitting the target area information to the voting unit. The passive tag is an identifier located in the mobile device's path.

[0180] In some examples, passive tags can include RFID tags. Passive tags, also known as passive positioning tags, are devices used in wireless positioning technology. They do not have a built-in power source and work by capturing and reflecting radio signals from an external transmitter (such as a reader or base station). Passive tags are primarily used in indoor positioning, asset tracking, object identification, and other fields. Passive positioning tags are small, lightweight, low-cost, and have a long lifespan.

[0181] In some examples, when the tag is identified as a passive tag, the identification unit can be a device capable of identifying passive tags, such as a dual-channel or multi-channel RFID reader / writer, where each identification channel is an RFID reader / writer. During operation of the mobile device, the identification channel can transmit a wireless radio frequency signal in real time. When the mobile device passes by a passive tag placed on its path, the passive tag can receive the wireless radio frequency signal and reflect a tag signal based on the wireless radio frequency signal. The identification channel can receive the tag signal reflected by the passive tag and, by identifying the tag signal, obtain the target area information carried by the tag signal.

[0182] In some examples, the input of the identification channel may be a tag signal reflected by a passive tag based on a wireless radio frequency signal; and the output may be target area information corresponding to the passive tag.

[0183] The motion control system provided by the embodiment of the present disclosure transmits wireless radio frequency signals in real time through an identification channel, receives tag signals reflected by passive tags based on the wireless radio frequency signals, identifies target area information carried by the tag signals, and sends the target area information to a voting unit. This enables the mobile device to autonomously identify its own positioning information, decouples the acquisition of the mobile device's location information from the mobile device scheduling system, and reduces the impact of the secure acquisition of the mobile device's location information on the overall operating efficiency of the system.

[0184] In some examples, when the safety positioning module includes at least two identification channels, due to various factors, different identification channels may have inconsistent outputs, or may be unable to normally output target area information, and other abnormal situations.

[0185] In some embodiments, the voting unit is configured to, when the target area information output by at least two identification channels is consistent, determine the storage area corresponding to the target area information as the second storage area where the mobile device is currently located; when the target area information output by at least two identification channels is inconsistent, obtain historical voting results and determine the second storage area where the mobile device is currently located based on the historical voting results.

[0186] Exemplarily, when the target area information output by at least two recognition channels is consistent, the voting unit can directly output the target area information; when the target area information output by at least two recognition channels is inconsistent, the target area information can be determined through historical voting results (i.e., introducing previous voting); and the second storage area corresponding to the target area information can be further determined based on the target area information.

[0187] In some examples, based on historical voting results, the region information that is repeated the most times in the historical voting results may be determined as the target region information; alternatively, the region information corresponding to the most recent voting result in the historical voting results may be determined as the target region information.

[0188] It should be noted that, when the target area information output by at least two recognition channels is inconsistent, the voting unit may also determine the target area information in other ways, which is not limited in the embodiment of the present disclosure.

[0189] For example, when the recognition unit includes two recognition channels (such as a first recognition channel and a second recognition channel), if the first recognition channel outputs first area information and the second recognition channel does not output area information, the first area information output by the first recognition channel can be determined as the target area information.

[0190] For another example, one of the two recognition channels can be designated as the primary recognition channel. When the area information output by the two recognition channels is inconsistent, the area information output by the primary recognition channel can be determined as the target area information. For example, the first recognition channel of the two recognition channels can be designated as the primary recognition channel. If the first recognition channel outputs first area information and the second recognition channel outputs second area information, the first area information can be determined as the target area information.

[0191] The motion control system provided by the embodiment of the present disclosure can determine the current location information of the mobile device through the voting unit when the information output by at least two identification channels is inconsistent or no information is output, thereby improving the accuracy of location identification and ensuring system security.

[0192] In some embodiments, the voting unit is further configured to encode the area information of the second storage area using multi-channel IO quantity coding according to the number of partitions in the warehousing scenario to obtain the area code of the second storage area; the control platform is configured to record the correspondence between the mobile device and the area code of the second storage area in the area management table to update the area management table.

[0193] In some examples, the number of partitions can be the number of storage areas included in a warehousing scenario. Multi-path IO quantity encoding can be a method of encoding each storage area based on the number of partitions. For example, if the number of partitions is between 0 and 4, dual-path IO quantity encodings of 00, 01, 10, and 11 can be used; if the number of areas is between 0 and 8, triple-path IO quantity encodings of 000, 001, 010, 011, 100, 101, 110, and 111 can be used, and so on.

[0194] For example, after encoding the target area information according to the multi-channel IO quantity encoding, the voting unit may output the area code of the second storage area and send the area code of the second storage area to the control platform. The control platform receives the area code of the second storage area and records the correspondence between the mobile device with the area code and the area code.

[0195] The security control method provided by the embodiment of the present disclosure encodes the area information of the second storage area using multi-channel IO quantity coding according to the number of partitions in the warehousing scenario to obtain the area code of the second storage area. The coding information corresponding to the storage area can be sent to the control platform so that the control platform records the correspondence between the coding information and the mobile device, thereby improving the dynamic maintenance efficiency of the correspondence.

[0196] In some embodiments, the voting unit is configured to trigger an emergency stop event if at least two identification channels fail to identify a preset number of identifiers. The preset number of identifiers is a preset number of identifiers arranged consecutively along the path of the mobile device. The emergency stop event is used to cause the mobile device to stop suddenly when triggered.

[0197] In some examples, the value of the preset number can be determined based on information such as the running speed of the mobile device and the emergency stop safety distance of the mobile device. During the movement of the mobile device, if a preset number of consecutive identifications cannot be recognized, it can be considered that the autonomous positioning and recognition of the mobile device has failed, and the mobile device cannot normally identify its own position. In order to ensure the security of the system and the safety of personnel in the venue, the voting unit can directly send an emergency stop event to the motion control module of the mobile device so that the motion control module performs an emergency stop operation. The voting unit can also send the emergency stop event to the control platform through the secure communication module so that the control platform can record the real-time working status of the mobile device.

[0198] The motion control system provided by the embodiment of the present disclosure triggers an emergency stop event when at least two identification channels fail to recognize a preset number of identifiers. In the presence of dangerous factors, the mobile device can control the mobile device to stop suddenly, thereby further improving system safety.

[0199] In some embodiments, the secure communication module may include a network communication unit and a security protocol unit, and the network communication unit is configured to call a preset secure communication protocol in the security protocol unit to send the area information of the second storage area to the control platform.

[0200] In some examples, the network communication unit is a unit in the mobile device that enables communication and interaction with the control platform via a preset secure communication protocol. Information exchange between the control platform and the mobile device can be achieved via the network communication unit. The security protocol unit is used to store preset secure communication protocols, and can store a variety of different preset secure communication protocols based on the security specifications of the application scenario.

[0201] The motion control system provided by the embodiment of the present disclosure can realize secure communication between the mobile device and the control platform by calling a preset secure communication protocol to send the area information of the second storage area to the control platform, and can realize the autonomous acquisition of the mobile device positioning information by the mobile device in a manner that complies with security standards, thereby improving the flexibility of obtaining the mobile device positioning information.

[0202] In some embodiments, the safety communication module may further include a safety control unit and a safety I / O unit, and the mobile device may further include a motion control module.

[0203] In some embodiments, the control platform is configured to, in response to a first trigger event, send a stop instruction to a first network communication unit based on the region information and region management table of the target storage area; wherein the first network communication unit is a network communication unit of a mobile device within the target storage area. The first security control unit is configured to parse the stop instruction using a preset security communication protocol to obtain a parsing result; wherein the first security control unit is a security control unit of the mobile device within the target storage area. The first motion control module is configured to receive the parsing result output by the first security I / O unit and control the mobile device within the target storage area to stop moving based on the parsing result; wherein the first motion control module is a motion control module for the mobile device within the target storage area, and the first security I / O unit is a security I / O unit of the mobile device within the target storage area.

[0204] In some examples, the safety control unit can parse various instructions or tasks received by the network communication unit from the control platform and control the motion control module to execute corresponding safety emergency stop or reset tasks, such as zone emergency stop, system emergency stop, reset, etc.

[0205] It should be noted that the communication information between the network communication unit and the control platform can be encrypted and decrypted through a preset security protocol, thereby realizing secure information transmission based on the black channel mechanism.

[0206] For example, the safety I / O unit can receive outputs from the safety positioning module and the motion control module, and can also output parsing results obtained by parsing instructions issued by the control platform using a preset safety communication protocol to the motion control module. The motion control module can receive the parsing results output by the first safety I / O unit and, based on the parsing results, control the mobile device within the storage area to stop moving.

[0207] The motion control system provided by the embodiment of the present disclosure parses the stop instruction through the first safety control unit and sends the stop instruction to the motion control module based on the safety I / O unit. When the target object is detected to enter the target storage area, an emergency stop of the mobile device in the target storage area can be achieved, thereby improving the system safety.

[0208] In some embodiments, the motion control module may include a motor control unit and a mobile device control unit. The motor control unit is configured to perform a power-off brake operation in response to the analysis result; and the mobile device control unit is configured to perform an emergency stop operation of the mobile device in response to the analysis result.

[0209] That is, the first motion control module includes a first motor control unit and a first mobile device control unit, wherein the first motor control unit is configured to perform a power-off brake operation in response to the analysis result; and the first mobile device control unit is configured to perform an emergency stop operation of the mobile device in response to the analysis result.

[0210] In some examples, the motor control unit can control the strength of the current signal during the operation of the mobile device. The mobile device control unit can control the operation and stop of the mobile device body.

[0211] In some examples, the motor control unit can perform a power-off braking operation when it receives the parsed result of the stop command output by the safety I / O unit; the mobile device control unit can perform an emergency stop operation of the mobile device when it receives the parsed result of the stop command output by the safety I / O unit, thereby achieving an emergency stop of the mobile device body.

[0212] The motion control system provided by the embodiment of the present disclosure can execute system emergency stop, partition emergency stop, reset and other instructions output by the safety communication module through the motor control unit and the mobile device control unit to realize the control of the motion state of the mobile device.

[0213] Fig. 6 is a schematic diagram of another motion control system provided by an embodiment of the present disclosure. As shown in Fig. 6, the motion control system 100 includes a control platform, a safety positioning module, a safety communication module, and a motion control module.

[0214] The secure positioning module includes a dual-channel RFID reader and an MCU, which can be deployed on the mobile device chassis. The secure communication module includes a network communication unit, a security protocol unit, a security control unit, and a security I / O unit. The motion control module includes a motor control unit and a mobile device control unit.

[0215] Figure 7 is a schematic diagram of a secure positioning module provided by an embodiment of the present disclosure. As shown in Figure 7 (a), the secure positioning module may include 1-n identifiers, where n is a positive integer. Each of the 1-n identifiers is connected to a voting circuit. Multiple identifiers can be used to identify different tags 1-n, and the multiple identification results are voted based on confidence to form a unique region code for the final location.

[0216] Figure 7(b) is a schematic diagram of another secure positioning module. As shown in Figure 7(b), the secure positioning module can include 1-n identifiers, where n is a positive integer. Each of the 1-n identifiers is connected to a voting circuit. Multiple identifiers can be used to identify the same tag 1, and the multiple identification results are voted based on confidence levels to form a final, unique region code for the current location.

[0217] In order to avoid equipment damage caused by forcibly cutting off the power to the motor while it is still moving; or to prevent the mobile device and the cargo it carries from deviating from the preset path or falling due to inertia, the emergency stop of the mobile device requires a certain buffer time. In order to ensure the safety of personnel during the cross-area process, in some examples, a buffer area can be set between two adjacent storage areas to achieve emergency stop buffering of the mobile device.

[0218] In some embodiments, the control platform is further configured to send a speed reduction instruction to the mobile device in the buffer area in response to the first trigger event based on the area information and correspondence of the buffer area; wherein the buffer area is located in a third storage area adjacent to the target storage area.

[0219] For example, a buffer area of ​​a preset size may be provided at the boundary between each storage area and an adjacent storage area, wherein the preset size of the buffer area may be determined according to requirements in actual applications.

[0220] In some examples, a buffer zone of n units may be extended on both sides of the partition detection unit to serve as a buffer zone between the target storage area and the adjacent third storage area. The value of n may depend on the braking distance of the mobile device during an emergency stop.

[0221] For example, if a target object enters a target storage area, the detection unit within the target storage area is triggered (i.e., the detection state of the second detection unit changes from off to on), causing all mobile devices within the target storage area to come to an emergency stop. Simultaneously, mobile devices within the buffer area between the target storage area and an adjacent third storage area receive a speed reduction command from the control platform and execute the speed reduction operation.

[0222] For example, when a storage scenario includes buffer areas, a correspondence between the area information of each buffer area and the device information of the mobile devices in each cache area can be added to the area management table. In other words, the mobile devices in the cache area can be determined based on the area management table. It should be noted that the correspondence between the buffer area and each mobile device is similar to the correspondence between the storage area and the mobile device, and to avoid repetition, it will not be further described here.

[0223] In some examples, when a target object enters a target storage area from an adjacent area, each mobile device in a buffer area at the junction of the target storage area and another adjacent third storage area can be determined according to the area management table, thereby controlling the mobile devices in the buffer area to perform a deceleration operation.

[0224] Figure 8 is a schematic diagram of another storage scenario provided by an embodiment of the present disclosure. As shown in Figure 8, a buffer area C (i.e., a gray area) is provided between partition A and partition B. The buffer area C can be provided between the partition detection units.

[0225] For example, when the partition detection unit detects that the target object has entered partition A, it can send a trigger event to the control platform. In response to this trigger event, the control platform can send a deceleration instruction to the mobile devices in buffer area C, thereby controlling the mobile devices in the buffer area to decelerate. If the target object continues to move from partition A to partition B, the mobile devices in buffer area C will have already decelerated to a slower speed. Therefore, the mobile devices in the buffer area can be stopped in time, further ensuring the safety of the target object.

[0226] As shown in Figure 8, after a person enters zone A, the control platform can issue a zone emergency stop command to all mobile devices in zone A. Simultaneously, the robot dispatch system can issue a dispatch command to the robots in buffer zone C to slow down to a safe speed (e.g., 0.3 m / s). The width of the buffer zone is typically designed to extend N units to the left and right of the peripheral safety device, with the value of N depending on the emergency braking distance of the mobile devices.

[0227] In some examples, the warehouse scene can be pre-divided into multiple storage areas in a virtual way. In order to reduce the impact of the emergency stop of mobile equipment on the overall operating efficiency of the system, the partition area can be designed to be small enough within a reasonable range, that is, the entire project site can be divided into as many storage areas as possible. Partition detection units are deployed at the interfaces between the various areas and at the entrances and exits of each area. In the case of authorized personnel entering the site or unauthorized personnel breaking in, the specific storage area entered can be identified, and the mobile equipment in the specific storage area entered can be controlled to make an emergency stop.

[0228] The motion control system provided by the embodiment of the present disclosure responds to the first trigger event through the control platform, and sends a deceleration instruction to the mobile device in the buffer area based on the area information and the corresponding relationship of the buffer area. When a person enters the target storage area, the mobile device in the buffer area of ​​the adjacent storage area can be decelerated to within the safety speed threshold, thereby ensuring that the person will not directly contact the high-speed moving robot when moving from the target storage area to the adjacent storage area, providing a safe distance guarantee for the cross-area movement of the person, and reducing the safety risk of the cross-area movement of the person.

[0229] In some embodiments, the storage scene can be divided into a first-level target area, a second-level target area, and a third-level target area based on the different danger levels of different areas in the storage area. The danger level of the first-level target area is higher than that of the second-level target area, and the danger level of the second-level target area is higher than that of the third-level target area.

[0230] For example, the danger level is used to represent the degree of danger to the target object in the target area.

[0231] In some embodiments, a third detection unit is deployed in the third target area. The third detection unit is configured to send a second trigger event to the control platform upon detecting that a target object has entered the third target area. The control platform is configured to send a stop instruction to mobile devices in the first target area, the second target area, and the third target area in response to the second trigger event.

[0232] For example, to enhance the flexibility of system security responses while implementing safety zoning, factors such as the frequency of human contact with mobile devices, the degree of hazardous injury, the difficulty of avoidable risks, storage area segmentation requirements, and path planning can be used as multi-dimensional evaluation criteria. Based on a comprehensive assessment of these factors, a multi-zoning principle for the project site can be determined. Based on this multi-zoning principle, the storage scene can be divided into multiple target areas. For example, each key target area can be further subdivided into multiple sub-storage areas.

[0233] For example, in a warehouse scenario, if the entire site is pre-divided into multiple storage areas, each storage area can be further divided into multiple high-risk target areas, such as a first high-risk target area, a second high-risk target area, and a third high-risk target area, according to the hazard level of each storage area. For example, the number of storage areas included in the first high-risk target area, the second high-risk target area, and the third high-risk target area can be the same or different. This is not limited in the present embodiment.

[0234] That is, the heavy target area can be divided first, and then at least one storage area can be divided within the heavy target area; alternatively, multiple storage areas can be divided, and then the multiple storage areas can be further divided, so that the first heavy target area, the second heavy target area, and the third heavy target area each include at least one storage area. It should be noted that the embodiments of the present disclosure do not limit the division process of the heavy target area and the storage area.

[0235] In some examples, the first-level target area can be an area for human-computer interaction. For example, the first-level target area can be the area where workstations are located in a warehouse scenario (also referred to as a workstation area), and the first-level target area contains the human-computer interaction interface. Because people frequently enter and exit the first-level target area, the first-level target area is more likely to pose a safety hazard. Therefore, the first-level target area can be set to the highest danger level.

[0236] In some examples, the second target area may be a storage area adjacent to the first target area, and personnel and mobile devices may enter the second target area through the first target area. The second target area has a lower risk level than the first target area.

[0237] In some examples, the third target area may be a storage area located on a higher floor. Since people enter the third target area less frequently than the first and second target areas, the third target area may be assigned the lowest hazard level, i.e., the hazard level of the third target area is lower than that of the second target area.

[0238] For example, a target object (e.g., a person) may pass through the first target area and the second target area in sequence to enter the third target area; alternatively, the target object may enter the third target area directly through the entrance and exit of the third target area. When the person passes through the first target area and the second target area to enter the third target area, the mobile devices in the first target area and the second target area that the person has entered will not re-enter the operating state based on the person leaving the area.

[0239] Since a person entering the third target area can return to the first target area from the third target area through the second target area, this poses a significant safety hazard if robots in other target areas within the venue are already operating. Therefore, if the second detection unit detects a person entering the third target area, it can generate a second trigger event and send it to the control platform, causing all mobile equipment in the venue to stop suddenly.

[0240] For example, if all mobile devices in the venue stop moving, the personnel can directly leave the venue through the entrance and exit of the third target area and manually reset all mobile devices in the venue after safely leaving the venue. Alternatively, the personnel can also return from the third target area through the second target area to the first target area, and manually reset the mobile devices in the second and third target areas after safely returning to the first target area.

[0241] The motion control system provided by the embodiment of the present disclosure divides the venue into three areas and controls all mobile equipment in the venue to an emergency stop when a target object is detected entering the third area. This can ensure the safety of personnel when passing through the third area to enter other areas in the venue, thereby further improving the overall safety of the system.

[0242] FIG9 is a schematic diagram of another warehousing scenario provided by an embodiment of the present disclosure. It should be noted that the warehousing system in FIG9 is divided according to the triple-zoning principle. For example, the warehousing scenario can be divided into three zones based on the frequency of interaction between personnel and mobile devices and the frequency of interaction (ISO 12100), with the hazard attributes of high, medium, and low.

[0243] As shown in Figure 9, this warehouse scene 1 (also known as the project site) is divided into two floors, separated by a staircase. Based on the human-machine interface (i.e., the locations of picking ports 1, 2, and 3), three storage areas can be divided: Partition 1, Partition 2, and Partition 3. Based on the partition interaction interface, four storage areas are divided: Partition 4, Partition 5, Partition 6, and Partition 7. Specifically, a partition interaction interface exists between Partitions 4, 5, and 6; between Partition 1 and Partition 4; between Partition 2 and Partition 5; between Partition 3 and Partition 6; and between Partition 6 and Partition 7.

[0244] As shown in Figure 9, due to the high risk attribute of the human-computer interaction interface, Zones 1, 2, and 3 can be pre-divided into the first sub-zone, and Zones 4, 5, and 6 can be pre-divided into the second sub-zone. Since the second floor site as a whole has a low risk attribute, Zone 7 can be defined as the third sub-zone.

[0245] For example, the human-machine interface can be the interface corresponding to the picking port, and the partition interface can be the interface between adjacent storage areas. Both the human-machine interface and the partition interface can be used to indicate the spatial location where safety risks exist.

[0246] It should be noted that the project site's zoning can be flexibly adjusted based on actual application needs. If adjustments are needed, robots can be dispatched to the preset passive positioning tags within the site to update the preset zone codes within the passive positioning tags, thereby enabling flexible adjustments to the zones. When the preset zone codes within the passive positioning tags are updated, the cross-zone detection devices can also be adjusted accordingly.

[0247] In some examples, each human-machine interface is equipped with a picking point protective light barrier (i.e., a protective detection unit); each partitioned interface is equipped with a partitioned light barrier (i.e., a partitioned detection unit), both of which can be used to detect whether a person has entered. The overall project deploys a central control module (i.e., a control platform) on the system side, and each robot is equipped with a safety positioning control system (i.e., a safety positioning platform). At the same time, each cell on the ground is equipped with a passive positioning tag with a pre-written zone code.

[0248] During normal operation of the system, if a person triggers the picking point protective grating, the response logic of the first re-partitioning is entered, that is, the central control module determines the area entered by the person based on the preset picking point protective grating position. As shown in Figure 9, if it is determined that the person has entered partition 1, the robot ID in partition 1 at that moment can be determined through the dynamic lookup table, and then the partition emergency stop command is issued to the robot in partition 1. When the person crosses from partition 1 to partition 4, the partition grating between partitions 1 and 4 is triggered, and the response logic of the second re-partitioning is entered. At this time, the central control module determines the robot ID in partition 4 at that moment through the dynamic lookup table, and then the partition emergency stop command is issued to the robot in partition 4. When the person moves across the zones to partition 7 in sequence, the partition grating between partitions 6 and 7 is triggered, and the response logic of the third re-partition is entered. At this time, the central control module controls all robots to stop immediately.

[0249] For example, when it is detected that a person leaves an entrance or exit or the current zone, a reset command can be sent to the robot that has stopped suddenly in the corresponding area to restore the robot to normal operation.

[0250] In order to further ensure personnel safety, after being triggered, each safety device (such as a light barrier) can be set to manually reset it by relevant staff, and the robot in the corresponding triggered area can resume normal operation based on the reset instruction.

[0251] The following, combined with Figures 10 to 15, takes the warehouse scenario obtained by the triple partition principle as an example to further explain the system architecture and safety detection logic of the motion control system.

[0252] Figure 10 is a schematic diagram of another motion control system provided by an embodiment of the present disclosure. As shown in Figure 10, the motion control system includes a human-computer interaction platform, a cross-zone detection platform, a mobile device, and a control platform. The human-computer interaction platform includes an access module and a personnel safety protection device; the cross-zone detection platform includes an access module and a personnel cross-zone safety detection device; and the mobile device includes a secure positioning module, a secure communication module, and a motion control module.

[0253] In some examples, the human-machine interaction platform can be a platform for managing and controlling safety devices at the human-machine interface. The human-machine interface can be an area where human-machine interaction is frequent, such as a picking area or a sowing area. The cross-area detection platform can be a platform for managing and controlling safety devices installed at the boundaries between storage areas.

[0254] FIG11 is a schematic diagram of cross-zone detection logic under a motion control system architecture provided by an embodiment of the present disclosure.

[0255] As shown in Figure 11, when a safety device is triggered, the zone code of the area the person entered can be determined based on the safety device ID, and the zone sub-area the person is in can be determined based on the zone code. If the person enters the first sub-area, the ID of the mobile device entering the area can be searched, and the control platform can issue a zone-specific emergency stop command to the mobile devices entering the area. If the person enters the second sub-area, the ID of the mobile device entering the adjacent area can be searched, and the control platform can issue a zone-specific emergency stop command to the mobile devices entering the adjacent area. If the person enters the third sub-area, the ID of the mobile device in all areas can be searched, and the control platform can issue a full-area emergency stop command to the mobile devices in all areas.

[0256] Figure 12 is a schematic diagram of a human-machine interaction platform under a motion control system architecture provided by an embodiment of the present disclosure. As shown in Figure 12, the human-machine interaction platform includes an access module and a personnel safety protection device.

[0257] In some examples, the personnel safety protection device may include a variety of peripheral safety devices, such as safety protection gratings, safety protection radars, safety sensors, safety door locks, etc.

[0258] In some examples, peripheral safety devices are deployed on the human-machine interface to provide a safety barrier for personnel. They can detect whether personnel have intruded into a risky area and upload a trigger signal to the substation safety controller (i.e., the access module). The input of the personnel safety protection device includes status information of the real-time detection of the human-machine interface, such as photoelectric signals. The output of the personnel safety protection device includes status information of whether the human-machine interaction platform has been triggered, such as IO volume or status information transmitted via a secure communication protocol, as well as the ID code of the specific triggering device.

[0259] In some examples, a substation safety controller pre-processes the logic for activating, resetting, and shielding peripheral safety devices, uploading trigger and reset status information and corresponding region codes. Inputs include peripheral safety device status information; outputs include trigger and reset status information and corresponding region codes. The components and signals may include a safety PLC, a security gateway, and safety I / O devices. Inputs include peripheral safety device status information in the form of signals such as I / O quantities, OSSD signals, lasers, and radio frequency signals. The safety PLC controls the activation, shielding, resetting, and shutdown logic of the peripheral safety devices, combining them to implement security protection for the human-machine interface. The trigger status of the various peripheral safety devices, processed logically, is then uploaded to the control platform via the security gateway in a communication format that complies with the safety communication protocol, or directly in I / O format. Also uploaded is the corresponding region code found based on the trigger device ID and pre-set information. When there are multiple substation safety controllers, a switch access device can be used to network and forward the signals to the central control subsystem, reducing on-site wiring complexity.

[0260] Figure 13 is a schematic diagram of a cross-zone detection platform under a motion control system architecture provided by an embodiment of the present disclosure. As shown in Figure 13, the cross-zone detection platform may include an access module and a personnel cross-zone safety detection device.

[0261] In some examples, the personnel cross-zone safety detection device can be a variety of peripheral safety devices, including partition gratings, partition control buttons, partition safety radars, etc. Functions include: by deploying a variety of peripheral safety devices at the intersection of each partition to detect whether there is personnel cross-zone behavior, and uploading the cross-zone trigger signal and area code to the control platform. Input includes: peripheral safety device status information, such as trigger and reset. Output includes: cross-zone detection device trigger status and corresponding device ID information. The hardware composition is similar to the composition and signal processing method of the human-computer interaction platform, and the software logic is slightly different. The difference is reflected in the fact that the peripheral safety devices of the human-computer interaction platform provide safety protection for personnel, and there is a safety logic for the combination of multiple safety devices, while the cross-zone detection platform detects personnel cross-zone movement behavior, and mostly uses a single device detection method, and the processing logic is relatively simple, such as shielding, starting, resetting, triggering, etc.

[0262] Figure 14 is a schematic diagram of a control platform provided by an embodiment of the present disclosure. As shown in Figure 14, the control platform may include wireless network equipment, a security gateway, a security controller, and security input and output devices.

[0263] In some examples, the functions of the control platform include: receiving trigger information and preset area coding information reported by the human-computer interaction platform and the cross-zone detection platform, maintaining a real-time secure link with all mobile devices (such as AGVs) in the field, receiving location information (such as area codes) reported by all mobile devices in the field, and converting the trigger information into an emergency stop command for the mobile devices in the corresponding area. Input includes: AGV location information received through wireless network devices, trigger information and preset area coding information reported by the human-computer interaction platform and the cross-zone detection platform received through wired / wireless network devices. Output includes: issuing zone emergency stop, system emergency stop, and reset commands to AGVs in certain areas through wireless network devices.

[0264] In some examples, the composition and signals of the control platform include: establishing and maintaining a secure connection with the AGV through wireless network equipment and a security gateway, while exchanging emergency stop or position information in a secure communication protocol format. Through a secure input and output device or a secure gateway, interact with the human-machine interaction platform and the cross-zone detection platform, and receive trigger information and preset area coding information from the two platforms. The safety controller is the core component, responsible for maintaining the AGV-ID and area coding dynamic lookup table, and updating the dynamic lookup table based on the real-time upload of the body position information (i.e., area coding) of each AGV. The update frequency is equal to the safety task cycle set between the safety controller and the internal safety communication submodule of the robot. The safety controller searches for the AGV-ID in the corresponding area coding area in the dynamic table based on the time when the trigger information is reported by the human-machine interaction platform and the cross-zone detection platform, and issues a partition emergency stop to these AGVs or a system emergency stop command or reset command to all AGVs.

[0265] Figure 15 is a schematic diagram of the system interaction logic within a motion control system architecture provided by an embodiment of the present disclosure. For example, multiple cells can be pre-set on the ground within a project site, each with a recognizable region code label. Region code labels within the same storage area correspond to the same region code.

[0266] As shown in Figure 15, the mobile device can interact with the control platform (mobile device -> control platform): When the mobile device moves according to the path information issued by the scheduling system, the safety positioning module is always in the on state. Every time it passes a cell position, the safety positioning module will identify and judge the acquired area coding information and upload it to the central control module through the wireless channel. The upload frequency is the preset safety task cycle, and the update frequency of the identified area coding information depends on the robot's running speed. Therefore, the upload frequency is significantly faster than the update frequency, ensuring that the acquired area coding information is uploaded in a timely and safe manner.

[0267] In scenarios where position information is continuously lost, the robot automatically enters a safe state according to the fail-safe mechanism settings, that is, the robot stops and the motor is de-energized and braked, or the robot stops and is monitored at a safe speed until human intervention releases the safe state.

[0268] The mobile device maintains a secure link with the control platform in real time. The mobile device's region code information is loaded onto this secure link and uploaded to the control platform.

[0269] The control platform can interact with mobile devices (control platform -> mobile device): the control platform acts as the master (master or client) and maintains a real-time safety connection with the safety communication modules (slave or server) on all mobile devices in the field, and loads safety instructions such as zone emergency stop and system emergency stop on this safety link and sends them to regional or field-wide mobile devices.

[0270] Both the human-machine interaction platform and the cross-zone detection platform can interact with the control platform: the substation safety controllers in each platform pre-process the trigger logic of the peripheral safety devices on their respective platforms and upload them to the control platform's safety input / output module / safety gateway module via wired / wireless channels. At the same time, the substation safety controllers maintain a secure connection with the control platform's safety controller, ensuring that every safety interaction signal is transmitted within the corresponding safety task cycle. If the secure connection is disconnected, the control platform loses monitoring of the substation safety controllers. To ensure personnel safety, the control platform immediately triggers all robots in the field to enter a safe state (emergency stop or speed reduction to a safe speed).

[0271] The control platform interacts with the human-machine interaction platform or cross-zone detection platform: The control platform maintains a real-time secure connection with the human-machine interaction platform or cross-zone detection platform. By default, the control platform acts as the receiver, with the substation controller acting as the sender. However, in scenarios with complex combinational logic or where the substation safety controller's CPU processing power is insufficient, the control platform also has the ability to perform secondary logic processing based on the substation safety controller's preprocessing. It can also exchange safety signals with the substation safety controller or issue corresponding instructions to the substation safety controller.

[0272] For example, the storage area may include a workstation area and a fixed storage area. The mobile device may be an AGV. The positioning and recognition module in the AGV may identify location tags on the ground and send the recognition results to the AGV scheduling and management system. The AGV scheduling and management system may issue an emergency stop command to each AGV in the workstation area if the corresponding safety detection device in the workstation area is triggered.

[0273] If the storage area is fixed, a static partition control system can be used to control and manage the movement of mobile devices within each fixed storage area. Security positioning devices can be pre-configured at fixed entrances and exits within the fixed storage area, and identifiable tags can be deployed on the same side of each mobile device (the number of tags can be determined based on actual needs, for example, two). This allows the static partition control system to update the mobile device numbers within the fixed storage area in real time.

[0274] In some examples, a person can enter a fixed storage area while wearing a wearable device. When a person enters a fixed storage area, the static zoning control system can obtain the wearable device's location information and, based on the wearable device's location information, determine the distance between the person and each mobile device within the fixed storage area. Based on this distance information, the motion state of each mobile device within the fixed storage area can be individually controlled, for example, by issuing an emergency stop command, a deceleration command, or no command at all.

[0275] In some embodiments, the control platform is further configured to query the first mobile device in the target storage area from the area management table based on the area information of the storage area, wherein the area management table stores the area information of each storage area and the device information of the mobile device in each storage area.

[0276] In some examples, the regional management table stores regional information of storage areas and device information of mobile devices within the storage areas. The regional management table is updated based on the positioning unit. The regional management table may be a pre-existing initial regional management table that records the mobile devices initially deployed in each storage area and the corresponding deployed storage areas. The initial regional management table is updated based on the positioning results of the positioning unit to obtain an updated regional management table. Regional information refers to regional identification information that represents the corresponding storage area. For example, the identification of the storage area is based on the regional information.

[0277] The control platform queries the first mobile device in the target storage area from the area management table based on the area information of the target storage area. This may be: the control platform compares the area information of the target storage area with the area information stored in the area management table, determines the target storage area information based on the comparison result, and obtains the device information corresponding to the first mobile device from the area management table based on the target area information.

[0278] The motion control system provided by the embodiment of the present disclosure queries the mobile devices in the target storage area from the area management table. When the target object triggers the first trigger event, the mobile devices in the corresponding target area can be directly queried from the area management table without spending extra time to re-identify and search for the mobile devices currently running in the target storage area. This improves the query efficiency of the mobile devices and further improves the operation efficiency of the mobile devices.

[0279] In some embodiments, the warehouse scene can be divided into a workstation area, a high-speed area, and a storage area based on the different business requirements corresponding to different areas in the warehouse scene. The workstation area, the high-speed area, and the storage area each include at least one storage area. The storage area includes a movable storage area and a fixed storage area. The shelf positions of the shelves in the movable storage area are not fixed, and the operating speed of the mobile device in the high-speed area reaches a preset speed threshold.

[0280] In some embodiments, the security positioning module is configured to identify an identifier of the mobile device on a travel path and determine the target workstation area, the target high-speed area, or the target removable storage area where the mobile device is currently located.

[0281] In some examples, multiple business areas can be divided first, and then each business area can be divided into at least one storage area; alternatively, multiple storage areas can be divided, and then the multiple storage areas can be further divided so that the workstation area, high-speed area, and storage area each include at least one storage area.

[0282] In some examples, the workstation area may be an area containing more than a preset number of human-computer interaction interfaces, such as an area containing picking stations, an area containing personnel entry and exit passages, etc. The preset number threshold may be determined based on actual application conditions.

[0283] In some examples, because personnel need to perform picking operations at picking stations, picking areas often have more human-machine interaction interfaces. Warehouse scenarios may also require personnel to perform operations such as exception handling, cleaning, and AGV maintenance. Therefore, areas within warehouse scenarios containing security doors and access passages for personnel and AGVs can be pre-divided into workstation areas. In other words, areas with more human interaction can be referred to as workstation areas.

[0284] In some examples, a high-speed area may be an area where the mobile device's speed reaches or exceeds a preset speed threshold. Examples include the boundary between two storage areas, a connecting passage between a workstation area and a storage area, or a connecting passage between upper and lower floors. The preset speed threshold may be a speed value exceeding the speed specified in personnel safety regulations. The preset speed threshold may be determined based on actual application requirements.

[0285] In some examples, a storage area may be an area for storing storage objects. Storage objects may include goods, containers, shelves, etc. Storage areas may also include fixed storage areas and movable storage areas. Fixed storage areas may be areas where fixed shelves are placed, i.e., shelves placed in fixed storage areas are fixed and do not move; movable storage areas may be areas where movable shelves are placed, i.e., shelves within movable storage areas may be removable.

[0286] For example, the first target area may include a workstation area, a high-speed area, and a removable storage area. The AGV can identify the ground markings in the workstation area, high-speed area, or removable storage area based on the AGV body to determine the real-time location of the AGV. Furthermore, when a safety detection device is triggered, the motion state of the AGV in each workstation area, high-speed area, and removable storage area can be dynamically managed based on the area to which the triggered safety detection device belongs.

[0287] In some embodiments, the target object may include an authorized object and an unauthorized object, and a partition detection unit is deployed in the high-speed area. For example, the mobile device unit is currently in the target high-speed area, and a partition detection unit (such as the fourth detection unit) is deployed in the target workstation area.

[0288] In some embodiments, the fourth detection unit is configured to send a third trigger event to the control platform when detecting that an authorized target object enters the target workstation area; or send a fourth trigger event to the control platform when detecting that an unauthorized target object enters the target workstation area. The control platform is configured to send a stop instruction to the mobile device in the target workstation area in response to the third trigger event; or send a stop instruction to the mobile device in the target workstation area, the target high-speed area, and the target removable storage area in response to the fourth trigger event.

[0289] For example, security zoning can also be implemented from the perspective of personnel management. For personnel safety protection, personnel can be divided into authorized personnel (i.e., authorized subjects) and unauthorized personnel (i.e., unauthorized subjects). Authorized personnel are those who have undergone project safety training and business configuration, are familiar with business processes, and have the authority to enter the robot operating area through safe entry and exit procedures to perform operations such as cleaning and exception handling. Unauthorized personnel are those who are not authorized to enter the robot operating area.

[0290] For example, since the only access to and from the warehouse scene is the security door (also called a security door lock), authorized personnel can wear wearable devices when passing through the security door to achieve security protection for authorized personnel and zoning control of the system. As for unauthorized personnel, they usually break into the robot operation area by triggering the security protection equipment in the workstation area of ​​human-computer interaction. For this workstation area, a first-level security protection for unauthorized personnel intrusion can be achieved based on a partition detection unit (such as the fourth detection unit). After the unauthorized personnel triggers the first-level security protection, if the partition detection unit at the interface of the workstation area and the highway area is triggered again, the second-level security protection can be triggered, thereby controlling the emergency stop of all robots in the field. The disclosed embodiment adopts different security protection methods for different types of personnel, thereby achieving personnel safety protection, and improving the overall system availability index by reducing the frequency and time of emergency stops in the field.

[0291] In some examples, since the high-speed area is often located between two adjacent storage areas, or between an adjacent workstation area and a storage area, the high-speed area may also be merged into the storage area.

[0292] Figure 16 is a schematic diagram of another warehousing scenario provided by an embodiment of the present disclosure, wherein Figure 16 shows two ways of dividing warehousing scenarios.

[0293] As shown in (a) of Figure 16, the warehouse scene 1 can be divided into three workstation areas (such as workstation partition 1, workstation partition 2, and workstation partition 3), a highway area (such as a highway partition), and three storage areas (storage partition 1, storage partition 2, and storage partition 3). Among them, each workstation partition is deployed with a protection detection unit (also known as a human-computer interaction detection unit), which is used to detect target objects entering the workstation partition. A partition detection unit is deployed at the junction between each workstation area and the highway area, and an interval detection unit is also deployed at the junction between the highway area and each storage partition. A partition detection unit is also deployed at the junction between each storage partition. The partition detection unit is used to detect target objects across regions. When the protection detection unit (i.e., the fourth detection unit in the above embodiment) detects that an authorized person enters the workstation partition, the control platform can control the mobile devices in the workstation area to stop running, while the mobile devices in other areas can run normally; when the protection detection unit detects that an unauthorized person enters the workstation partition, the control platform can control the mobile devices in the workstation area, the highway area, and the storage area (i.e., all mobile devices in the warehouse scene) to stop running, thereby further ensuring the safety of personnel.

[0294] As shown in Figure 16(b), the high-speed and storage areas can be combined into a single zone, the high-speed and storage partition. Partition detection units are deployed at the intersections between each workstation partition and the high-speed and storage partition. When these partition detection units detect that a target object has entered the high-speed and storage partition, the control platform can control the mobile devices in the high-speed and storage partition to stop operation. Using the partitioning method shown in Figure 16(b) can reduce the number of deployed partition detection units, lower costs, and ensure the safety of the target object.

[0295] In some embodiments, the motion control system may also include safety equipment, which is equipment carried by the target object when entering the warehouse scene.

[0296] In some examples, when a motion control system includes safety devices, there's no need to deploy a zone detection unit. That is, the motion control system can include multiple mobile devices and safety devices. In this case, the warehouse scenario doesn't need to be divided into multiple storage areas.

[0297] In other examples, when a motion control system includes safety equipment, multiple partition detection units can also be deployed. Specifically, a partition detection unit can be deployed at the intersection of multiple pre-divided storage areas in a warehouse scenario. In other words, a motion control system can also include multiple mobile devices, a safety control system, multiple partition detection units, and safety equipment.

[0298] It should be noted that the embodiments of the present disclosure provide two motion control systems, and the two motion control systems correspond to different ways of dividing areas in the warehouse scene, thereby providing different security protection methods for target objects in the warehouse scene.

[0299] In some embodiments, the motion control system includes a first device and a second device, wherein the first device is a mobile device and the second device is a safety device; or the first device is a safety device and the second device is a mobile device.

[0300] In some embodiments, the first device is configured to broadcast a ranging request; the second device is configured to, upon receiving the ranging request, feed back a ranging response signal to the first device; the first device is further configured to determine a target distance between the first device and the second device based on the ranging response signal, and adjust the motion state of the mobile device according to the target distance.

[0301] In some examples, the safety device can be a portable safety device. For example, the safety device can be a wearable bracelet, wearable headphones, etc. The safety device can have a pairing function with a mobile device (such as an AMR) in the warehousing scene, a real-time ranging response feedback function for the ranging signal sent by the AMR in the field, a self-test function for sending and receiving ranging requests autonomously and making ranging responses, and a multi-channel ranging signal interactive self-test function; it can have the function of autonomously triggering and sending a system emergency stop / reset signal to the control platform (such as the safety communication master station unit of the control platform), and the function of establishing and maintaining a secure connection with the control platform.

[0302] In some examples, the mobile device has the function of pairing with the safety equipment in the storage scene, the function of issuing distance measurement requests to the safety equipment in the field, the function of real-time distance measurement based on the distance measurement response signal feedback from the safety equipment in the field, the function of judging whether the area where the AMR is located is a stop area, a speed reduction area, or an operation area based on the distance measurement results, the function of outputting an emergency stop / reset signal and a speed reduction / recovery signal based on whether the area where the AMR is located is a stop area or a speed reduction area, the function of self-testing the reception and transmission to autonomously issue distance measurement requests and make distance measurement responses, the function of interactive self-testing of multiple distance measurement signals, the function of safely responding to the emergency stop / reset signal issued by the distance measurement unit, the function of establishing and maintaining a safe connection with the control platform safety communication master station unit, the function of automatically sending an emergency stop / reset signal to the motion control unit when the safety connection is abnormal / recovered, and the function of safely responding to the emergency stop / reset signal of the safety communication master station unit.

[0303] For example, when the target object carries the security device into the warehouse scene, the security device can communicate with the mobile device in the warehouse scene. For example, the mobile device (or security device) can broadcast a distance measurement request. When the security device (or mobile device) receives the distance measurement request, it can feedback a corresponding distance measurement response signal. The mobile device (or security device) can determine the target distance between the mobile device (or security device) and the security device (or mobile device) based on the received distance measurement response signal, and control the movement state of the mobile device according to the target distance. For example, the mobile device can be controlled to continue moving, controlled to slow down, or controlled to stop moving according to the target distance.

[0304] The following embodiments are illustratively described by taking an example where the first device is a mobile device and the second device is a security device.

[0305] In some embodiments, when the storage scene is not divided into storage areas (i.e., the motion control system does not include a partition detection unit), the mobile device in the storage scene can broadcast a distance measurement request. When the target object carries the safety device and enters the storage scene, if the safety device receives the distance measurement request sent by each mobile device, it can feedback a corresponding distance measurement response signal to each mobile device. After receiving the distance measurement response signal sent by the safety device, the mobile device can determine the distance between its current location and the safety device (such as the target distance) based on the distance measurement response signal. For example, when the target distance is large (such as greater than the preset distance upper limit), it indicates that the mobile device will not affect the safety of the target object carrying the safety device, so the mobile device can continue to maintain the current motion state. When the target distance is small (such as less than the preset distance lower limit), it indicates that the mobile device may affect the safety of the target object carrying the safety device, so the mobile device needs to stop moving to prevent collision with the target object. When the target distance is within a preset interval (i.e., the target distance is less than or equal to the preset lower limit of the distance, and less than or equal to the preset upper limit of the distance), it indicates that the distance between the mobile devices may not affect the target object temporarily, but may affect the target object after a short period of time. Therefore, the mobile device needs to start decelerating to ensure that when the distance between the mobile device and the safety device is small, the mobile device can stop running in time. Through the above-mentioned safety protection strategy, it can be ensured that after the target object carrying the safety device enters the warehouse scene, the mobile device moving in the warehouse scene will not pose a security threat to the target object, thereby ensuring the safety of the target object. At the same time, there is no need for all robots in the warehouse scene to stop moving, thereby improving the working efficiency of the mobile device.

[0306] In other embodiments, when a storage area is divided into multiple storage areas (i.e., the motion control system includes a partition detection unit), according to the above embodiment, when a target object carrying a security device enters any storage area (e.g., the target storage area), the partition detection unit (e.g., the first detection unit) deployed in the target storage area can detect the target object entering the target storage area, and the control platform can control the mobile devices in the target storage area to stop running. In other words, the mobile devices in the target storage area will not pose a security threat to the target object. However, if some mobile devices in the target storage area may be unable to respond to the stop command sent by the control platform to stop running due to abnormal conditions such as communication failures with the control platform, the mobile devices may still pose a security threat to the target object. Alternatively, if the partition detection unit deployed in the target storage area is not normally turned on, the partition detection unit cannot normally detect the target object's crossing of the area, and thus cannot control the mobile devices in the corresponding storage area to stop running. In the above case, when the target object carries a security device and enters the target storage area, the security device and the mobile device can implement a security protection strategy through distance measurement, thereby achieving dual security protection for the target object.

[0307] Exemplarily, when the target object carries a safety device and enters the target storage area, on the one hand, the motion state of the mobile devices that have not stopped in the target storage area can be controlled. For example, the mobile devices that have not stopped running in the target storage area can be controlled to slow down, stop, or continue to move. On the other hand, the operating state of the mobile devices in other storage areas can also be controlled. For example, when the target object carries a safety device and enters the target storage area, the mobile devices in the storage area adjacent to the target storage area (such as the third storage area) broadcast a ranging request. When it is determined that the distance between the mobile device and the safety device in the third storage area is within a preset distance interval, the mobile devices in the third storage area are controlled to slow down in advance to ensure that when the target object enters the third storage area from the target storage area, the mobile devices in the third storage area can stop moving in time.

[0308] Therefore, when storage areas are divided or not divided in the warehousing scenario, the above-mentioned security protection strategy between mobile devices and security devices can be used to control the movement of mobile devices, thereby improving the working efficiency of mobile devices while ensuring the safety of target objects.

[0309] The following describes the process of adjusting the motion state of a mobile device by using the target distance between the security device and the mobile device. It should be noted that the following embodiments are described by taking the first device as a mobile device and the second device as a security device as an example.

[0310] In some embodiments, the mobile device is configured to broadcast a ranging request, and the security device is configured to feed back a ranging response signal to the mobile device upon receiving the ranging request; the mobile device is further configured to calculate the target distance between the mobile device and the security device based on the ranging response signal, and adjust the current motion state of the mobile device based on the target distance.

[0311] In some examples, a ranging request refers to a request initiated by a mobile device for distance measurement. For example, a ranging request may be a request sent by a mobile device to measure the distance between the mobile device and the device receiving the ranging request. A ranging response signal refers to a response made by a security device that receives the ranging request to the ranging request.

[0312] For example, the distance between the security device and the mobile device can be determined based on the ranging request and ranging response signals. A motion adjustment signal is a signal that causes the mobile device to adjust its current motion state. For example, the motion adjustment signal may include a motion acceleration signal, a motion deceleration signal, and a motion continuation signal.

[0313] In some examples, the broadcast ranging request may be broadcast at a preset period. For example, the mobile device may broadcast the ranging request within a certain range. If the range is exceeded, the mobile device may not receive the ranging response signal fed back by the security device.

[0314] Exemplarily, upon receiving a ranging request, the security device is configured to provide a ranging response signal to the mobile device. This may be the case where the security device receives a ranging request broadcast by the mobile device and, based on the ranging request, provides the mobile device with a ranging response signal. The ranging response signal may include motion information of the security device. For example, the motion information may include location information, speed information, and the like.

[0315] Exemplarily, the mobile device calculates the distance between it and the security device (i.e., the target distance) based on the ranging response signal, which may include: the mobile device calculates the time difference based on multiple received ranging response signals, and determines the distance between the mobile device and the security device based on the time difference and the broadcast propagation speed.

[0316] For example, adjusting the current motion state of the mobile device based on distance may include: determining the target safety zone in which the mobile device is currently located based on the target distance, and adjusting the current motion state of the mobile device based on a preset motion pattern in the target safety zone. The target safety zone may be divided according to a preset upper distance limit and a preset lower distance limit.

[0317] In some examples, the warehouse scene can be divided into multiple safety zones centered around the safety device (i.e., the target object), and the corresponding motion states of mobile devices (e.g., mobile robots) in different safety zones are different. For example, the warehouse scene can be divided into three zones, namely, a first safety zone, a second safety zone, and a third safety zone, based on the relationship between the target distance between each mobile device and the safety device and a preset upper and lower distance limit (where the upper distance limit is greater than the lower distance limit).

[0318] Figure 17 is a schematic diagram of another storage scenario provided by an embodiment of the present disclosure. As shown in Figure 17, with the target object as the center, the area around the target object is divided into three areas according to the distance, namely the first safety area, the second safety area, and the third safety area.

[0319] As shown in Figure 17, when the target distance is greater than the preset distance upper limit, it indicates that the mobile device is currently in the first safety area; at this time, the distance between the mobile device and the target object carrying the safety device is relatively far; when the target distance is less than or equal to the preset distance upper limit, and greater than or equal to the preset distance lower limit, it indicates that the mobile device is currently in the second safety area; when the target distance is less than the preset distance lower limit, it indicates that the mobile device is currently in the third safety area. At this time, the distance between the mobile device and the target object carrying the safety device is already relatively close, and there may be a threat to the safety of the target object.

[0320] The motion control system provided by the embodiments of the present disclosure calculates the distance between the mobile device and the safety device based on the ranging response signal fed back by the mobile device through the mobile device actively broadcasting a ranging request, and adjusts the motion state of the mobile device based on the distance to prevent the mobile device from affecting the target object, thereby ensuring the safety of the target object carrying the safety device. Moreover, the motion state of the mobile device is adjusted based on the distance between the mobile device and the safety device, without the need to stop the entire device, thereby improving the efficiency of the operation of the mobile device.

[0321] In some embodiments, the mobile device is further configured to control the mobile device to maintain the current motion state if the mobile device does not receive a ranging response signal sent by the security device.

[0322] In some examples, if a mobile device broadcasts a ranging request and does not receive a ranging response signal in response to the ranging request, it can determine that no safety device exists within a preset distance range, meaning that the movement of the mobile device will not affect the target object. Therefore, the mobile device can maintain its current motion state. For example, a robot can perform a task according to a preset program, maintaining efficient movement and task execution.

[0323] In some embodiments, the mobile device is further configured to determine whether the target distance is greater than a preset upper distance limit based on the target distance; if the target distance is greater than the preset upper distance limit, the mobile device is controlled to maintain the current motion state.

[0324] In some examples, the preset upper distance limit refers to a pre-set upper distance limit for security protection of the target object. Mobile devices outside the preset upper distance limit will not pose a security threat to the target object carrying the security device.

[0325] For example, the mobile device identifies whether the target distance is greater than a preset upper distance limit by comparing the target distance with the preset upper distance limit and determining whether the distance is greater than the preset upper distance limit based on the comparison result.

[0326] For example, if it is determined that the target distance is greater than the preset distance upper limit, the mobile device corresponding to the current ranging request will not pose a security threat to the target object carrying the safety device, and the mobile device can maintain the current motion state, thereby ensuring the operating efficiency of the mobile device.

[0327] Continuing with reference to FIG17 , a target distance greater than the preset distance upper limit indicates that the mobile device is currently in the first safety area. The regional motion mode corresponding to the first safety area is to maintain the current motion state, that is, the mobile device located in the first safety preset can continue to move at the current motion speed. Therefore, the first safety area can also be called the operating area.

[0328] For example, if the target distance is determined to be less than the preset distance upper limit, the mobile device corresponding to the current ranging request may pose a security threat to the target object carrying the safety device. In this case, the current motion state of the mobile device needs to be adjusted according to the regional motion mode corresponding to the target distance.

[0329] As shown in FIG17 , when the target distance is less than the preset upper limit, the mobile device may be currently in the second safety zone or the third safety zone, and further judgment is required to determine the corresponding motion state of the mobile device.

[0330] The motion control system provided by the embodiment of the present disclosure maintains the current motion state of the mobile device if the target distance recognized by the mobile device is greater than a preset distance upper limit. That is, when it is determined that the distance between the mobile device and the target object carrying the safety device is greater than the preset distance upper limit, it is determined that the mobile device will not affect the safety of the target object, so the current motion state of the mobile device is maintained unchanged, thereby reducing the impact on the working efficiency of the mobile device while ensuring the safety of the target object.

[0331] In some embodiments, the mobile device is configured to determine whether the target distance is within a preset distance interval based on the target distance, and control the mobile device to decelerate to a first preset motion speed if the target distance is within the preset distance interval.

[0332] The preset distance interval is determined based on a preset distance upper limit and a preset distance lower limit. For example, target distances that are less than or equal to the preset distance upper limit and greater than or equal to the preset distance lower limit are both within the preset distance interval.

[0333] In some examples, a preset distance interval refers to a preset range of intervals for adjusting the movement speed of a mobile device, wherein the adjustment may be to decelerate to a preset movement speed (i.e., a first preset movement speed). A preset distance lower limit refers to a preset distance limit that affects the safety of a target object, wherein the impact on the safety of a target object means that the faster the speed, the greater the impact. Therefore, when the distance reaches the preset distance lower limit, the mobile device needs to decelerate to the first preset movement speed to avoid the target object carrying the safety device from accelerating and the mobile device being unable to decelerate quickly, thereby affecting the target object carrying the safety device. However, since the distance is greater than the preset distance lower limit, in order to ensure the operating efficiency of the mobile device, the mobile device is decelerated to the first preset movement speed instead of directly stopping the mobile device.

[0334] In some examples, the first preset motion speed refers to a predetermined motion speed of the mobile device that has a controllable impact on the safety of the target object. For example, after the mobile device decelerates to the first preset motion speed, the mobile device can quickly decelerate from the first preset motion speed to zero before moving to the target object, thereby ensuring the safety of the target object. The first preset motion speed can be a specific speed value, or the first preset motion speed can also be a speed range, which is not limited in the embodiments of the present disclosure.

[0335] For example, the mobile device may be controlled to decelerate from an initial motion speed to a first preset motion speed, wherein the initial motion speed refers to the motion speed of the mobile device before deceleration.

[0336] In some examples, the mobile device may compare the target distance with a preset upper and lower distance limits to determine whether the distance is between the lower and upper preset distance limits. If the target distance is within the preset distance range, the speed of the mobile device may be reduced to prevent the mobile device from being too close to the safety device and the mobile device from moving too fast, thereby affecting the safety of the target person carrying the safety device. However, if the distance is within the preset lower distance limit, and to ensure the operating efficiency of the mobile device, the current initial movement speed of the mobile device may be adjusted to the first preset movement speed.

[0337] Continuing with FIG17 , the target distance being within the preset distance interval indicates that the mobile device is currently in the second safety zone. The regional motion mode corresponding to the second safety zone is deceleration motion, that is, the mobile device located in the second safety preset needs to decelerate from the initial motion speed to the first preset motion speed. Therefore, the second safety zone can also be called a deceleration zone.

[0338] The motion control system provided by the embodiment of the present disclosure is that the mobile device identifies whether the distance is within a preset distance interval. If so, the current initial motion speed of the mobile device is adjusted to be reduced to a first preset motion speed, so that the mobile device within the preset distance interval moves at the speed reduced to the first preset motion speed, thereby reducing the impact on the motion efficiency of the mobile device while ensuring the safety of the target object.

[0339] In some embodiments, the mobile device is configured to determine whether the target distance is less than a preset distance lower limit based on the target distance; if the target distance is less than the preset distance lower limit, the mobile device is adjusted to a stopped state.

[0340] The stop state refers to a motion state corresponding to a motion speed of the mobile device being zero.

[0341] In some examples, the mobile device may compare the target distance with a preset lower distance limit and, based on the comparison result, determine whether the distance is less than the preset lower distance limit. If the mobile device determines that the movement distance is less than the preset lower distance limit, it indicates that the mobile device is within the warning distance range of the safety device and may pose a threat to the safety of the target person wearing the safety device. Therefore, the mobile device may be adjusted to a stopped state.

[0342] Continuing with Figure 17, if the target distance is less than the preset lower distance limit, it indicates that the mobile device is currently in the third safety zone. The corresponding regional motion mode for the third safety zone is the stop motion state. That is, the mobile device in the third safety zone must slow down to a stop state. Therefore, the third safety zone can also be called the stop zone.

[0343] That is, the mobile device can, based on the ranging response signal fed back by the safety device, control the mobile device to maintain its current motion state if it is determined that the motion distance between the mobile device and the safety device is greater than a preset distance upper limit; control the mobile device to decelerate from the current initial motion speed to a first preset motion speed if it is determined that the motion distance between the mobile device and the safety device is less than or equal to the preset distance upper limit and greater than or equal to the preset distance lower limit (that is, the motion distance is within the preset distance range); and adjust the mobile device to a stopped state if it is determined that the motion distance between the mobile device and the safety device is less than the preset distance lower limit.

[0344] The motion control system provided by the embodiment of the present disclosure determines whether the distance between the mobile device and the safety device is less than a preset distance lower limit. If the motion distance is less than the preset distance lower limit, the mobile device is adjusted to a stopped state, thereby avoiding a conflict between the mobile device and the safety device and ensuring the safety of the target object carrying the safety device.

[0345] In some embodiments, the mobile device includes at least three identification channels and a second voting unit. The identification channel is configured to calculate the target distance between the device and the safety device based on the ranging response signal to obtain an identification result; wherein the identification result includes whether the target distance is less than a preset distance lower limit. The second voting module is configured to vote on the identification results output by the at least three identification channels, generate an emergency stop trigger signal, and send the emergency stop trigger signal to the control platform. The control platform is also configured to send the emergency stop trigger signal to each mobile device. The mobile device is configured to stop movement in an emergency in response to the emergency stop trigger signal.

[0346] In some examples, at least three recognition channels obtain at least three recognition results, and a second voting module votes from the three recognition results to determine whether to generate an emergency stop trigger signal.

[0347] The motion control system provided by the embodiments of the present disclosure sets at least three identification channels and a second voting unit in the mobile device, so that based on the ranging response signal fed back by the safety device, the at least three identification channels can respectively calculate the distance between the mobile device and the safety device based on the ranging response signal, identify whether the distance is less than a preset distance, and generate an emergency stop trigger signal based on the output results of the at least three identification channels, thereby ensuring the accuracy of the generation of the emergency stop trigger signal, and further ensuring the accuracy of the emergency stop movement of the mobile device, thereby achieving high-efficiency guarantee of the movement of the mobile device.

[0348] In some embodiments, the mobile device is further configured to determine the current movement speed of the safety device based on the ranging response signal; if the current movement speed of the safety device exceeds a preset speed threshold, the mobile device is adjusted to a stopped state.

[0349] In some examples, the preset speed threshold refers to a pre-set value that limits the speed of the safety device, that is, the speed of the target object carrying the safety device. For example, the preset speed threshold may be 0.3 meters per second or 1080 meters per hour.

[0350] For example, the current movement speed of the safety device is the current movement speed of the target object carrying the safety device. When the current movement speed of the target object exceeds the preset speed threshold, it indicates that the current movement speed of the target object is relatively fast. In this case, the mobile device may affect the safety of the target object. Therefore, the movement state of the mobile device can be adjusted to adjust the mobile device to a stopped state.

[0351] In some examples, the mobile device is further configured to determine the current movement speed of the security device based on the ranging response signal. The mobile device may obtain the time difference between sending the ranging request and receiving the ranging response signal, and determine the current movement speed of the security device based on the time difference and the propagation speed of the broadcast.

[0352] In some examples, the mobile device is further configured to adjust the mobile device to a stopped state if the current speed of the safety device exceeds a preset speed threshold. This may be to adjust the mobile device to a stopped state to avoid impacting the safety of the target object carrying the safety device if the current speed of the safety device exceeds the preset speed threshold. For example, if the mobile device is moving at an initial speed and the current speed of the safety device exceeds the preset speed threshold, the mobile device may not be able to decelerate in time when the target object carrying the safety device arrives near the mobile device, resulting in a collision between the target object carrying the safety device and the mobile device, impacting the target object's safety.

[0353] For example, when the preset speed threshold is 0.3 meters per second, if the current movement speed of the safety device is determined to be 0.4 meters per second based on the ranging response signal, it is determined that the current movement speed of the safety device exceeds the preset speed threshold, and the mobile device can be controlled to decelerate until the movement state of the mobile device is stopped.

[0354] In the motion control system provided by the embodiment of the present disclosure, the mobile device determines the current motion speed of the safety device based on the ranging response signal. When the current motion speed of the safety device exceeds a preset speed threshold, the mobile device is adjusted to a stopped state, so that when the speed of the safety device exceeds the preset speed threshold, the mobile device is adjusted to a stopped state to ensure the safety of the target object carrying the safety device.

[0355] In some embodiments, the mobile device is further configured to send a ranging request to the safety device at a preset interval after controlling the mobile device to decelerate to a first preset movement speed; if no ranging response signal is received from the safety device within the first preset time, the mobile device is adjusted to a stopped state.

[0356] In some examples, the preset interval refers to a preset time interval, for example, the preset interval can be set to 100 milliseconds or 200 milliseconds. The first preset time refers to a preset time for ensuring the safety of the target object carrying the safety device. For example, the first preset time can be 2 seconds or 3 seconds.

[0357] In some examples, after the mobile device slows down from an initial movement speed to a first preset movement speed, the mobile device may send a ranging request to the safety device at preset intervals. If the ranging response signal fed back by the safety device is not received within the first preset time, that is, the mobile device is within the preset distance range but cannot receive the ranging response signal returned by the safety device within the first preset time, it can be determined that the ranging unit of the mobile device or the safety device has a fault or the signal is subject to strong interference, etc., and the mobile device is adjusted to a stopped state.

[0358] The motion control system provided by the embodiments of the present disclosure controls the mobile device to decelerate to a first preset motion speed, and then sends a distance measurement request to the safety device at preset intervals. If no distance measurement response signal is received from the safety device within the first preset time, the mobile device is adjusted to a stopped state. That is, when it is clear that the distance between the mobile device and the safety device is within a preset time interval, but no distance measurement response signal is received from the safety device within the first preset time, that is, when a distance measurement unit of the mobile device or the safety device fails or the signal is subject to strong interference, the mobile device is adjusted to a stopped state to ensure the safety of the target object carrying the safety device.

[0359] In some embodiments, the mobile device is further configured to adjust the movement speed of the mobile device back to the second preset movement speed after controlling the mobile device to decelerate to the first preset movement speed, if no heartbeat signal based on the security connection of the security device is detected within a second preset time.

[0360] The second preset motion speed may be the motion speed of the mobile device before deceleration, i.e., the initial motion speed, or the second preset motion speed may be a pre-set motion speed, which is not limited in this disclosure.

[0361] In some examples, the second preset time refers to a pre-set time that limits the reception time of the heartbeat signal. For example, the second preset time may be 10 seconds. The heartbeat signal refers to a signal transmitted through a secure communication protocol to characterize the current state of the device. For example, the heartbeat signal may be generated at a certain time interval, and the heartbeat signal includes the operating status of the current device, operating attribute information, and other safety-related verification information. The preset secure communication protocol refers to a pre-set secure communication protocol that protects the data transmission layer. For example, the preset secure communication protocol may be a secure network integrated service (CIP safety) protocol, or a fault safety protocol (Profisafe) based on a communication protocol. By transmitting the heartbeat signal using a secure connection based on a preset secure communication protocol, the transmission of the heartbeat signal is protected, thereby protecting the heartbeat signal.

[0362] For example, the secure connection may be a wireless communication connection or a wired communication connection.

[0363] In some examples, the mobile device detects the heartbeat signal of the safety device. After controlling the mobile device to decelerate to a first preset movement speed, if the heartbeat signal of the safety device is not detected for more than a second preset time, it is determined that the time period during which the distance between the safety device and the mobile device exceeds the distance for heartbeat signal detection has reached the second preset time.

[0364] For example, after the mobile device is decelerated to the first preset speed, if no heartbeat signal of the safety device is detected for more than 10 seconds, the speed of the mobile device is adjusted to return to the second preset speed.

[0365] The motion control system provided by the embodiment of the present disclosure controls the mobile device to decelerate to a first preset motion speed. If no heartbeat signal of the safety device is detected within a second preset time, it is determined that the mobile device will not cause an abnormal impact on the safety device. Therefore, the motion speed of the mobile device can be adjusted to return to the second preset motion speed to reduce the impact on the operating efficiency of the mobile device.

[0366] In some embodiments, the mobile device is further configured to initiate a self-test according to a preset self-test cycle and obtain a self-test result; if the self-test result is abnormal, the mobile device is adjusted to a stopped state.

[0367] In some examples, the preset self-test cycle refers to a pre-set period for the mobile device to perform self-test, wherein self-test refers to self-test. For example, the self-test may include checking the transceiver subunit of the mobile device. The mobile device sends a request on its own, responds to the request on its own, and makes a corresponding response. The self-test result refers to the result obtained by performing the self-test. For example, if the self-test is performed on the transceiver subunit of the mobile device, the self-test result may include whether the transceiver subunit is normal or abnormal. The transceiver subunit may be a low-frequency radio transceiver, an ultra-wideband wireless communication technology (UWB, Ultra Wide Band) transceiver, a Bluetooth technology (Bluetooth) transceiver, etc.

[0368] Exemplarily, the mobile device initiating a self-test according to a preset self-test cycle and obtaining a self-test result may include: the mobile device autonomously issuing a ranging request and generating a ranging response signal based on the ranging request. In other words, the mobile device may autonomously issue a ranging request, receive the ranging request, generate a ranging response based on the received ranging request, and return the ranging response signal to the mobile device.

[0369] In some examples, initiating a self-test according to a preset self-test cycle and obtaining a self-test result may include: when the mobile device issues a ranging request from at least two subunits, initiating a multi-path ranging signal interactive self-test according to the preset self-test cycle to obtain a self-test result. The multi-path ranging signal interactive self-test may include at least two subunits issuing ranging requests, at least two subunits receiving ranging response signals that are not responses to the ranging requests issued by themselves, or at least two subunits receiving ranging response signals that are and are not responses to the ranging requests issued by themselves.

[0370] In some examples, the mobile device performs self-test and may also perform interactive self-test with other terminals in the motion control system, for example, the mobile device performs interactive self-test with a safety device.

[0371] In some examples, the self-test result includes a normal self-test result and an abnormal self-test result. An abnormal self-test result may include failure to receive a ranging response signal in response to a ranging request, a received ranging response signal that is not received according to a preset procedure, or an abnormal message format of the received ranging response signal. An abnormal self-test result indicates a possible abnormality in the mobile device, and thus the mobile device may be stopped to facilitate further inspection of the mobile device.

[0372] In some examples, when the self-test result of the mobile device is normal, the mobile device can maintain the current motion state unchanged and process the tasks according to the preset execution and judgment.

[0373] The motion control system provided by the embodiment of the present disclosure is that the mobile device starts self-inspection according to a preset self-inspection cycle and obtains self-inspection results. If the self-inspection results are abnormal, the mobile device is adjusted to a stopped state, thereby ensuring the operation of the mobile device and further ensuring the safety of the safety device, that is, ensuring the safety of the target object carrying the safety device.

[0374] In some embodiments, the mobile device includes a first ranging unit and a motion control unit; the security device includes a second ranging unit; the first ranging unit is configured to broadcast a ranging request; the second ranging unit is configured to feed back a ranging response signal to the first ranging unit upon receiving the ranging request; the first ranging unit is further configured to determine a target distance between the mobile device and the security device based on the ranging response signal, and generate a motion adjustment signal based on the target distance, and send the motion adjustment signal to the motion control unit; the motion control unit is configured to adjust the motion state of the mobile device based on the motion adjustment signal.

[0375] In some examples, the first ranging unit refers to a functional component included in a mobile device, which has a pairing function with an on-site security device, a function of issuing a ranging request to the on-site security device, a real-time ranging function based on a ranging response signal fed back by the on-site security device, a function of issuing a response motion state adjustment signal based on the ranging result, a transceiver self-test function of autonomously issuing a ranging request and making a ranging response, and a multi-channel ranging signal interactive self-test function.

[0376] In some examples, the first ranging unit also has the function of judging whether the area where the mobile device is located is a stop area (i.e., the third safety area in Figure 17), a deceleration area (i.e., the second safety area in Figure 17), or an operation area (i.e., the first safety area in Figure 17) based on the ranging results, and has the function of outputting an emergency stop / reset signal and a deceleration / recovery signal based on whether the area where the AMR is located is a stop area or a deceleration area.

[0377] Exemplarily, the first ranging unit includes a first transceiver subunit and a first ranging operation subunit. The first transceiver subunit is capable of pairing with on-site security equipment, issuing ranging requests to the on-site security equipment, self-testing for autonomously issuing ranging requests and responding to ranging responses, and self-testing for multi-path ranging signal interaction. The first ranging operation subunit is also capable of issuing a motion state adjustment signal based on the ranging results.

[0378] In some examples, the second ranging unit refers to a functional component included in the security device, which has a pairing function with the mobile device on the site, a real-time ranging response feedback function for the ranging request issued by the mobile device on the site, a transceiver self-test function of autonomously issuing ranging requests and making ranging responses, and a multi-channel ranging signal interaction self-test function.

[0379] Exemplarily, the second ranging unit includes a second transceiver subunit and a second ranging operation subunit. The second transceiver subunit has pairing capabilities with mobile devices within the field, real-time ranging response feedback for ranging requests from mobile devices within the field, a transceiver self-test function for autonomously issuing ranging requests and responding to ranging responses, and a multi-path ranging signal interaction self-test function. The second ranging operation subunit also performs further distance calculations based on the self-test results.

[0380] Exemplarily, the motion control unit refers to a functional component included in the mobile device, which is capable of responding to the adjustment signal of the first distance measuring unit for adjusting the motion state and adjusting the motion state of the mobile device accordingly.

[0381] In some examples, the motion control unit also has the function of responding to the emergency stop / reset signal of the first safety slave unit to control the mobile device to safely decelerate to zero and then cut off the power to the motor, brake / reset the function; responding to the emergency stop / reset signal of the safety master unit to control the mobile device to safely decelerate to zero and then cut off the power to the motor, brake / reset the function; responding to the deceleration / recovery signal of the first ranging unit to control the mobile device to decelerate to a safe speed / restore the initial motion speed.

[0382] In the motion control system provided by the embodiments of the present disclosure, the mobile device includes a first ranging request and a motion control unit, and the safety device includes a second ranging unit. The motion state of the mobile device is adjusted by utilizing the cooperation of the first ranging unit, the motion control unit, and the second ranging unit of the safety device included in the mobile device to prevent the mobile device from affecting the target object, thereby ensuring the safety of the target object. The motion state of the robot is adjusted according to the distance, and there is no need to stop the robot completely, thereby improving the efficiency of the operation of the mobile device.

[0383] In some embodiments, the control platform is configured to establish and maintain a secure connection with a safety device and, based on a heartbeat signal exchanged with the safety device, send an emergency stop signal to each of the multiple mobile devices if the heartbeat of the safety device is abnormal. The mobile devices are further configured to adjust the mobile device to a stopped state in response to the emergency stop signal sent by the control platform.

[0384] In some examples, the control platform can also be called the master control end, which is the functional end in the motion control system that responds to requests from safety devices and mobile devices. It has the function of secure connection with on-site safety devices and the safety response function of notifying all mobile devices in the field to emergency stop when the heartbeat detection of on-site safety devices is abnormal.

[0385] In some examples, heartbeat detection anomalies may include failure to interact with information in accordance with a preset security communication protocol, failure to receive the heartbeat signal of a security device in accordance with a preset heartbeat signal sending period, or failure to parse and read the received heartbeat signal, and the inclusion of abnormal key characters in the parsed result of parsing the received heartbeat signal.

[0386] Exemplarily, the control platform is configured to exchange heartbeat signals with the safety device, and when it is determined that the heartbeat of the safety device is abnormal, the control platform sends emergency stop signals to multiple mobile devices respectively. The control platform may send emergency stop signals to multiple mobile devices respectively when it is determined that the heartbeat of the safety device is abnormal and that there is an abnormality in the safety device.

[0387] In some examples, the mobile device is further configured to adjust the mobile device to a stopped state in response to an emergency stop signal sent by the control platform. The mobile device may receive an emergency stop signal sent by the control platform and adjust the mobile device to a stopped state based on the emergency stop signal.

[0388] In the motion control system provided by the embodiment of the present disclosure, the control platform establishes and maintains a secure connection with the safety device, and based on the secure connection interactive heartbeat signal, sends an emergency stop signal to multiple mobile devices respectively when it is determined that the heartbeat of the safety device is abnormal; the mobile device is configured to adjust the mobile device to a stopped state in response to the emergency stop signal sent by the control platform, so that when the control platform determines that there is an abnormality in the safety device, in order to avoid the mobile device causing an abnormal impact on the safety device, the control platform sends an emergency stop signal to multiple mobile devices respectively, so that the mobile device is adjusted to a stopped state, thereby ensuring the safety of the safety device, and further ensuring the safety of the target object carrying the safety device, and by achieving safe heartbeat detection based on a secure connection, the safety of the target object is further guaranteed, so that the function of the mobile device to receive and execute instructions issued by the control platform meets the corresponding safety level requirements.

[0389] In some embodiments, the safety device is also configured to start self-test according to a preset self-test cycle and send the self-test results to the control platform; the control platform is also configured to send emergency stop signals to multiple mobile devices respectively when it is determined that the safety device self-test is abnormal based on the self-test results; the mobile device is also configured to adjust the mobile device to a stopped state in response to the emergency stop signal sent by the control platform.

[0390] In some examples, the emergency stop signal refers to a control signal that drives the mobile device to stop urgently. For example, the emergency stop signal can be a signal in the form of a message.

[0391] In some examples, the security device is also configured to start self-test according to a preset self-test cycle and send the self-test results to the control platform. In order to ensure the normal use of its own transceiver functions, the security device may start self-test according to a preset self-test cycle and send the self-test results to the control platform, and the control platform may control the mobile device based on the self-test results.

[0392] In some examples, a method for initiating a self-test according to a preset self-test period and obtaining a self-test result is to initiate a multi-path ranging signal interaction self-test according to the preset self-test period when at least two transceiver subunits issue a ranging request from the security device, and obtain a self-test result. The multi-path ranging signal interaction self-test may include at least two transceiver subunits issuing ranging requests, at least two transceiver subunits receiving ranging response signals that are not responses to the ranging requests issued by themselves, or at least two transceiver subunits receiving ranging response signals that are and are not responses to the ranging requests issued by themselves.

[0393] In the motion control system provided by the embodiment of the present disclosure, the control platform sends emergency stop signals to multiple mobile devices respectively when it determines that the self-test of the safety device is abnormal based on the self-test results of the safety device. The control platform sends emergency stop signals to multiple mobile devices respectively when it determines that the self-test of the safety device is abnormal based on the self-test results of the safety device, so as to avoid the mobile device posing a threat to the target object carrying the safety device when the safety device is abnormal, thereby ensuring the safety of the target object carrying the safety device.

[0394] In some embodiments, the control platform includes a safety device docking unit; the safety device docking unit is used to place the safety device.

[0395] In some examples, the safety device docking unit refers to a functional component included in the control platform that has the function of placing the safety device.

[0396] Exemplarily, the security device docking unit also has a locking and releasing control function for the security device.

[0397] In some examples, when the security device is placed in the security device docking unit, the security device is not used, so the security device does not need to use the self-test function to perform a self-test.

[0398] The motion control system provided by the embodiment of the present disclosure includes a control platform including a safety device docking unit, which is used to place the safety device and monitor the placement and non-placement actions of the safety device to facilitate subsequent carrying of the safety device and safe carrying.

[0399] In some embodiments, the safety device docking unit is further configured to detect the remaining power information of the safety device, and charge the safety device according to the power information of the safety device when the remaining power of the safety device is lower than a preset power threshold.

[0400] In some examples, the preset power threshold refers to a pre-set value that limits the minimum power required to charge the safety device. The preset power threshold can be a specific power value, or a power percentage. For example, the preset power threshold can be 20%, indicating that when the remaining power percentage of the safety device is less than 20%, it indicates that the safety device needs to be charged.

[0401] For example, the safety device docking unit detects the remaining power of the safety device, and the safety device docking unit may actively monitor the power of the safety device to determine the remaining power of the safety device; wherein, the monitoring may be to obtain the power of the safety device at a preset time interval; or, the safety device may also report its own remaining power to the safety device docking unit at regular intervals.

[0402] The motion control system provided by the embodiment of the present disclosure charges the safety device through the safety device docking unit when it determines that the remaining power of the safety device is lower than a preset power threshold, thereby ensuring the availability of the safety device and avoiding the situation where the safety device is unable to be used due to insufficient power when in use.

[0403] In some embodiments, the motion control system further includes a safety door, and the control platform further includes a safety control mechanism.

[0404] In some embodiments, the security device docking unit is also configured to trigger a performance test of the security device in response to a request from a target object to enter a warehouse scene; the security control mechanism is configured to control the security door of the warehouse scene to open when the performance test result of the security device is normal, and control the security door to close after determining that the target object has entered the warehouse scene.

[0405] In some examples, a security control mechanism refers to the functional components within the control platform, which are used to ensure the safety of mobile devices within the warehouse environment and target objects outside the warehouse environment. Performance checks refer to functional checks performed to ensure the normal operation of security equipment, such as initialization self-tests and ranging performance self-tests. Security doors refer to the door locks that separate the warehouse environment from other areas and are used to ensure the safety of mobile devices and target objects in other areas.

[0406] In some examples, the security device docking unit triggers a performance check of the security device in response to a request from the target object to enter the warehouse scene, including: the security device docking unit receives a request from the target object to enter the warehouse scene, and based on the request, triggers a performance check of the security device so that the security device starts the performance check.

[0407] For example, the target object's request to enter the warehouse scene may be initiated by the target object pressing a physical button, or may be initiated by the target object reaching a preset area corresponding to a security door and the security door recognizing an object approaching. This disclosure is not limited to this.

[0408] In some examples, if the performance check of the security device shows normal performance, the security control mechanism determines that the security device can be used normally. In this case, the security device fixing lock of the security device docking unit can be opened to allow the target object to obtain the security device from the security device docking unit. At the same time, the security door of the storage scene is controlled to open, and after determining that the target object has entered the storage scene, the security door is controlled to close.

[0409] In the motion control system provided by the embodiment of the present disclosure, the safety device docking unit triggers a performance test of the safety device in response to a request from the target object to enter the warehouse scene; the safety control mechanism controls the safety door lock of the warehouse scene to open when the performance test result of the safety device is normal, and controls the safety door lock to close after determining that the target object has entered the warehouse scene, so that when the target object needs to enter the warehouse scene, the safety device is controlled to perform a performance check, and when the performance is normal, the safety door lock is controlled to open to allow the target object to enter the warehouse scene. That is, the premise for the target object to enter the warehouse scene is that the performance of the safety device is normal, thereby ensuring the safety of the target object carrying the safety device into the warehouse scene.

[0410] In some embodiments, the security control mechanism is further configured to control the security door to open in response to a request from the target object to leave the storage scene, and to control the security door to close after determining that the security device is returned to the security device docking unit.

[0411] In some examples, upon receiving a request from a target subject to leave the warehouse scene, the security control mechanism controls the opening of the security door based on the request. After determining that the target subject has left the warehouse scene and that the security device has been returned to the security device docking unit, the security control mechanism controls the closing of the security door lock. For example, the target subject's request to leave the warehouse scene may be initiated by the target subject arriving within a preset area of ​​the security door lock, which then identifies the target subject and initiates the request to leave the warehouse scene. Alternatively, the target subject may initiate the request to leave the warehouse scene by pressing a physical button on the side of the security door lock corresponding to the warehouse scene.

[0412] In some examples, after determining that the security device is returned to the security device docking unit, the security control mechanism controls the security device docking unit to close a fixed lock and controls the security door lock to close.

[0413] In the motion control system provided by the embodiment of the present disclosure, the safety control mechanism controls the safety door lock to open in response to the request of the target object to leave the storage scene, and controls the safety door lock to close after determining that the safety device is returned to the safety device docking unit, so that when the target object initiates a request to leave the storage scene, the step of opening the safety door lock can be executed in time, and after determining that the safety device is returned to the safety device docking unit, the step of controlling the safety door lock to close can be executed, thereby realizing the full process execution steps of the target object leaving.

[0414] In some embodiments, the control platform also includes a third ranging unit; the third ranging unit is configured to issue an alarm message to warn the target object to return the safety device if it is detected that the distance between the third ranging unit and the safety device reaches a preset alarm distance when it is determined that the target object has left the storage scene.

[0415] In some examples, the third ranging unit refers to a functional component included in the control platform, which has the function of pairing with the safety device, the function of issuing a ranging request to the safety device, the function of real-time ranging based on the ranging response signal feedback from the safety device, and the function of issuing an alarm based on the reaching of a preset alarm condition according to the ranging result.

[0416] The preset alarm distance refers to the distance at which the alarm is triggered. For example, the preset alarm distance can be 10 meters or 20 meters. The preset alarm distance can be determined based on the measurable distance of the third ranging unit and the surrounding facilities of the warehouse scene.

[0417] For example, the warning information sent by the third distance measuring unit may be an audible or visual warning information, or the warning information may be a ringing sound, or a voice announcement such as "Please return the safety device to the designated location", etc. The embodiments of the present disclosure are not limited to this.

[0418] In the motion control system provided by the embodiment of the present disclosure, when the third ranging unit determines that the target object has left the storage scene, if it detects that the distance from the safety device reaches a preset alarm distance, it will issue an alarm message to warn the target object to return the safety device, thereby avoiding the loss of the safety device and ensuring that when the subsequent target object enters the storage scene, the safety device can be obtained in time to ensure the safety of the target object in time.

[0419] In some embodiments, the control platform further includes a safety communication master station unit, the mobile device further includes a first safety communication slave station unit, and the safety device further includes a second safety communication slave station unit.

[0420] In some examples, the mobile device includes a first ranging unit, a motion control unit, and a first safety communication slave unit; the safety device includes a second ranging unit and a second safety communication slave unit; and the control platform includes a charging and docking control unit, a third ranging unit, and a safety communication master unit. The charging and docking control unit includes a safety device docking unit and a safety control mechanism.

[0421] The interactions among mobile devices, security devices, and control platforms are divided into three types: heartbeat interaction, security signal interaction, and ranging interaction.

[0422] In some examples, heartbeat interaction is achieved between a control platform, a mobile device, and a security device through heartbeat signals based on a secure connection, where the control platform is the master end and the security device and the mobile device are the slave ends; for heartbeat interaction between a mobile device and a security device, the mobile device is the requesting end and the security device is the responding end.

[0423] In some examples, the safety signal interaction is that the safety device can actively initiate an emergency stop signal, the control platform responds and triggers the safe emergency stop of all mobile devices in the field; the mobile device can actively initiate an emergency stop signal inside, and the mobile device itself responds and safely stops; the control platform can actively initiate an emergency stop signal, and all mobile devices in the field respond and safely stop, and the emergency stop signal has a corresponding reset signal.

[0424] In some examples, in ranging interaction, the mobile device is the requesting end, the security device is the responding end, and the ranging interaction is implemented through ranging signals.

[0425] FIG18 is a schematic diagram of three-terminal interaction in a motion control system provided by an embodiment of the present disclosure, and FIG19 is a schematic diagram of another control platform provided by an embodiment of the present disclosure.

[0426] As shown in Figures 18 and 19, the control platform includes a charging and docking control unit, a third ranging unit, and a safety communication master station unit. The charging and docking control unit includes a safety device docking unit and a safety control mechanism (as well as the safety control mechanism in the above-mentioned embodiment). The safety device docking unit includes a charging subunit and a docking subunit. The safety control unit includes a safety PLC subunit.

[0427] Exemplarily, the charging and docking control unit has the locking and release control function of the safety device, the power detection and automatic charging function of the safety device, the power-on initialization self-test function of the safety device, and the locking and releasing function of the safety door lock. The charging and docking control unit includes a charging subunit, a docking subunit, a safety device release lock, a safety door lock subunit, a safety PLC subunit, a ranging operation subunit, and a transceiver subunit. The safety device release lock includes a safety device release lock 1, a safety device release lock 2, a safety device release lock 3, and a safety device release lock 4. The transceiver subunit includes a transceiver subunit 1 and a transceiver subunit 2. The transceiver subunit performs self-test through a self-test signal. The safety PLC subunit controls the safety device release lock and the safety door lock subunit through a control signal, and applies the ranging operation subunit through an enable signal. When the safety PLC subunit has a self-test abnormality / self-test returns to normal based on the ranging operation subunit, the safety communication master station subunit sends an emergency stop / reset signal to the safety communication master station subunit of the safety communication master station unit, so that the safety communication master station subunit in the safety communication master station unit can control the motion state of the mobile device.

[0428] The safety communication master station unit has the function of establishing and maintaining a safe connection with the safety equipment on the site, and the function of exchanging heartbeat signals based on the safe connection. It has the safety response function of notifying all mobile devices on the site to stop suddenly based on the abnormal heartbeat signal when the heartbeat detection of the safety equipment on the site is abnormal. It has the safety function of responding to the emergency stop / reset signal issued by the safety equipment on the site and sending the emergency stop / reset signal to all mobile devices on the site to notify all mobile devices on the site to stop suddenly / reset. Among them, the safety communication master station unit includes a safety communication master station sub-unit and a wireless communication sub-unit. The wireless communication sub-unit is used to receive the heartbeat signal and forward the heartbeat signal to the safety communication master station sub-unit, so that when the heartbeat signal is abnormal, the safety communication master station sub-unit can control the motion state of the mobile device.

[0429] The third ranging unit has a pairing function with the security device, a function of sending a ranging request to the second ranging unit of the security device, a real-time ranging function based on a ranging response signal fed back by the second ranging unit of the security device, and a function of issuing an alarm based on the reaching of a preset alarm condition by a ranging result, wherein the third ranging unit includes a ranging operation subunit.

[0430] Figure 20 is a schematic diagram of a mobile device provided by an embodiment of the present disclosure. Referring to Figures 18 and 20, the mobile device includes a first distance measurement unit, a motion control unit, and a first safety communication slave unit.

[0431] Exemplarily, the first ranging unit has the function of pairing with the on-site safety equipment, the function of sending a ranging request to the on-site safety equipment using a ranging signal, the function of real-time ranging based on the ranging response signal fed back by the on-site safety equipment, the function of judging whether the area where the mobile device is located is a stop area, a deceleration area, or an operating area based on the ranging result, the function of outputting an emergency stop / reset signal and a deceleration / recovery signal based on whether the area where the mobile device is located is a stop area or a deceleration area, the function of self-testing the reception and transmission of autonomously sending a ranging request and making a ranging response, the function of interactive self-testing of multiple ranging signals, the function of establishing and maintaining a secure connection with the on-site safety equipment, the function of interactive heartbeat signals based on the secure connection, and the function of controlling the emergency stop of the mobile device based on an abnormal heartbeat signal when the heartbeat detection of the on-site safety equipment is abnormal.

[0432] Among them, the first ranging unit includes a transceiver subunit and a ranging operation subunit, and the transceiver subunit includes a transceiver subunit 1 and a transceiver subunit 2. Among them, the transceiver subunit performs self-test through a self-test signal. The transceiver subunit is also used to broadcast a ranging request and receive a ranging response signal in response to the ranging request, and send the received ranging response signal to the ranging operation subunit so that the ranging operation subunit calculates the distance. When an abnormality / recovery occurs in the self-test, the ranging operation subunit sends an emergency stop / reset signal to the safety communication subunit in the first safety communication slave station unit, and the safety communication subunit sends a power-off brake / reset release brake signal to the motion control unit so that the motor drive subunit in the motion control unit drives the motor to power off the brake / release the brake. The ranging operation subunit determines the area to which it belongs based on the calculated distance, and sends a deceleration / recovery signal to the main control subunit in the motion control unit based on the preset motion mode corresponding to the area.

[0433] The first safety communication slave unit has the function of safely responding to the emergency stop / reset signal issued by the first ranging unit, has the function of heartbeat detection between it and the control platform (such as the safety communication master unit of the control platform), has the function of automatically sending an emergency stop / reset signal to the motion control unit when the heartbeat detection is abnormal / recovered, and has the function of safely responding to the emergency stop / reset signal of the safety communication master unit.

[0434] Among them, the first safety communication slave station unit includes a wireless communication subunit and a safety communication slave station subunit. The wireless communication subunit is used to receive a heartbeat signal based on a safety connection and send the heartbeat signal to the safety communication slave station subunit, so that the safety communication slave station subunit sends an emergency stop / reset signal, etc. to the main control subunit in the motion control unit based on the heartbeat signal.

[0435] The motion control unit has the function of responding to the emergency stop / reset signal of the safety slave unit to control the mobile device to safely decelerate to zero and then cut off the power to the motor and brake / reset. It has the function of responding to the emergency stop / reset signal of the safety master unit to control the mobile device to safely decelerate to zero and then cut off the power to the motor and brake / reset. It has the function of responding to the deceleration / recovery signal of the ranging unit to control the mobile device to decelerate to a safe speed / recover to the rated speed. The motion control unit includes a motor drive subunit and a main control subunit.

[0436] Figure 21 is a schematic diagram of a safety device provided by an embodiment of the present disclosure. Referring to Figures 18 and 21 , the safety device includes a second distance measuring unit and a second safety communication slave station unit.

[0437] Exemplarily, the second ranging unit has a pairing function with mobile devices within the field, a real-time ranging response feedback function for ranging signals sent to mobile devices within the field, a transceiver self-test function for autonomously sending ranging requests and making ranging responses, and a multi-channel ranging signal interaction self-test function.

[0438] Among them, the second ranging unit includes a transceiver subunit and a ranging operation subunit, and the transceiver subunit includes transceiver subunit 1, transceiver subunit 2, transceiver subunit 3 and transceiver subunit 4. The transceiver subunits all perform self-test of the transceiver function through self-test signals; when the transceiver subunit broadcasts a ranging request and receives a ranging response signal in response to the ranging request, the ranging response signal is sent to the ranging operation subunit so that the ranging operation subunit calculates the distance, determines the self-test result according to the distance calculation result, and sends an emergency stop / reset signal to the second safety communication slave station unit when the self-test result is abnormal / recovered.

[0439] The second safety communication slave unit has the function of autonomously triggering and sending a system emergency stop / reset signal to the safety communication master unit of the control platform, and has the function of heartbeat detection between the second safety communication slave unit and the safety communication master unit of the control platform.

[0440] Among them, the second safety communication slave station unit includes a safety communication slave station sub-unit, an emergency stop trigger sub-unit and a wireless communication sub-unit. The safety communication slave station sub-unit performs corresponding actions based on the received control signal. For example, when an emergency stop / reset signal is received, the emergency stop / reset signal is sent to the control platform. When a heartbeat signal sent by the wireless communication sub-unit is received, corresponding processing is performed based on whether the heartbeat signal is abnormal or not.

[0441] Figure 22 is a schematic diagram of three-terminal interaction in another motion control system provided by an embodiment of the present disclosure. As shown in Figure 22, the three-terminal interaction architecture includes a self-checking architecture and a mutual-checking architecture.

[0442] Self-test architecture: Control platforms and mobile devices all have internal dual-channel self-test; safety equipment: internal four-channel self-test.

[0443] Mutual inspection architecture: At the application layer, a black channel mechanism is used between safety devices, mobile devices, and control platforms to achieve functional safety of the communication link (IEC 61784-3:2016). At the secure communication layer, a secure communication protocol is used to establish and maintain a secure connection to achieve a secure heartbeat detection function (IEC 61784-3:2016).

[0444] By deploying a human-machine proximity-to-stop motion control system across safety equipment, mobile devices, and a control platform, the disclosed embodiments enable personnel, under the protection of safety equipment, to enter the unmanned mobile device operating area that has not been safely stopped to perform pre-set tasks. This achieves the safety level required by relevant safety standards and avoids the safety requirement that all mobile devices must be safely stopped before personnel enter the mobile device operating area. During personnel's on-site working hours, only mobile devices in the stop and deceleration zones surrounding the personnel are affected by the personnel's entry, while mobile devices in other areas receive normal system dispatch. For example, taking a 50*50 square meter warehouse area with 100 mobile devices as an example, if the affected area is limited to a 10m radius, the mobile device operating efficiency increases from 0 to 87.44% after the personnel enters the mobile device area (1-3.14*10*10 / 50 / 50*100% = 87.44%).

[0445] In some embodiments, wireless transceivers capable of relative distance measurement, such as low-frequency radio transceivers, UWB transceivers, Bluetooth transceivers, etc., are deployed on the safety equipment and mobile device ends, so that personnel can be actively sensed by mobile devices. At the same time, both the safety equipment and the mobile device ends maintain a real-time safety heartbeat connection with the control platform. When the heartbeat is abnormal, the entire system enters an emergency stop state to ensure the safety of personnel. When personnel observe an abnormal state, they can also actively initiate a system emergency stop. In this way, a system architecture is constructed in which the mobile device controls the main body operation status through dual-path distance measurement, and the control platform can monitor the safety of the control loop in real time. The safety level requirements for this function in the standards (ISO 3691-4, ISO 13849) are met, and the risk of collision between personnel and mobile devices is reduced to an acceptable range. While ensuring the safety of personnel, the system operation efficiency is taken into account. At the same time, the technical solution of real-time measurement of the relative distance between security equipment and mobile devices only requires the configuration of corresponding transceiver subunits and ranging subunits on the security equipment and mobile devices. There is no need to configure base stations, relay stations, anchor points, servers and other hardware equipment at fixed locations in the venue to achieve real-time and precise positioning. This reduces the system bandwidth requirements and hardware requirements, and takes into account feasibility and cost advantages while ensuring security.

[0446] In some examples, when a warehouse scene is divided into multiple storage areas, for example, multiple storage areas include an initial storage area, it is possible to determine whether the target object enters the warehouse scene by detecting whether the target object enters the initial storage area, thereby further realizing the control of the security door in the warehouse scene.

[0447] Exemplarily, a protection detection unit is deployed in the initial storage area. The protection detection unit is configured to, upon detecting that a target object enters the initial storage area through an interaction point, send a request to the control platform for the target object to enter the storage scene. Upon detecting that a target object leaves the initial storage area through an interaction point, the protection detection unit is configured to send a request to the control platform for the target object to leave the storage scene.

[0448] In some examples, the initial storage area in the storage scene is provided with interaction points. When the target object enters the initial storage area through the interaction points, it can be detected by the protection detection unit of the initial storage area (as described in the above embodiments), thereby determining that the target object has entered the storage scene. In this case, the protection detection unit can send a request to the control platform that the target object has entered the storage scene.

[0449] In other examples, when the target object leaves the initial storage area through the interaction point, it can also be detected by the protection detection unit of the initial storage area, thereby determining that the target object has left the storage scene. In this case, the protection detection unit can send a request to the control platform that the target object has left the storage scene.

[0450] In some embodiments, the motion control system further includes a performance detection unit. The performance detection unit is configured to detect the status of the safety device and transmit the performance status to the control platform. The control platform is further configured to control the opening of the safety door in response to a request from a target object to enter the warehouse scene if the performance status of the safety device reported by the performance detection unit is normal.

[0451] In some examples, a performance detection unit is a unit that detects the status of a safety device. If the target subject is wearing the safety device normally, the performance detection unit will detect that the status is normal. An entry request can be initiated by the target subject pressing a physical button, or it can be generated when the target subject reaches the preset area corresponding to the security gate and the security gate recognizes an approaching object. Security gates are used for personnel to enter and exit the site and can be configured at any point around the project site corresponding to the warehouse scenario.

[0452] In some examples, the control platform controls the safety door to open in response to the entry request of the target object when the status feedback from the performance detection unit is normal. The control platform may identify whether the status feedback from the performance detection unit is normal when receiving the entry request of the target object, and whether a stop command is sent to the third mobile device in the initial storage area. If both are true, the safety door is controlled to open to allow the target object to enter the initial storage area through the safety door.

[0453] The motion control system provided by the embodiment of the present disclosure detects the status of the safety device by setting a performance detection unit, and only when the status is normal and a stop command is sent to the mobile device in the initial storage area will the safety door be controlled to open, thereby ensuring the practical application of the distance measurement detection and the determination of whether the mobile device should be urgently stopped based on the judgment of the distance and the preset distance, thereby ensuring the safety of the target object entering the initial storage area.

[0454] In some embodiments, the control platform is further configured to, in response to a target object's request to leave the storage scene, control the security door to close, send a resume operation instruction to each mobile device in the storage scene, and control the detection state of each partition detection unit to change to a closed state. Each mobile device is configured to resume movement in response to the resume operation instruction.

[0455] In some examples, when the control platform detects that the safety device leaves the initial storage area through the safety door, the control platform controls the safety door to close. The control platform may detect that the safety device leaves the initial storage area through the safety door, that is, detects that the target object wearing the safety device leaves the initial storage area through the safety door, and controls the safety door to close.

[0456] For example, the control platform sends a recovery work instruction to each mobile device in the warehouse scene. The control platform may query the mobile device in the warehouse scene and send the recovery work instruction to the mobile device.

[0457] The motion control system provided by the embodiment of the present disclosure detects through a control platform whether the target object leaves the initial storage area through a safety door. If so, the safety door is controlled to close, and the detection status of each partition detection unit is controlled to change to a closed state, and a recovery work instruction is sent to the mobile device in the warehouse scene to enable the mobile device in the warehouse scene to operate normally.

[0458] In some embodiments, the control platform further includes a substation security control mechanism and a main station security control mechanism. The substation security control mechanism is configured to, in response to a first trigger event, send a trigger message to the main station security control mechanism and control the second detection unit to change its detection state to an on state; and the main station security control mechanism is configured to send a stop instruction to the first mobile device in the target storage area based on the trigger message.

[0459] In some examples, the substation safety control mechanism and the master station safety control mechanism are both control units in the control platform, with different control targets. The substation safety control mechanism is configured to, in response to a trigger event caused by the first detection unit detecting a target object entering a target storage area, send a trigger message to the master station safety control mechanism and control the second detection unit to change its detection state to an on state. The master station safety control mechanism is configured to send a stop command to the first mobile device within the target storage area based on the trigger message. The master station safety control mechanism is a master station safety PLC, and the substation safety control mechanism is a substation safety PLC.

[0460] For example, a communication connection is established between the main station safety control mechanism and the substation safety control mechanism, and the main station safety control mechanism is used to control the motion state of the mobile device.

[0461] The motion control system provided by the embodiment of the present disclosure has a control platform including a substation safety control mechanism and a main station safety control mechanism, so that the control performed by the control platform is realized through the substation safety control mechanism and the main station safety control mechanism, thereby ensuring the security of the control link corresponding to the control platform, and the substation safety control mechanism and the main station safety control mechanism are transmitted through a communication link that complies with a preset safety communication protocol, thereby ensuring the security of the transmission and realizing the high efficiency of the control performed by the control platform.

[0462] FIG23 is a schematic diagram of an emergency stop communication link for a mobile device under a motion control system architecture provided by an embodiment of the present disclosure.

[0463] As shown in Figure 23, the slave safety module has the function of receiving and executing safety instructions, which can be specifically implemented through the safety protocol stack and IO. The substation safety PLC and the master safety PLC are the mechanisms for motion control in the control platform. The substation safety PLC is used to receive trigger events sent by the partition detection unit and the protection detection unit, and the master safety PLC is used to control and implement other control functions in the control platform besides those controlled by the substation safety PLC. The partition detection unit and the protection detection unit can both be light barriers. The substation safety PLC, the master safety PLC, and the slave safety module perform self-monitoring. The substation safety PLC also monitors whether the light barrier has been triggered. The safety PLC is the safety control mechanism in the disclosed embodiments.

[0464] The functional safety level of the core module in the partitioned emergency stop communication link is PLd / PLe, the hardware architecture meets the Category 2 architecture (ISO 13849-1), the mean time to dangerous failure (MTTFd) is High, and the partitioned emergency stop functional safety level reaches PLd. Regarding digital communication reliability, a black channel data channel reliability design method is adopted between the substation safety PLC and the master safety PLC, and between the master safety PLC and the slave safety module. The safety communication mechanism adopts a protocol that complies with the safety communication standard (IEC 61784) to meet the functional safety requirements for digital communication, such as the functional safety requirements for the residual bit error rate and other communication indicators.

[0465] Figure 24 is a schematic diagram of a data transmission process provided by an embodiment of the present disclosure. As shown in Figure 24, the bold lines are black channels, which are communication links that comply with the preset security communication protocol, and the other lines are normal communication links.

[0466] As shown in Figure 24, the slave safety module is a communication unit on a mobile device. Two tags are deployed on the mobile device. The positioning unit can obtain tag data by identifying the tag, and perform positioning operations based on the identification results of the tag data to obtain positioning results. The positioning results are transmitted to the master safety PLC through the data access device, and the master safety PLC performs corresponding processing based on the received positioning results; the substation safety PLC is a control unit on the control platform, which is used to monitor the partition grating and the protective grating. When the partition grating and the protective grating are triggered, a trigger event is generated and transmitted to the master safety PLC through the switch. The master safety PLC responds based on the trigger event. Among them, data transmission between the substation safety PLC and the master safety PLC, as well as between the slave safety module and the master safety PLC, is carried out through the black channel.

[0467] In some embodiments, the control platform is configured to send a stop instruction to the first mobile device in the target storage area via a communication link of a preset secure communication protocol.

[0468] In some examples, a communication link refers to a signal transmission channel between two nodes, and the communication link can be a wireless communication link or a wired communication link. The link of the preset safety communication protocol is protected by the preset safety communication protocol, such that an emergency stop command that complies with the preset safety communication protocol is protected by the preset safety communication protocol when transmitted through the link of the preset safety communication protocol.

[0469] In some examples, the preset safety communication protocol is typically a CIP Safety protocol or a Profisafe protocol or other safety communication protocols.

[0470] In the motion control system provided by the embodiment of the present disclosure, the control platform sends a stop command to the first mobile device in the target storage area through a communication link of a preset safety communication protocol, so that the stop command is protected by the preset safety communication protocol during the sending process, thereby ensuring the safe transmission of the stop command.

[0471] FIG25 is a schematic diagram of a three-terminal interaction structure in yet another motion control system provided in an embodiment of the present disclosure, and FIG26 is a schematic diagram of a structure of yet another control platform provided in an embodiment of the present disclosure.

[0472] As shown in Figures 25 and 26, the control platform includes a secure communication master sub-station, a charging and docking sub-station, a mobile device scheduling sub-station, and a static partition control sub-unit, all controlled by a control sub-unit. The control sub-unit has the function of closing and opening the security door, and includes a first voting module and a control platform control module.

[0473] The charging and docking subunit has the functions of locking and releasing the safety device, detecting the power level of the safety device and automatically charging the safety device, and performing a power-on initialization self-test. The charging and docking subunit includes a charging module, a docking module, a safety device release lock, and a detection module. The safety device release locks include safety device release locks 1, 2, 3, and 4, and the detection module includes detection module 1 and detection module 2. Safety device release locks 1, 2, 3, and 4 are connected to the control platform control module; detection module 1 and detection module 2 are connected to the control platform control module via a data access device.

[0474] The mobile device scheduling subunit includes a mobile device scheduling module, a hardware access module, a switch, and a control platform module.

[0475] Safety communication master station subunit: It has the function of establishing and maintaining a safe connection with the safety equipment on the site, and the function of exchanging heartbeat signals based on the safe connection. It has the safety response function of notifying all mobile devices on the site to stop suddenly based on the abnormal heartbeat signal when the heartbeat detection of the safety equipment on the site is abnormal. It has the safety function of responding to the emergency stop issued by the safety equipment on the site and sending an emergency stop signal to all mobile devices on the site to notify all mobile devices to stop suddenly. It has the function of conducting safety monitoring on the safety equipment and mobile devices, and the function of controlling the mobile devices to perform emergency stop and protective stop. The safety communication master station subunit includes a wireless communication module, a switch and a master station safety communication module.

[0476] The static partition control subunit includes partition light grids, safety doors and control button boxes and substation safety PLCs monitored by the substation safety PLCs.

[0477] Figure 27 is a schematic diagram of the structure of another mobile device provided by an embodiment of the present disclosure. Referring to Figures 25 and 27, the mobile device includes a first distance measurement subunit, a first safety communication slave unit, and a motion control subunit.

[0478] Exemplarily, the first ranging subunit has the function of pairing with the on-site safety equipment, the function of sending a ranging request to the on-site safety equipment using a ranging signal, the function of real-time ranging based on the ranging response signal fed back by the on-site safety equipment, the function of judging whether the area where the mobile device is located is a stop area or an operation area based on the ranging result, the function of outputting an emergency stop signal based on whether the area where the mobile device is located is a stop area, the function of self-testing the reception and transmission of autonomously sending a ranging request and making a ranging response, the function of cross-checking multiple ranging signals, the function of establishing and maintaining a secure connection with the on-site safety equipment, the function of exchanging heartbeat signals based on the secure connection, and the function of controlling the emergency stop of the mobile device based on an abnormal heartbeat signal when the heartbeat detection of the on-site safety equipment is abnormal.

[0479] The first distance measuring subunit also has a pairing function with the on-site security equipment and a real-time distance measurement response feedback function for the distance measurement signal sent by the on-site security equipment.

[0480] The first ranging subunit includes a detection module and a second voting module, and the detection module includes a detection module 1, a detection module 2 and a detection module 3.

[0481] The first safety communication slave subunit has the function of safely responding to the emergency stop signal issued by the first ranging unit, and has the functions of safety monitoring + emergency stop + protective stop between the safety communication master subunit of the control platform. Among them, the first safety communication slave subunit includes a slave safety module, a main control module and a delay module.

[0482] The motion control subunit includes a wireless communication module and an actuator module.

[0483] Figure 28 is a schematic diagram of the structure of another safety device provided by an embodiment of the present disclosure. Referring to Figures 25 and 28, the safety device includes a second ranging subunit and a second safety communication slave subunit.

[0484] The second ranging subunit has the function of pairing with the mobile devices in the field, the function of real-time ranging response feedback of ranging signals sent by the mobile devices in the field, the function of self-testing the transmission and reception of autonomously sending ranging requests and making ranging responses, and the function of cross-checking multiple ranging signals.

[0485] The second ranging subunit also has the function of pairing with mobile devices on the field, the function of sending ranging requests to mobile devices on the field using ranging signals, the function of real-time ranging based on ranging response signals fed back by mobile devices on the field, the function of judging whether the area where the mobile device is located is a stop area or a running area based on the ranging results, the function of outputting an emergency stop signal based on whether the area where the mobile device is located is a stop area, the function of establishing and maintaining a secure connection with mobile devices on the field, and the function of exchanging heartbeat signals based on the secure connection.

[0486] The second ranging subunit includes a detection module and a third voting module, and the detection module includes a detection module 1, a detection module 2 and a detection module 3.

[0487] The second safety communication slave sub-unit has the function of autonomously triggering and sending a system emergency stop / reset signal to the safety communication master sub-unit of the control platform, and has the function of heartbeat detection between the second safety communication slave sub-unit and the safety communication master sub-unit of the control platform. Among them, the second safety communication slave sub-unit includes a slave safety module, an emergency stop trigger module and a wireless communication module. The safety communication slave sub-unit performs corresponding actions based on the received control signal. For example, if an emergency stop / reset signal is received, the emergency stop / reset signal is sent to the control platform. If a heartbeat signal is received from the wireless communication module, corresponding processing is performed based on whether the heartbeat signal is abnormal or not.

[0488] Figure 29 is a schematic diagram of three-terminal interaction in another motion control system provided by an embodiment of the present disclosure, wherein the diagram includes four lines, namely line 1, line 2, line 3, and a regular black line.

[0489] The information on line 1 includes: Transmission medium: Wireless LAN (WIFI, Wireless Fidelity) - 2.4G / 5G; Data link layer communication protocol: Industrial Ethernet communication protocol, such as Ethernet / IP, Profinet, etc.; Safety communication layer communication protocol: Communication protocol compliant with safety communication standard IEC 61784, such as CIP Safety, Profisafe, etc.; Transmission content: compliant with protocol frame format requirements, frame data content includes emergency stop commands, protective stop commands, etc., among which Profinet is an open industrial Ethernet communication protocol;

[0490] Information on line 2 includes: Transmission medium: Ultra Wide Band (UWB) / Bluetooth / Radio Frequency Identification (RFId) / Radio Frequency (RF), such as 433 MHz / 868 MHz / 915 MHz; Data Link Layer protocol: Customizable; Transmission content: Customizable, such as sender and receiver addresses, ID, time, cyclic redundancy check (CRC), etc.

[0491] The information on line 3 includes: transmission medium: wired transmission medium, such as twisted pair; data link layer communication protocol: industrial Ethernet communication protocol, such as Modbus TCP; transmission content: in accordance with the protocol frame format requirements, the frame data content includes mobile device ID, location, running / stop and other motion status information, etc. Among them, Modbus is an application layer message transmission protocol used for client / server communication between devices connected by different types of buses or networks. Modbus TCP is an implementation of Modbus running on TCP / IP network.

[0492] The information of regular black lines includes: transmission medium: wired transmission medium, such as twisted pair, coaxial cable, etc.; interface: digital input and output.

[0493] Figure 30 is a schematic diagram of a motion control system application provided by an embodiment of the present disclosure. As shown in Figure 30, the warehouse scene is divided into three areas A, B, and C.

[0494] In some examples, partitioning methods for warehousing scenarios may include static partitioning, dynamic partitioning, and a combination of static and dynamic partitioning.

[0495] Static zoning involves independent security gates for each area to allow personnel to enter or exit the mobile device area. A partitioning light barrier is located at the boundary between each area to detect personnel entry. The control platform is equipped with a safety PLC system, including a master station, substation safety PLCs, switches, and other data access devices. Dynamic zoning involves wearable safety devices on the personnel side, near-field sensing / ranging devices that can communicate interactively with personnel on the mobile device side, and a safety monitoring system on the control platform that maintains real-time safety monitoring with personnel and mobile devices, including a safety PLC, safety communication modules, and wireless communication modules.

[0496] The following describes the emergency stop implementation process for static partitioning, dynamic partitioning, and the combination of static and dynamic partitioning with Figure 30.

[0497] (1) A person applies to enter area A at the safety gate of area A. The control platform master station safety PLC issues a protective safety stop instruction to the mobile device in area A based on the mobile device location information obtained from the mobile device scheduling system, and at the same time controls the activation of the partition grating at the interface between area A and area B.

[0498] (2) A person enters area A through the safety door with a wearable device: When the person takes off the wearable device, the wearable device functional performance detection device near the safety door is activated. After completing the detection of the wearable device carried by the person, a normal / abnormal signal is output to the safety PLC that controls the safety door. When the safety PLC obtains the feedback signal that the wearable device of the person is working normally and the safety stop signal of the mobile device in area A, the safety PLC controls the safety door to open, and the person can enter area A.

[0499] (3) When personnel are working in area A, the mobile equipment in area A is controlled by two levels of safety stop instructions and is kept in a safe state. In the first level of control, under the protective stop instruction control of the control platform master station safety PLC, the mobile equipment that receives the instruction enters a safe stop state. However, since the control platform master station safety PLC obtains the location information of the mobile equipment from the dispatching system, there is a certain degree of information security risk. Therefore, the residual risk of the first level of stop function is that the control platform safety PLC does not issue a protective stop instruction to some mobile equipment in area A, and these mobile equipment are not in a safe stop state. After personnel enter the site with wearable devices, the mobile equipment provides a second level of safety protection by near-field sensing / ranging of the wearable devices. Dynamic partitions are formed with personnel movement as the center, and mobile equipment within 8m of the personnel (the specific partition radius can be set according to the actual stopping distance of the product) triggers an emergency stop. Under the dual safety protection mechanism of protective stop instruction + emergency stop instruction control, the mobile equipment in the stop zone near the personnel is in a safe stop state, meeting the safety level requirements specified in relevant safety standards (ISO 13849-1, ISO 3691-4).

[0500] (5) When a person enters area B from area A, the partition light barrier is triggered, and the control platform master station safety PLC controls the activation of the first layer of safety protection mechanism for mobile devices in area B. That is, the master station safety PLC issues a protective stop command to the mobile devices in area B based on the location information fed back by the mobile device scheduling system. After the person enters area B, the interaction between the wearable device and the mobile device provides a second layer of safety protection mechanism. That is, after the mobile device senses that it is in the stop zone centered on the person, it automatically triggers an emergency stop. Under the design of the two-layer safety protection mechanism, the safety of the personnel is guaranteed.

[0501] (5) When a person breaks into area C from area B, the triggering and safety protection mechanism design is consistent with sequence number 4.

[0502] (6) After the personnel leave the safety gate, the control platform safety PLC controls the safety gate to close. Then, the control platform master station safety PLC controls the mobile equipment in area A and area B to release the safety stop state and automatically continue the task. At the same time, the partition gratings at the junction of all partitions are shielded. The entire safety partition control system returns to normal operation.

[0503] Figure 31 is a schematic diagram of the components of a zoning control system under a motion control system architecture provided by an embodiment of the present disclosure, and Figure 32 is a schematic diagram of the interaction of zoning control systems under a motion control system architecture provided by an embodiment of the present disclosure. The zoning control system will be described below in conjunction with Figures 31 and 32.

[0504] In some examples, the emergency stop motion control subsystem implements the control platform's safe control of the mobile device slave end, the stop motion control subsystem is configured on the safety device end, the mobile device end, and the control platform, the safety positioning subsystem is deployed at the partition junction and the entry and exit channels of each area to implement static partitioning, and the human-machine proximity stop motion control subsystem is deployed on the safety device end and the mobile device end to implement dynamic partitioning. By combining the static + dynamic partitioning safety control method, a safe partition control system is jointly implemented.

[0505] The partition control system can provide the following safety functions:

[0506] (1) In an emergency, a person carrying a safety device initiates an emergency stop request to the control platform through the safety device. The control platform receives the emergency stop request and generates an emergency stop command to output to the mobile device. The functional safety level is PLd (ISO 13849-1).

[0507] (2) Under normal operating conditions, the control platform provides safety monitoring of the safety equipment side and the mobile equipment side. When an abnormality occurs on the safety equipment side, the control platform triggers the emergency stop of all mobile equipment on the field; when an abnormality occurs on the mobile equipment side, the mobile equipment side automatically enters the safety state of emergency stop. The safety monitoring architecture complies with the Category 2 architecture (ISO 13849-1);

[0508] (3) When personnel enter the site for work, the static partitioning scheme provides the first layer of safety protection. That is, the control platform issues a protective stop command to the mobile equipment within the partition, and then the personnel enter the passage. The control platform obtains the mobile equipment position function safety level PLb (ISO 13849-1), the mobile equipment protective stop function safety level PLd (ISO 13849-1), and the personnel entry and exit passage safety release and locking function safety level PLd (ISO 13849-1).

[0509] (4) When personnel are working in a partition, the mobile device senses whether a person carrying a safety device is approaching based on the ranging signal and ranging feedback, and triggers the emergency stop function of the main body according to the area information of the dynamic partition, providing a second layer of safety protection, with a safety level of PLc / PLd (ISO 13849-1).

[0510] Figure 33 is a schematic diagram of the system architecture of a motion control system provided by an embodiment of the present disclosure. As shown in Figure 33, in a combined dynamic and static safety zoning control system, PLd-level safety protection is implemented for personnel entering a zoned area. The functional safety chain that triggers the safe stop of mobile equipment within the zone upon personnel entry is as follows.

[0511] The overall dual-channel architecture consists of a protective stop function and an emergency stop function. First, the safety door controlled by the safety door lock triggers the start of the safety partition control function. Specifically, the substation safety PLC receives the trigger signal and generates trigger information. This trigger information is sent to the master safety PLC via the mobile device dispatching system and the switch. The master safety PLC obtains the mobile device number information within the corresponding partition from the mobile device dispatching system and issues a protective safety stop command to the slave safety module of the mobile device. Upon receiving the command, the safety drive controls the mobile device to slow down to zero and executes the motor power-off brake (STO) safety action. The safety door, substation safety PLC, slave safety module, master safety PLC, slave safety module, and safety drive in the protective safety stop function chain are safety devices with a safety level of no less than PLd.

[0512] Secondly, when personnel enter the zoned area, the mobile device's human-machine proximity stop system adopts a three-channel voting architecture with one master and two slaves. The three channels use a differentiated design approach to reduce systemic risks. Three-channel voting is achieved through detection modules 1, 2, and 3. The two slave monitoring channels 1 and 2 increase monitoring redundancy, and each channel is designed with a separate self-test link to increase diagnostic coverage. When the mobile device determines that it is in the personnel-centered stop zone, it triggers the emergency stop function of the main body. The signal output by the second voting module is used as the trigger signal and is transmitted back to the master safety PLC through the mobile device's main body slave safety module. The master safety PLC then issues an emergency stop command to the mobile device. After receiving the emergency stop command, the mobile device controls the main body to stop urgently via the safety driver. The safety door, substation safety PLC, slave safety module, master safety PLC, slave safety module, and safety driver in this functional safety chain are safety devices with a safety level of no less than PLd.

[0513] According to this architectural design, the static partitioning scheme provides a protective stop function, the dynamic partitioning scheme provides an emergency stop function for a single mobile device, and the safety monitoring of the control platform provides a global emergency stop function. The combined static and dynamic safety partitioning scheme can achieve functional safety level PLd (ISO 13849-1).

[0514] FIG34 is a schematic diagram of a risk range under a motion control system architecture provided by an embodiment of the present disclosure.

[0515] As shown in Figure 34, the entire circle represents the risk of personnel entering the mobile equipment operating area. Range 1 represents the risk eliminated by the static zoning scheme, Range 2 represents the risk eliminated by the dynamic zoning scheme, and Range 3 represents the residual risk. This design reduces the risk of personnel entering a mobile equipment zone to an acceptable level, meeting the requirements of the relevant safety standard (ISO 13849-1).

[0516] The motion control system provided by the embodiments of the present disclosure can selectively adopt static safety zoning, dynamic safety zoning, and combined static and dynamic safety zoning solutions according to the actual project application. In scenarios where personnel really need to enter the site to intervene or personnel mistakenly trigger the safety protection system, it provides a more flexible and flexible safety solution for project operation, and at the same time can meet the safety level requirements of relevant safety standards for personal safety protection (ISO 13849).

[0517] In some examples, the static safety zoning solution is suitable for cross-floor scenarios and natural zoning scenarios of mobile devices, that is, mobile devices travel across zones through a fixed and small number of intersections. The advantage of this solution is that it requires little hardware modification to the mobile device side and the control platform. In projects that have already configured a system emergency stop motion control system, the use of static safety zoning hardly increases the cost of mobile devices. For the safety system, only the safety positioning module at the partition interface is added, which does not affect the overall layout and architectural design of the safety system.

[0518] In some cases, dynamic security zoning solutions are suitable for scenarios with complex terrain and a large number of mobile devices traveling across zones. This solution offers the advantage of adaptability to specific scenarios and virtually no additional hardware deployment effort for the control platform. However, it does require the installation of numerous modules on mobile devices, which increases costs. Personnel carrying safety equipment must undergo safety training and carry wearable devices, strictly following device usage instructions and safe entry and exit procedures when entering and exiting the site.

[0519] In some examples, a combined static and dynamic safety partitioning scheme is suitable for scenarios with densely packed, regular storage. This approach offers the advantage of reducing safety risks to an acceptable level through dual safety mechanism design, reducing reliance on the safety of a single function, and ensuring that a single function failure will not cause serious harm. Compared to a dynamic safety partitioning scheme, this lowers the wearable device's inherent safety level to PLc. Furthermore, the human-centric division of the safety zone into stop and run zones reduces hardware design complexity and functional safety certification complexity.

[0520] In terms of efficiency, dynamic safety zoning provides a solution with a slight level of efficiency reduction. The degree of efficiency reduction of static safety zoning solution and static and dynamic combined safety solution can be estimated by the ratio of the single-trigger zoning stop area to the overall project area.

[0521] Table 1 is a statistical table of the types of components selected in the control platform, safety equipment and mobile devices in the motion control system of the present disclosure. To implement the system architecture described in the present disclosure, the types of hardware components selected include but are not limited to the types in Table 1.

[0522] Table 1 Statistics of the types of components selected

[0523] Figure 35 is a schematic diagram of another warehousing scenario provided by an embodiment of the present disclosure, Figure 36 is a schematic diagram of an application structure of a motion control system provided by an embodiment of the present disclosure, and Figure 37 is a schematic diagram of an area division provided by an embodiment of the present disclosure.

[0524] For example, in the AMR cluster control in an unmanned scenario, the AMR operating area uses a fixed fence to separate the AMR from personnel. When personnel intervention is required, personnel enter and exit the AMR operating area through a dedicated door with additional safety measures, as shown in Point A in Figure 35.

[0525] As shown in Figure 35, Point B and Point A form a 10-meter-long access passageway, flanked by fixed fences. Within the fenced area, the unmanned scene includes multiple mobile devices, such as Mobile Device A, Mobile Device B, and Mobile Device C. The safety design process for target objects (e.g., people) entering and exiting the AMR area is as follows.

[0526] For example, the security control process for authorizing the target object to enter is as follows:

[0527] (1) Point A: Under normal circumstances, the safety device is plugged into the docking subunit of the charging and docking control unit. The charging subunit in the charging and docking control unit will detect the power level of the safety device and automatically charge it when the power level is lower than the threshold.

[0528] (2) Before the target object enters the mobile device area to perform a preset task, the target object walks from point B to point A and triggers an entry application through a physical switch.

[0529] (3) The safety device at point A performs an initialization self-test function confirmation through the charging and docking control unit; at the same time, the safety device and the transceiver subunit at point B perform a 10m ranging performance confirmation, wherein the ranging is performed jointly by the transceiver subunit and the ranging operation subunit.

[0530] (4) When the initialization self-test signal of point A is normal and the ranging performance of point B is normal, the safety PLC subunit will control the docking subunit through the control signal to release the safety device release lock and control the safety door lock subunit to release the safety door lock.

[0531] (5) At this time, the target object can take away the security device and carry it into the mobile device operation area to perform the preset task.

[0532] (6) The safety door lock is closed.

[0533] For example, the security control process for authorizing the target object to leave is as follows:

[0534] (1) After completing the preset task, the target object triggers the departure application through the physical switch inside the security door lock.

[0535] (2) The safety PLC subunit controls the safety door lock to open, and the target object can leave the site.

[0536] (3) At point A, the target object places the security device back on the charging and docking control unit and triggers the return action through the physical switch.

[0537] (4) The safety device stops the second distance measuring unit from working, and at the same time the safety PLC subunit controls the safety door lock to close through the safety door lock subunit.

[0538] (5) When the target object walks out of the channel to point B, if the ranging operation subunit can still receive the ranging response signal from the safety device, it means that the target object's return action is not completed, and the system will have an audible and visual warning.

[0539] For example, the control process of a mobile device in an operating area is as follows:

[0540] (1) After the target object triggers an application to enter the mobile device's operating area from point A, the safety device initiates the ranging response and real-time self-test functions, and simultaneously initiates heartbeat signal interaction with the master based on the security connection. When the safety device self-tests abnormally / returns to normal, it automatically sends an emergency stop / reset signal request to the master. When the target object detects an abnormality / normality, it can actively trigger an emergency stop / reset signal request to the master through a physical switch.

[0541] (2) Operation area A centered on the target object: typically outside the radius of 10 m, see Figure 37 , such as mobile device C.

[0542] The mobile device sends a real-time distance measurement request but does not receive a distance measurement response signal from the safety device. The mobile device determines that it is in the operating area and maintains the rated speed. Real-time self-tests ensure that the system is operating normally. If the self-test is abnormal, the main body will immediately trigger a safety emergency stop.

[0543] (3) Speed ​​reduction zone B centered on the target object: typical value 6m<radius≤10m, see Figure 35, such as mobile device B.

[0544] The mobile device sends a real-time ranging request and calculates the relative distance based on the ranging response signal from the safety device. If the relative distance is determined to be within the deceleration zone, the mobile device controls the main body to slow down to a safe speed of 0.3m / s and initiates a real-time self-test. If the self-test is abnormal, the main body immediately triggers a safety emergency stop. If the operating speed of the safety device calculated by the first ranging unit exceeds the preset value, the main body immediately triggers a safety emergency stop. If no ranging response is received from the safety device within a preset time (typical value of 2 seconds), the main body immediately triggers a safety emergency stop. If no heartbeat signal from the safety device is detected for more than 3 seconds, the main body automatically resumes movement and continues the previous task.

[0545] (4) Stop zone area C centered on the target object: typical radius ≤ 6m, see Figure 37, such as mobile device A.

[0546] The mobile device sends a distance measurement request in real time, calculates the relative distance based on the distance measurement response signal of the safety device, and determines that the relative distance is in the stop zone. The mobile device immediately triggers the main body safety emergency stop and turns off the real-time self-test.

[0547] The motion control system provided by the embodiment of the present disclosure can adjust the motion state of the mobile device according to the distance between the mobile device and the safety device, thereby preventing the mobile device from affecting the target object and ensuring the safety of the target object carrying the safety device. The motion state of the mobile device is adjusted based on the distance between the mobile device and the safety device, and there is no need to stop the entire device, thereby improving the efficiency of the operation of the mobile device.

[0548] Figure 38 is a schematic diagram of a motion control method provided by an embodiment of the present disclosure. This motion control method is applied to a motion control system. The motion control system includes a control platform, multiple mobile devices, and multiple partition detection units. The partition detection units are deployed at the intersection of multiple pre-divided storage areas in a warehouse scenario. The partition detection units are initially in the off state. This motion control method includes steps 3802 to 3806 as shown below.

[0549] Step 3802: When the first detection unit detects that the target object enters a target storage area in multiple storage areas, the first detection unit sends a first trigger event to the control platform.

[0550] The first detection unit is a partition detection unit that is deployed in the target storage area and whose current detection state is an open state.

[0551] Step 3804: In response to the first trigger event, the control platform sends a stop instruction to the mobile device in the target storage area, and controls the detection state of the second detection unit to change to an on state.

[0552] The second detection unit is a partition detection unit of the target storage area, and the second detection unit is different from the first detection unit.

[0553] Step 3806: The first mobile device stops moving in response to the stop instruction.

[0554] In some embodiments, the motion control system further includes a protection detection unit, which is deployed at an interaction point in an initial storage area, and the initial storage area is a storage area in which interaction points exist in each storage area; the method further includes: when the detection state of the protection detection unit is triggered to a trigger state, the control platform triggers the protection detection unit to a trigger state, and sends a stop instruction to the mobile device in the initial storage area; when the protection detection unit detects that the target object enters the initial storage area through the interaction point, the control platform sends a fifth trigger event to the control platform; in response to the fifth trigger event, the control platform controls the detection state of the fifth detection unit to change to an on state, wherein the fifth detection unit is a partition detection unit deployed in the initial storage area.

[0555] In some embodiments, the motion control system further includes a portable safety device, which is used to be carried by the target object when entering the storage scene. After the control platform responds to the first trigger event in the above steps, sends a stop command to the first mobile device in the target storage area, and controls the detection state of the second detection unit to change to the on state, the following steps are also included: the first device broadcasts a ranging request; the second device, upon receiving the ranging request, feeds back a ranging response signal to the first device, wherein the first device is a safety device and the second device is a mobile device; or the first device is the mobile device and the second device is a safety device; the first device determines the target distance between the first device and the second device based on the ranging response signal, and adjusts the motion state of the mobile device according to the target distance.

[0556] In some embodiments, the motion control system further includes a safety door and a performance detection unit. In the aforementioned step, before the first detection unit sends a first trigger event to the control platform upon detecting that the target object has entered the target storage area, the following steps may also be included: the performance detection unit detects the performance status of the safety device and sends the performance status to the control platform; and the control platform, in response to the target object's request to enter the storage scene, controls the opening of the safety door if the performance status of the safety device reported by the performance detection unit is normal.

[0557] In some embodiments, after the above steps control the safety door to open, the following steps are also included: the control platform responds to the target object's request to leave the warehouse scene, controls the safety door to close, sends a resume work instruction to each mobile device in the warehouse scene, and controls the detection status of each partition detection unit to change to a closed state; each mobile device resumes movement in response to the resume work instruction.

[0558] For the specific implementation contents of steps 3802 to 3806, please refer to the system implementation corresponding to FIG1 , which will not be repeated here.

[0559] The motion control method provided by the embodiment of the present disclosure pre-divides the storage areas in the storage scene so that when a target object enters the storage scene, a stop instruction is only sent to the mobile device in the corresponding storage area for stop processing, thereby avoiding sending a stop instruction to the mobile devices in the entire storage scene, achieving efficient operation of the mobile devices, and deploying multiple partition detection units at the junction of each storage area to detect whether the target object enters the area adjacent to the target storage area, thereby ensuring the safety of the target object while ensuring motion efficiency.

[0560] Figure 39 is a schematic diagram of a control platform provided by an embodiment of the present disclosure. As shown in Figure 39, the components of control platform 3900 include, but are not limited to, a storage unit 3910 and a control unit 3920. Control unit 3920 and storage unit 3910 are connected via a bus 3930, and database 3950 is used to store data.

[0561] The control platform 3900 also includes an access device 3940 that enables the control platform 3900 to communicate via one or more networks 3960. Examples of such networks include a public switched telephone network (PSTN), a local area network (LAN), a wide area network (WAN), a personal area network (PAN), or a combination of communication networks such as the Internet. The access device 1740 may include one or more of any type of network interface (e.g., a network interface controller (NIC)) whether wired or wireless, such as an IEEE 802.11 wireless local area network (WLAN) wireless interface, a Worldwide Interoperability for Microwave Access (Wi-MAX) interface, an Ethernet interface, a universal serial bus (USB) interface, a cellular network interface, a Bluetooth interface, or a near field communication (NFC) interface.

[0562] In some embodiments, the aforementioned components of the control platform 3900 and other components not shown in FIG39 may also be connected to each other, for example, via a bus. It should be understood that the control platform structure block diagram shown in FIG39 is for illustrative purposes only and does not limit the scope of the present disclosure. Those skilled in the art may add or replace other components as needed.

[0563] The control platform 3900 can be any type of stationary or mobile computing device, including a mobile computer or mobile computing device (e.g., a tablet computer, a laptop computer, a netbook, etc.) or other types of mobile devices, or a stationary computing device such as a desktop computer or a personal computer (PC). The control platform 3900 can also be a mobile or stationary server.

[0564] Among them, the control unit 3920 is used to control the execution of the following computer-executable instructions, which, when executed by the control unit, are implemented as follows: in response to a first trigger event, a stop command is sent to the first mobile device in the target storage area, and the detection state of the second detection unit is controlled to change to an on state, wherein the first trigger event is sent to the control unit by the first detection unit when it detects that the target object enters the target storage area. The first detection unit is a partition detection unit deployed in the target storage area and the current detection state is an on state. The second detection unit is any one of the multiple partition detection units corresponding to the target storage area except the first detection unit.

[0565] The above is a schematic scheme of a control platform of this embodiment. It should be noted that the technical solution of this control platform is the same as the technical solution of the control platform in the above-mentioned motion control method. For details not described in detail in the technical solution of the control platform, please refer to the description of the technical solution of the above-mentioned motion control method.

[0566] In some embodiments, the control unit includes a substation security control mechanism and a main station security control mechanism; the substation security control mechanism is used to implement, when executing computer-executable instructions: in response to a first trigger event, sending trigger information to the main station security control mechanism, and controlling the detection state of the second detection unit to change to an on state; the main station security control mechanism is used to implement, when executing computer-executable instructions: based on the trigger information, sending a stop instruction to the first mobile device in the target storage area.

[0567] The foregoing description describes specific embodiments of the present disclosure. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in an order different from that described in the embodiments and still achieve the desired results. Furthermore, the processes depicted in the accompanying drawings do not necessarily require the specific order shown or the sequential order to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0568] It should be noted that for the aforementioned method embodiments, for the sake of simplicity of description, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present disclosure are not limited by the order of the actions described, because according to the embodiments of the present disclosure, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the embodiments of the present disclosure.

[0569] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0570] The preferred embodiments of the present disclosure disclosed above are only used to help illustrate the present disclosure. The optional embodiments do not describe all details in detail, nor do they limit the invention to only the specific embodiments described. Obviously, many modifications and variations can be made based on the content of the embodiments of the present disclosure. The present disclosure selects and specifically describes these embodiments in order to better explain the principles and practical applications of the embodiments of the present disclosure, so that those skilled in the art can better understand and utilize the present disclosure. The present disclosure is limited only by the claims and their full scope and equivalents.

Claims

1. A motion control system, comprising a control platform, a plurality of mobile devices and a plurality of partition detection units; wherein: The partition detection unit is deployed at the junction of multiple storage areas pre-divided in the storage scene; A first detection unit is configured to send a first trigger event to the control platform when detecting that a target object enters a target storage area of ​​the multiple storage areas; wherein the first detection unit is a partition detection unit deployed in the target storage area and the current detection state is an open state; The control platform is configured to send a stop instruction to the mobile device in the target storage area in response to the first trigger event, and control the detection state of the second detection unit to change to an on state; wherein the second detection unit is a partition detection unit deployed in the target storage area, and the second detection unit is different from the first detection unit; The mobile device is configured to stop moving in response to the stop instruction.

2. The system according to claim 1, wherein: The control platform is further configured as: Based on the area information of the target storage area and an area management table, the mobile devices in the target storage area are determined; wherein the area management table stores the corresponding relationship between the area information of the plurality of storage areas and the mobile devices in each storage area.

3. The system according to claim 2, wherein the motion control system further comprises a plurality of positioning units, wherein the positioning units are deployed at the movement path points of the mobile device at the intersection of the plurality of storage areas; The positioning unit is configured to determine a motion event of the mobile device triggering the cross-storage area movement if it is detected that the mobile device moves across the first storage area to the second storage area, and send a positioning result to the control platform; The control platform is further configured to: determine target device information and target location information of the mobile device based on the positioning result; determining target area information of the second storage area according to the target location information; Based on the target device information and the target area information, the area management table is updated.

4. The system according to claim 3, wherein: The positioning unit includes at least two positioning channels, and the control platform includes a first voting module; The positioning channel is configured to perform positioning calculation based on the recognition result of the tag data on the mobile device to obtain the positioning result; The first voting module is configured to vote on the positioning results of the at least two positioning channels to determine the target device information and the target position information of the mobile device.

5. The system according to claim 2, wherein: The mobile device comprises a secure positioning module and a secure communication module; The safety positioning module is configured to identify an identifier of the mobile device on a travel path and determine a second storage area where the mobile device is currently located; The secure communication module is configured to send the target area information of the second storage area to the control platform; The control platform is configured to record the corresponding relationship between the mobile device and the second storage area in the area management table based on the target area information, so as to update the area management table.

6. The system according to claim 5, wherein: The safety positioning module includes an identification unit and a voting unit, and the identification unit includes at least two identification channels; The identification channel is configured to identify an identifier of the mobile device on a travel path, determine target area information corresponding to the identifier, and output the target area information; The voting unit is configured to vote on the target area information output by the at least two identification channels, and determine the second storage area where the mobile device is currently located according to the voting result.

7. The system according to claim 6, wherein: The voting unit is configured as follows: In a case where the target area information output by the at least two identification channels is consistent, determining the storage area corresponding to the target area information as the second storage area where the mobile device is currently located; When the target area information output by the at least two identification channels is inconsistent, a historical voting result is obtained, and based on the historical voting result, a second storage area where the mobile device is currently located is determined.

8. The system according to claim 6, wherein: The voting unit is further configured to: According to the number of partitions in the storage scene, the area information of the second storage area is encoded by using multi-channel IO quantity encoding, and the area code of the second storage area is sent to the control platform; The control platform is configured to record the correspondence between the mobile device and the area code of the second storage area in the area management table to update the area management table.

9. The system according to claim 6, wherein: The voting unit is configured as follows: When the at least two identification channels fail to identify a preset number of identifiers, an emergency stop event is triggered; wherein the preset number of identifiers is a preset number of identifiers arranged continuously on the travel path of the mobile device, and the emergency stop event controls the mobile device to stop suddenly when triggered.

10. The system according to claim 5, wherein: The security communication module includes a network communication unit and a security protocol unit; the network communication unit is configured to: The preset safety communication protocol in the safety protocol unit is called to send the target area information of the second storage area to the control platform.

11. The system according to claim 10, wherein: The safety communication module further includes a safety control unit and a safety I / O unit, and the mobile device further includes a motion control module; The control platform is configured to send a stop instruction to a first network communication unit in response to the first trigger event based on the area information of the target storage area and the area management table; wherein the first network communication unit is a network communication unit of a mobile device in the target storage area; A first security control unit is configured to parse the stop instruction through the preset security communication protocol to obtain a parsing result; wherein the first security control unit is a security control unit of a mobile device in the target storage area; The first motion control module is configured to receive the parsing result output by the first safety I / O unit, and control the mobile device in the target storage area to stop moving based on the parsing result; wherein the first motion control module is a motion control module of the mobile device in the target storage area, and the first safety I / O unit is a safety I / O unit of the mobile device in the target storage area.

12. The system according to claim 11, wherein: The first motion control module includes a first motor control unit and a first mobile device control unit; The first motor control unit is configured to perform a power-off brake operation in response to the analysis result; The first mobile device control unit is configured to execute an emergency stop operation of the mobile device in response to the analysis result.

13. The system according to claim 5, wherein: The control platform is further configured as: In response to the first trigger event, based on the area information of the buffer area and the area management table, determining the mobile device in the buffer area; wherein the buffer area is located in a third storage area adjacent to the target storage area; A speed reduction instruction is sent to the mobile device in the buffer area.

14. The system of claim 1, wherein: The storage scene includes a first target area, a second target area and a third target area; the first target area, the second target area and the third target area respectively include at least one storage area; The danger level of the first target area is higher than that of the second target area, and the danger level of the second target area is higher than that of the third target area; The danger level is used to represent the degree of danger to the target object in the target storage area.

15. The system of claim 14, wherein: The third target area is deployed with a third detection unit; The third detection unit is configured to send a second trigger event to the control platform when detecting that the target object enters the third target area; The control platform is configured to send a stop instruction to the mobile devices in the first heavy target area, the second heavy target area, and the third heavy target area in response to the second trigger event.

16. The system according to claim 5, wherein: The warehousing scene includes a workstation area, a high-speed area and a storage area; the workstation area, the high-speed area and the storage area each include at least one storage area; the storage area includes a movable storage area, and the shelf position of the shelf in the movable storage area is not fixed; the running speed of the mobile device in the high-speed area reaches a preset speed threshold; the safety positioning module is configured as follows: The identification of the mobile device on the travel path is identified to determine the target workstation area, the target high-speed area, or the target removable storage area where the mobile device is currently located.

17. The system of claim 16, wherein: The target objects include authorized target objects and unauthorized target objects; a fourth detection unit is deployed in the target workstation area; The fourth detection unit is configured to send a third trigger event to the control platform when detecting that the authorized target object enters the target workstation area; Alternatively, in the case where the unauthorized target object is detected to enter the target workstation area, a fourth trigger event is sent to the control platform; The control platform is configured to send a stop instruction to the mobile device in the target workstation area in response to the third trigger event; or, in response to the fourth trigger event, send a stop instruction to the mobile devices in the target workstation area, the target high-speed area and the target removable storage area.

18. The system according to any one of claims 1 to 17, wherein: The control platform also includes a substation safety control mechanism and a main station safety control mechanism; The substation safety control mechanism is configured to send trigger information to the main station safety control mechanism in response to the first trigger event; The master station safety control mechanism is configured to send the stop instruction to the mobile device in the target storage area based on the trigger information.

19. The system according to any one of claims 1 to 17, wherein: The control platform is configured as follows: The stop instruction is sent to the mobile device in the target storage area through a communication link of a preset secure communication protocol.

20. The system according to any one of claims 1 to 17, wherein the plurality of storage areas include an initial storage area, wherein the initial storage area is provided with interaction points; the motion control system further includes a protection detection unit, wherein the protection detection unit is deployed at the interaction points of the initial storage area; The protection detection unit is configured to, when detecting that the target object enters the initial storage area through the interaction point, trigger the protection detection unit to a trigger state and send a fifth trigger event to the control platform; The control platform is further configured to send a stop instruction to the mobile device in the initial storage area in response to the detection state of the protection detection unit being triggered to a trigger state; In response to the fifth trigger event, the detection state of the fifth detection unit is controlled to be changed to an on state; wherein the fifth detection unit is a partition detection unit deployed in the initial storage area.

21. The system according to any one of claims 1-17, wherein the motion control system further comprises a safety device, wherein the safety device comprises a device carried by the target object when entering the warehouse scene; A first device is configured to broadcast a ranging request; a second device configured to feed back a ranging response signal to the first device upon receiving the ranging request; wherein the first device is the security device and the second device is the mobile device; or the first device is the mobile device and the second device is the security device; The first device is further configured to determine a target distance between the first device and the second device based on the ranging response signal, and adjust a motion state of the mobile device according to the target distance.

22. The system of claim 21, wherein: The first device is further configured to: If the ranging response signal sent by the second device is not received, the mobile device is controlled to maintain the current motion state.

23. The system of claim 21, wherein: The first device is configured as: According to the target distance, determining whether the target distance is greater than a preset distance upper limit; If the target distance is greater than the preset distance upper limit, the mobile device is controlled to maintain the current motion state.

24. The system of claim 21, wherein: The first device is configured as: According to the target distance, determining whether the target distance is within a preset distance interval; wherein the preset distance interval is determined based on a preset distance upper limit and a preset distance lower limit; If it is determined that the target distance is within the preset distance interval, the mobile device is controlled to decelerate to a first preset movement speed.

25. The system of claim 21, wherein: The first device is further configured to: determining a current movement speed of the safety device based on the ranging response signal; If the current movement speed of the safety device exceeds a preset speed threshold, the mobile device is adjusted to a stopped state.

26. The system of claim 24, wherein: The first device is further configured as: After controlling the mobile device to decelerate to the first preset motion speed, sending a distance measurement request to the second device at a preset interval; If the ranging response signal fed back by the second device is not received within a first preset time, the mobile device is adjusted to a stop state.

27. The system of claim 24, wherein: The first device is the mobile device, and the second device is the security device; the mobile device is further configured as: After controlling the mobile device to decelerate to the first preset movement speed, if no heartbeat signal of the safety device based on the safety connection is detected within a second preset time, the mobile device is controlled to resume to the second preset movement speed; wherein the safety connection refers to a connection based on a preset safety communication protocol.

28. The system of claim 21, wherein: The first device is the mobile device, and the second device is the security device; the mobile device is further configured to: Start self-test according to the preset self-test cycle and obtain self-test results; When the self-check result is abnormal, the mobile device is adjusted to a stopped state.

29. The system of claim 21, wherein: The first device is the mobile device, and the second device is the security device; the mobile device includes a first distance measuring unit and a motion control unit; the security device includes a second distance measuring unit; The first ranging unit is configured to broadcast the ranging request; The second ranging unit is configured to feed back the ranging response signal to the first ranging unit when receiving the ranging request; The first ranging unit is further configured to determine a target distance between the mobile device and the security device based on the ranging response signal, and to generate a motion adjustment signal based on the target distance, and to send the motion adjustment signal to the motion control unit; The motion control unit is configured to adjust the motion state of the mobile device based on the motion adjustment signal.

30. The system of claim 21, wherein: The first device is the mobile device, and the second device is the security device; The control platform is configured to establish and maintain a secure connection with the safety device, and based on the secure connection interaction heartbeat signal corresponding to the safety device, send emergency stop signals to the multiple mobile devices respectively when it is determined that the heartbeat of the safety device is abnormal; The mobile device is further configured to adjust the mobile device to a stopped state in response to the emergency stop signal sent by the control platform.

31. The system of claim 30, wherein: The safety device is further configured to: Initiate self-test according to a preset self-test cycle, and send the self-test result to the control platform; The control platform is further configured to send emergency stop signals to the plurality of mobile devices respectively when it is determined based on the self-test result that the safety device self-test is abnormal; The mobile device is further configured to adjust the mobile device to a stopped state in response to the emergency stop signal.

32. The system of claim 30, wherein: The control platform comprises a safety device docking unit; the safety device docking unit is used for placing the safety device.

33. The system of claim 32, wherein: The security device docking unit is further configured to: Detecting power information of the safety device; According to the power information of the safety device, when it is determined that the remaining power of the safety device is lower than a preset power threshold, the safety device is charged.

34. The system according to claim 32, wherein the motion control system further comprises a safety door; and the control platform further comprises a safety control mechanism; The security device docking unit is further configured to trigger performance detection of the security device in response to a request from the target object to enter the storage scene; The safety control mechanism is configured to control the safety door to open when the performance test result of the safety equipment is normal, and control the safety door to close after determining that the target object enters the storage scene.

35. The system of claim 34, wherein: The safety control mechanism is further configured to: In response to a request from the target object to leave the storage scene, the security door is controlled to open, and after determining that the security device is returned to the security device docking unit, the security door is controlled to close.

36. The system of claim 35, wherein: The control platform further includes a third distance measuring unit; the third distance measuring unit is configured to: When it is determined that the target object has left the storage scene, if it is detected that the distance between the third distance measuring unit and the safety device reaches a preset alarm distance, an alarm message is issued to warn the target object to return the safety device.

37. The system of claim 21, wherein: The first device is the mobile device, and the second device is the security device; the mobile device is configured as follows: According to the target distance, determining whether the target distance is less than a preset distance lower limit; If the target distance is less than the preset distance lower limit, the mobile device is adjusted to a stop state.

38. The system of claim 37, wherein: The mobile device includes at least three identification channels and a second voting unit; The identification channel is configured to determine the target distance between the first device and the second device based on the ranging response signal to obtain an identification result; wherein the identification result includes whether the target distance is less than the preset distance lower limit; The second voting module is configured to vote on the recognition results respectively output by the at least three recognition channels, generate an emergency stop trigger signal, and send the emergency stop trigger signal to the control platform; The control platform is further configured to send the emergency stop trigger signal to each of the mobile devices; The mobile device is configured to urgently stop movement in response to the emergency stop trigger signal.

39. The system of claim 37, wherein the motion control system further comprises a safety door and a performance detection unit; The performance detection unit is configured to detect the performance status of the safety device and send the performance status to the control platform; The control platform is further configured to control the security door to open in response to a request from the target object to enter the storage scene when the performance status of the security device fed back by the performance detection unit is normal.

40. The system of claim 39, wherein: The control platform is further configured as: In response to a request from the target object to leave the storage scene, controlling the safety door to close, sending a recovery work instruction to each of the mobile devices in the storage scene, and controlling the detection state of each partition detection unit to change to a closed state; The mobile device is configured to resume movement in response to the resume work instruction.

41. A motion control method, applied to a motion control system, the motion control system comprising a control platform, a plurality of mobile devices and a plurality of partition detection units; wherein: The partition detection unit is deployed at the junction of multiple storage areas pre-divided in the storage scene; The method comprises: When the first detection unit detects that the target object enters a target storage area among the multiple storage areas, sending a first trigger event to the control platform; wherein the first detection unit is a partition detection unit deployed in the target storage area and the current detection state is an open state; In response to the first trigger event, the control platform sends a stop instruction to the mobile device in the target storage area, and controls the detection state of the second detection unit to be changed to an on state; wherein the second detection unit is a partition detection unit deployed in the target storage area, and the second detection unit is different from the first detection unit; The mobile device stops moving in response to the stop instruction.

42. A control platform, the control platform is deployed in a motion control system, the motion control system comprises the control platform, a plurality of mobile devices and a plurality of partition detection units; wherein, The partition detection unit is deployed at the junction of multiple storage areas pre-divided in the storage scene; the control platform includes a storage unit and a control unit; the storage unit is used to store computer executable instructions; The control unit is used to execute the computer executable instructions, which, when executed by the control unit, implement: in response to a first trigger event, send a stop instruction to the mobile device in the target storage area, and control the detection state of the second detection unit to change to an on state; wherein the first trigger event is sent to the control unit by the first detection unit when it detects that the target object enters the target storage area of ​​the multiple storage areas; the first detection unit is a partition detection unit deployed in the target storage area, and the current detection state is an on state, and the second detection unit is a partition detection unit deployed in the target storage area, and the second detection unit is different from the first detection unit.

43. An electronic device comprising: one or more processors; and A memory configured to: store one or more programs; Wherein, when the one or more programs are executed by the one or more processors, the one or more processors implement the motion control method according to claim 41.

44. A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the motion control method according to claim 41.

45. A computer program product, comprising a computer program, which, when executed by a processor, implements the motion control method according to claim 41.

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