Abnormal handling method, device, material transfer system and robot

Abstract

The present application provides an exception handling method, apparatus, material transfer system, and robot. A specific implementation of the method includes: receiving a material transfer instruction for indicating to perform a material transfer task; detecting whether any abnormal situation occurs during the execution of the material transfer task; the abnormal situation includes at least two types; if it is detected that an abnormal situation occurs, stop executing the material transfer task. This method can detect multiple abnormal situations during the execution of material transfer and can promptly stop executing the material transfer task to avoid material dropping.

Description

Technical Field

[0001] The present application relates to the technical field of robots, and in particular, to an exception handling method, apparatus, material transfer system, and robot. Background Art

[0002] With the development and progress of technology, there is a phenomenon of using robots to replace humans in performing work tasks. In industrial manufacturing scenarios, material robots can be used to perform tasks that need to be repeatedly executed, such as goods sorting and goods transportation.

[0003] During the material transfer process, it is necessary to dock the material robot with the material platform to transfer the material from other places to the material platform or transfer the material from the material platform to other places. However, in the related art, there is a problem that the material drops due to inconsistent actions between the material robot and the material platform, which cannot guarantee the safety of on-site personnel and materials. Summary of the Invention

[0004] The purpose of the embodiments of the present application is to provide an exception handling method, apparatus, material transfer system, and robot, which can detect various abnormal situations during the execution of the material transfer process and can stop executing the material transfer task in time to avoid material dropping.

[0005] In a first aspect, an embodiment of the present application provides an exception handling method, which includes: receiving a material transfer instruction; detecting whether any abnormal situation occurs during the execution of the material transfer task; the abnormal situation includes at least two types; if it is detected that an abnormal situation occurs, stop executing the material transfer task. In this way, various abnormal situations of the material robot can be detected, and the execution of the material transfer task can be stopped in time to avoid material dropping.

[0006] Optionally, the abnormal situation includes that the actual feeding position where the material robot docks with the material platform does not match the feeding position information; the feeding position information is used to indicate the position where the material robot docks with the material platform; and during the execution of the material transfer task, it is detected whether any abnormal situation occurs, including: obtaining the feeding position information from the material transfer instruction; detecting whether the actual feeding position of the material robot matches the feeding position information; the actual feeding position includes an absolute feeding position and / or a relative feeding position; the absolute feeding position represents the feeding position obtained by the material robot through its own positioning, and the relative feeding position represents the relative position between the material robot and the material platform; if the actual feeding position does not match the feeding position information, it is determined that an abnormal situation occurs. In this way, when the material robot detects that its actual feeding position does not match the feeding position information, it can stop executing the material transfer task in time. Subsequently, the material robot can adjust its position and only dock with the material platform when it reaches the actual feeding position that matches the feeding position information to continue completing the material transfer task.

[0007] Optionally, detecting whether the actual feeding position of the material robot matches the feeding position information includes: detecting whether the feeding position information is valid; if the feeding position information is valid, detecting whether the actual feeding position is valid; if the actual feeding position is invalid, it is determined that the actual feeding position does not match the feeding position information. In this way, if there is an abnormality in the obtained feeding position information itself, subsequent detection or determination operations can be avoided, and the material transfer task can be stopped in time.

[0008] Optionally, detecting whether the feeding position information is valid includes detecting whether the feeding position information simultaneously meets the following conditions: the feeding position information is non-empty information; the position coordinates corresponding to the feeding position information in the navigation map of the material robot are within the valid range; the position coordinates corresponding to the feeding position information can be found in the navigation map of the material robot; the feeding position information indicates that the object docked with the material robot in the navigation map is the material platform. Here, several conditions that need to be met simultaneously are exemplified to determine whether the feeding position information is abnormal.

[0009] Optionally, detecting whether the absolute feeding position is valid includes: determining the position coordinates corresponding to the feeding position information in the navigation map of the material robot; detecting whether the distance error between the position represented by the position coordinates and the absolute feeding position is within the valid range; and if the distance error is not within the valid range, it is determined that the absolute feeding position is invalid. In this way, it can be determined whether the feeding position information is abnormal.

[0010] Optionally, determining that the relative feeding position is invalid includes detecting any of the following situations: no marker information is detected at the position coordinates corresponding to the feeding position information in the navigation map of the material robot; the corresponding relationship between the position coordinates and the feeding position information and the marker information are pre-stored in the material robot; after the marker information is detected in the navigation map, the corresponding relative position information cannot be detected using the marker information; the relative position information represents the relative distance between the marker and the material robot; after the relative position information is detected, it is determined that the time difference between the historical timestamp of obtaining the relative position information and the current timestamp is not within the valid time range; and the relative distance indicated by the relative position information is not within the valid distance range. Here, several situations for determining that the relative feeding position is invalid are exemplified, and when any one of them is detected, the relative feeding position can be determined to be invalid.

[0011] Optionally, the abnormal situation further includes any stop situation occurring at any time; the stop situation includes: the emergency stop button of the material robot is triggered; the collision sensor of the material robot is collided; the material robot switches from the automatic mode to the manual mode; a stop instruction is received; the stop instruction is used to instruct the material robot to stop the material transfer task. In this way, by detecting in real time whether any stop situation occurs, it is possible to avoid untimely handling and resulting in material dropping.

[0012] Optionally, the abnormal situation further includes an abnormal communication connection between the material robot and the material table, and detecting whether any abnormal situation occurs during the execution of the material transfer task includes: before the material robot and the material table perform information interaction, detecting whether the device used by the material robot to communicate with the material table is normally connected; if the device connection is abnormal, determining that the communication connection between the material robot and the material table is abnormal. In this way, it is possible to determine whether there is a communication abnormality problem, so that when a communication abnormality is determined, the execution of the material transfer task can be stopped in time.

[0013] Optionally, the abnormal situation further includes receiving the material table working abnormal information sent by the material table; and if it is detected that an abnormal situation occurs, stopping the execution of the material transfer task includes: when receiving the material table working abnormal information sent by the material table, stopping the execution of the material transfer task. In this way, it is possible to avoid material dropping and not add pressure to the material table anymore, enabling the material table to handle the abnormal situation first.

[0014] Optionally, during the execution of the material transfer task, a conveying mechanism is used to transport materials. If an abnormal situation is detected, the execution of the material transfer task is stopped, including: if any abnormal conveying situation is detected during the operation of the conveying mechanism, the execution of the material transfer task is stopped; the abnormal conveying situation includes: the relative feeding position is within an invalid range; the relative feeding position represents the relative position between the material robot and the material table; the material robot stops; a stop message sent by the material table is received; starting from when the material starts to be transported, the accumulated transportation duration exceeds a threshold; and the abnormal situation handling method further includes: sending an emergency stop instruction to the material table, and the emergency stop instruction instructs the material table to stop receiving materials. In this way, the material transfer task can be stopped in a timely manner to handle the above-mentioned abnormal conveying situations that occur randomly and avoid material dropping.

[0015] Optionally, the abnormal situation includes that the total amount of the transported materials is abnormal, and the abnormal situation handling method further includes: after the material transportation is completed, counting the total amount of the transported materials; when it is detected that the total amount of the materials is inconsistent with the quantity of the materials to be transferred, it is determined that the transportation task is not completed normally; the quantity of the materials to be transferred is obtained from the material transfer instruction. In this way, situations such as possible material omission or the materials exceeding the bearing range of the material table can be avoided.

[0016] Optionally, the abnormal situation handling method further includes: counting at least one abnormal cause that causes the abnormal situation, and marking the abnormal cause to obtain a corresponding label; sending an abnormal situation handling instruction to the server; the abnormal situation handling instruction includes the handling means for the abnormal cause and the label corresponding to the abnormal cause; the abnormal situation handling instruction is used to instruct the server to manage the unissued material transfer tasks based on the handling means and the label. In this way, after receiving the label, the server can determine the corresponding abnormal cause. To a certain extent, the memory pressure on the server can be reduced.

[0017] In a second aspect, an embodiment of the present application provides an abnormal situation handling device, which includes a receiving module, a detection module, and an ending module. Among them, the receiving module is used to receive a material transfer instruction; the material transfer instruction is used to instruct the execution of a material transfer task; the detection module is used to detect whether any abnormal situation occurs during the execution of the material transfer task; the abnormal situation includes at least two types; the ending module is used to stop the execution of the material transfer task if an abnormal situation is detected.

[0018] In a third aspect, an embodiment of the present application provides a material transfer system, which includes: a server for sending a material transfer instruction; the material transfer instruction is used to indicate the execution of a material transfer task; a robot for running the steps in the method provided in the first aspect above; a material platform for docking with the robot to receive or send materials.

[0019] In a fourth aspect, an embodiment of the present application provides a robot, a processor, a communication module, and a transfer mechanism. The processor is used to implement the steps in the method provided in the first aspect above. The communication module is used to communicate with other devices. The transfer mechanism is used to transfer materials.

[0020] In a fifth aspect, an embodiment of the present application provides a readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it runs the steps in the method provided in the first aspect above.

[0021] Other features and advantages of the present application will be described in the subsequent specification. Moreover, some of them will become obvious from the specification or can be understood by implementing the embodiments of the present application. The objectives and other advantages of the present application can be realized and obtained by the structures specifically pointed out in the written specification, claims, and drawings. Description of the Drawings

[0022] To more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required to be used in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application and should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can also be obtained based on these drawings without creative efforts.

[0023] Figure 1 It is a flowchart of an exception handling method provided by an embodiment of the present application;

[0024] Figure 2 It is a flowchart of another normal handling method provided by an embodiment of the present application;

[0025] Figure 3 It is a structural block diagram of an exception handling device provided by an embodiment of the present application;

[0026] Figure 4 It is a structural block diagram of a material transfer system provided by an embodiment of the present application. Detailed Embodiments

[0027] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the drawings in the embodiments of the present application.

[0028] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and illustrated herein can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but merely represents the selected embodiments of the present application. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without creative efforts belong to the scope of protection of the present application.

[0029] It should be noted that: similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of the present application, the terms "first", "second", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0030] With the development of intelligent technologies such as the Internet of Things (IoT), artificial intelligence (AI), and big data, the demand for using these intelligent technologies to transform and upgrade the traditional logistics industry has become even stronger, and intelligent logistics (Intelligent Logistics System) has become a research hotspot in the logistics field. Intelligent logistics uses AI, big data, and various IoT devices and technologies such as information sensors, radio frequency identification (RFID) technology, and global positioning system (GPS), and is widely applied to basic activity links such as material transportation, warehousing, distribution, packaging, loading and unloading, and information services, to achieve intelligent analysis and decision-making, automated operation, and high-efficiency optimization management in the process of material management. IoT technology includes sensing devices, RFID technology, laser infrared scanning, infrared induction identification, etc. The IoT can effectively connect the materials in logistics with the network, can monitor the materials in real time, and can also sense environmental data such as the humidity and temperature of the warehouse to ensure the storage environment of the materials. Through big data technology, all data in logistics can be sensed and collected, uploaded to the data layer of the information platform, and operations such as data filtering, mining, and analysis are performed on the data, and finally accurate data support is provided for business processes (such as transportation, warehousing, storage, picking, packaging, sorting, outbound, inventory, distribution, etc.). The application directions of AI in logistics can be roughly divided into two types: 1) replacing some manual labor with intelligent devices empowered by AI technology, such as driverless trucks, automated guided vehicles (AGVs), autonomous mobile robots (AMRs), forklifts, shuttle cars, stacker cranes, driverless delivery vehicles, drones, service robots, robotic arms, intelligent terminals, etc.; 2) improving labor efficiency through software systems driven by technologies or algorithms such as computer vision, machine learning, and operations research optimization, such as transportation equipment management systems, warehouse management, equipment scheduling systems, order allocation systems, etc. With the research and progress of intelligent logistics, this technology has been applied in many fields, such as retail and e-commerce, electronic products, tobacco, medicine, industrial manufacturing, footwear, textiles, food, etc.

[0031] In the related art, there is a problem that materials may fall due to inconsistent actions between the material robot and the material platform. The present application provides an exception handling method, device, material transmission system, and robot. Further, during the execution of the material transmission task, this method detects whether any abnormal situation occurs, and when an abnormal situation is detected, it stops executing the material transmission task. In this way, various abnormal situations can be detected, and the execution of the material transmission task can be stopped in a timely manner to avoid the situation where materials fall due to inconsistent actions between the material robot and the material platform, ensuring the safety of on-site personnel and goods. In some application scenarios, the above-mentioned exception handling method can be applied to devices that provide information detection services and information processing services for material robots; in other application scenarios, the above-mentioned exception handling method can also be applied to material robots, specifically, it can be applied to modules in material robots for abnormal information detection and abnormal information processing. Exemplarily, the present application is described in the context of being applied to a material robot.

[0032] All the defects existing in the above-mentioned solutions in the related art are the results obtained by the inventors through practice and careful research. Therefore, the process of discovering the above problems and the solutions proposed by the embodiments of the present invention below for the above problems should be the contributions made by the inventors to the present invention during the process of the present invention.

[0033] Please refer to Figure 1 , which shows a flowchart of an exception handling method provided by an embodiment of the present application. As Figure 1 shown, the exception handling method includes the following steps 101 to step 103.

[0034] Step 101, receive a material transmission instruction; the material transmission instruction is used to indicate the execution of a material transmission task;

[0035] In some application scenarios, a material robot can receive a material transmission instruction. The above-mentioned material transmission instruction can be obtained from a robot management system, and here the robot management system can be regarded as a server or a cloud platform, etc., that sends relevant instructions to the material robot and can provide relevant services.

[0036] In these application scenarios, the robot management system can, for example, generate the material transmission instruction based on the material transmission command selected by the user to instruct the material robot to perform the material transmission task. The above-mentioned material transmission instruction can, for example, include information such as the type of material, the quantity of the material to be transmitted, and the position information of the material platform docked with the material robot, which can substantially enable the material robot to perform the material transmission task normally.

[0037] Step 102, detect whether any abnormal situation occurs during the execution of the material transfer task; the abnormal situation includes at least two types;

[0038] During the material transfer process, various abnormal situations may occur. For example, these various abnormal situations may include that the actual feeding position where the material robot docks with the material table does not match the feeding position information indicated by the material transfer instruction, the material robot stops, the communication between the material robot and the material table is abnormal, the material robot receives information that the material table is working abnormally, and abnormal transportation situations occur during the operation of the transfer mechanism, etc., which may substantially cause the material to fall.

[0039] After receiving the material transfer instruction, the material robot can execute the material transfer task. In some application scenarios, the material transfer task may include a preparation transfer stage and an official transfer stage, for example. Here, when determining which stage it is in, for example, it can be judged by whether the transfer mechanism is running. That is, when the transfer mechanism is not running, it can be regarded that the material robot is in the preparation transfer stage; when the transfer mechanism starts to transport and during the transportation process, it can be regarded that the material robot is in the official transfer stage.

[0040] During the execution of the material transfer task by the material robot, it can detect whether any abnormal situation occurs. As long as any one of the abnormal situations is detected, it can be regarded that if the current material transfer task continues to be executed, it may cause the material to fall. In some application scenarios, the abnormal situation may occur in the preparation transfer stage or in the official transfer stage.

[0041] Step 103, if an abnormal situation is detected, stop executing the material transfer task.

[0042] After detecting an abnormal situation, the material robot can determine that it cannot normally transfer the material to the material table at present. Therefore, it can stop executing the material transfer task in time to avoid the situation of the material falling.

[0043] Through the above steps 101 to 103, when the material robot detects any abnormal situation during the execution of the material transfer task, it can stop executing the material transfer task in time. In this way, the material robot can detect various abnormal situations more comprehensively, enabling the material robot to cooperate with the material table normally and avoiding the threat of material falling to the safety of on-site personnel and goods.

[0044] Please refer to Figure 2 , which shows the flowchart of another abnormal handling method provided by the embodiment of the present application. As Figure 2 shown, this abnormal handling method includes the following steps 201 to 205:

[0045] Step 201, receive a material transfer instruction; the material transfer instruction is used to indicate the execution of a material transfer task;

[0046] The implementation process and the achieved technical effects of the above step 201 can be the same as or similar to those of step 101 in the Figure 1 illustrated embodiment, and will not be elaborated here.

[0047] Step 202, obtain the feeding position information from the material transfer instruction; the feeding position information is used to indicate the position where the material robot docks with the material platform;

[0048] The material robot can obtain the feeding position information from the material transfer instruction. The above feeding position information can be used to indicate the standard position where the material robot docks with the material platform. That is, when the material robot is at the actual position indicated by the feeding position information, the material can be successfully transferred to the material platform.

[0049] In some application scenarios, the material robot can obtain the feeding position information before starting to move, so as to move to the position indicated by the feeding position information according to the feeding position information.

[0050] Step 203, detect whether the actual feeding position of the material robot matches the feeding position information; the actual feeding position includes an absolute feeding position and / or a relative feeding position; the absolute feeding position represents the feeding position obtained by the material robot through its own positioning, and the relative feeding position represents the relative position between the material robot and the material platform;

[0051] In some application scenarios, before transporting materials, the material robot can locate its current actual feeding position. Here, the actual feeding position can include an absolute feeding position and / or a relative feeding position. In these application scenarios, the absolute feeding position can include, for example, the position information collected by devices such as cameras or lidar installed on the material robot. Since there is a positioning error in the absolute feeding position obtained by using a camera or lidar when it is close to the material platform, it is also necessary to determine the relative position between the material robot and the material platform to eliminate the error existing in the absolute feeding position.

[0052] In these application scenarios, the relative feeding position can be detected by a pre-set calibration object. Specifically, after the relative position between the calibration object and the material platform is determined, this relative position will not change. Therefore, the calibration object can be used to solve the problem of positioning error in the absolute feeding position.

[0053] Furthermore, the material robot can detect the relative position between itself and the calibration object, and then based on the relative position between itself and the calibration object and the relative position between the calibration object and the material platform, the relative feeding position can be determined.

[0054] Step 204, if the actual feeding position does not match the feeding position information, it is determined that an abnormal situation occurs.

[0055] That is to say, if the material robot detects that its actual feeding position is different from the position indicated by the feeding position information, it can be regarded as an abnormal situation.

[0056] Step 205, if an abnormal situation is detected, stop executing the material transfer task.

[0057] If the material robot detects that the actual feeding position when it docks with the material platform does not match the feeding position information, it can stop executing the material transfer task to prevent the risk of material dropping when feeding based on the actual feeding position that does not match the feeding position information.

[0058] In some application scenarios, if the material robot detects that the actual feeding position matches the feeding position information, subsequent operations for completing the material transfer task can be performed, such as communicating with the material platform and instructing the transfer mechanism to transfer materials.

[0059] Through the above steps 201 to 205, when the material robot detects that its actual feeding position does not match the feeding position information, it can stop executing the material transfer task in a timely manner. Subsequently, the material robot can adjust its position and dock with the material platform only when it reaches the actual feeding position that matches the feeding position information to continue completing the material transfer task.

[0060] In some alternative implementation manners, the above step 203 may include the following sub-steps 2031 to 2033:

[0061] Sub-step 2031, detect whether the feeding position information is valid;

[0062] In some application scenarios, there is a situation where the feeding position information itself is incorrect. Therefore, after the material robot obtains the feeding position information, it can first detect whether the feeding position information is valid. If the received feeding position information is invalid, it can be determined that the feeding position information is abnormal, and then the abnormal situation can be processed first.

[0063] In some alternative implementation manners, when detecting whether the feeding position information is valid, it may include detecting whether the feeding position information simultaneously meets the following conditions:

[0064] Condition 1, the feeding position information is non-empty information;

[0065] In some application scenarios, it can be first determined whether the feeding position information is non-empty information. The non-empty information here can be regarded as, for example, the feeding position information obtained contains the position information indicating the successful docking of the material robot with the material platform. Correspondingly, if the obtained feeding position information is empty information, then this information does not contain the position information indicating the successful docking of the material robot with the material platform. Subsequently, if it is determined that the feeding position information is empty information, the feeding position information can be regarded as abnormal.

[0066] Condition 2: The position coordinates corresponding to the feeding position information in the navigation map of the material robot are within the valid range;

[0067] After determining that the feeding position information is non-empty information, it can be continued to determine whether the position coordinates corresponding to the feeding position information are within the valid range. In some application scenarios, the above valid range can be determined by using the navigation map. The above navigation map can be matched with the working environment of the material robot; that is, the navigation map can be generated according to the environmental information of the current working environment of the material robot. In these application scenarios, a one-to-one correspondence between the position coordinates and the feeding position information can be pre-stored in the material robot, so that after the material robot obtains the feeding position information, it can find the corresponding position coordinates. In some other application scenarios, the feeding position information can also be, for example, the position coordinates. In this way, when the material robot receives the feeding position information, it can directly determine whether the position coordinates indicated by the feeding position information are within the valid range. In this way, for example, the edge position coordinates of the navigation map can be used as the threshold of the valid range. That is, if it is detected that the position coordinates corresponding to the feeding position information exceed the edge position coordinates recorded in the current navigation map, it can be regarded that the position coordinates are not within the valid range. Subsequently, it can be determined that the feeding position information is abnormal.

[0068] Condition 3: The position coordinates corresponding to the feeding position information can be found in the navigation map of the material robot;

[0069] After determining that the position coordinates corresponding to the feeding position information are within the valid range, it can be determined whether the position coordinates corresponding to the feeding position information can be found in the navigation map of the material robot according to the corresponding relationship. If the position coordinates corresponding to the feeding position information cannot be found in the navigation map, it can be determined that the feeding position information is abnormal.

[0070] Condition 4: The feeding position information indicates that the object docked with the material robot in the navigation map is the material platform;

[0071] If the position coordinates corresponding to the feeding position information are found in the navigation map, it can be further determined whether the object to be docked with the material robot represented by the feeding position information is a material platform. In some application scenarios, the feeding position information may include an identifier representing the object to be docked. Subsequently, the material robot can identify the corresponding object according to the identifier. Here, the identifier may include, for example, numbers, letters, or symbols, etc. In these application scenarios, for example, the letter A represents that the object to be docked is a material platform, the letter B represents that the object to be docked is a charging pile, and the letter C represents that the object to be docked is a shelf, etc. Subsequently, when the material robot identifies that the feeding position information includes the letter A, it can determine that the object indicated to be docked with itself in the navigation map is a material platform.

[0072] If it is determined that the object indicated by the feeding position information to be docked with the material robot in the navigation map is not a material platform, it can be determined that the feeding position information is abnormal.

[0073] By determining whether the obtained feeding position information simultaneously meets the above conditions 1 to 4, it can be determined whether the feeding position information is abnormal. That is, when it is determined that the feeding position information simultaneously meets the above conditions 1 to 4, the feeding position information can be regarded as normal. When it is determined that the feeding position information does not meet any of the conditions 1 to 4, the feeding position information can be regarded as abnormal.

[0074] Sub-step 2032, if the feeding position information is valid, detect whether the actual feeding position is valid;

[0075] That is to say, if it is determined that the feeding position information is valid, it can be further detected whether the actual feeding position is valid. Here, for example, it can be detected whether the absolute feeding position and the relative feeding position are valid respectively.

[0076] In some alternative implementation manners, detecting whether the absolute feeding position is valid includes:

[0077] First, determine the position coordinates corresponding to the feeding position information in the navigation map of the material robot;

[0078] In some application scenarios, the material robot can determine the position coordinates corresponding to the feeding position information in the navigation map. Here, it can be determined according to the corresponding relationship between the pre-stored feeding position information and the position coordinates.

[0079] Then, detect whether the distance error between the position represented by the position coordinates and the absolute feeding position is within the valid range; and if the distance error is not within the valid range, determine that the absolute feeding position is invalid.

[0080] After determining the position coordinates corresponding to the feeding position information, it is possible to detect whether the distance error between the actual position represented by the position coordinates and the absolute feeding position is within the effective range. In some application scenarios, the effective range here can include, for example, a preset error range of 1 centimeter, 2 centimeters, etc., which can substantially not affect the docking of the material robot with the material platform to enable the smooth transmission of materials.

[0081] If it is detected that the distance error between the position represented by the position coordinates and the absolute feeding position is not within the effective range, it can be determined that the absolute feeding position is invalid. Subsequently, the material robot can determine that the actual feeding position is abnormal.

[0082] In some application scenarios, when detecting whether the absolute feeding position is valid, it is also possible to detect whether the position coordinates corresponding to the feeding position information can be found in the navigation map of the material robot. That is, if the corresponding position coordinates cannot be found, it can be directly determined that the absolute feeding position is abnormal.

[0083] In some alternative implementation manners, determining that the relative feeding position is invalid includes detecting one of the following situations:

[0084] Situation 1, marker information is not detected at the position coordinates corresponding to the feeding position information in the navigation map of the material robot;

[0085] The material robot can determine the position coordinates of the feeding position information in the navigation map, and then can determine whether marker information corresponding to the position coordinates can be found in the navigation map. Markers can include, for example, two-dimensional codes, barcodes, marker plates, reflective strips, etc., which are substantially objects that remain in the same position during the material transmission process. Further, the marker information can include, for example, the position information of the marker. In some application scenarios, the corresponding relationship between the position coordinates and the feeding position information can be pre-stored in the material robot for determining the position coordinates matching the feeding position information in the navigation map. In these application scenarios, the material robot can store the marker information corresponding to each position coordinate in the navigation map. In this way, after determining the position coordinates, it can be detected whether there is corresponding marker information according to the position coordinates. If not, it can be regarded as the relative feeding position being invalid. If so, it can be regarded that when the material robot is at the position coordinates, the marker can be detected, and the position information of the marker can be detected.

[0086] Situation 2, after the marker information is detected in the navigation map, the corresponding relative position information cannot be detected by using the marker information; the relative position information represents the relative distance between the marker and the material robot;

[0087] In some application scenarios, after determining that marker information can be detected in the navigation map, it can be further determined whether the corresponding relative position information can be detected using the marker information. The relative position information here can represent the relative distance between the marker and the material robot. Here, since the relative position between the marker and the material platform does not change during the material transfer process. Therefore, by detecting the relative distance between the marker and the material robot, it can be determined whether the relative feeding position is abnormal.

[0088] In some application scenarios, after the position information of the marker is determined, the standard relative distance between the marker at this position information and the material robot can be determined; then the standard relative distance can be compared with the actual relative distance between the material robot and the marker currently detected. If there is a difference between the standard relative distance and the actual relative distance that satisfies the preset error, it can be considered that the relative position information has been detected using the marker information. Correspondingly, if no difference can be obtained, it can be considered that the relative position information has not been detected. At this time, it can be considered that the relative feeding position is abnormal.

[0089] Case 3, after detecting the relative position information, it is determined that the time difference between the historical timestamp when the relative position information was obtained and the current timestamp is not within the effective time range;

[0090] In some application scenarios, there may be situations where due to reasons such as the material robot clearing obstacles or positioning timeout, the detected relative position information does not represent the actual relative position information where the material robot is currently located. Therefore, in order to determine whether the relative position information is the latest position information, after detecting the relative position information, it can be further determined whether the time difference between the historical moment when the relative position information was obtained and the current moment is within the effective time range. The effective time range here can, for example, include time ranges such as 20 milliseconds and 100 milliseconds that can essentially regard the detected relative position information as the latest relative position information.

[0091] When it is detected that the time difference is not within the effective range, it can be considered that the relative feeding position is abnormal.

[0092] Case 4, the relative distance indicated by the relative position information is not within the effective distance range.

[0093] When it is determined that the time difference is within the effective time range, it can be further determined whether the relative distance indicated by the relative position information is within the effective distance range. The effective distance range here can, for example, include error ranges such as 1 centimeter and 2 centimeters that can essentially not affect the docking of the material robot with the material platform to enable smooth material transfer.

[0094] By determining whether any one of the above-mentioned situations 1 to 4 is detected, it can be determined whether the relative feeding position is abnormal. That is, when none of the above situations is detected, the relative feeding position can be regarded as normal. When any of the above situations is detected, the relative feeding position can be regarded as abnormal.

[0095] Sub-step 2033, if the actual feeding position is invalid, it is determined that the actual feeding position does not match the feeding position information.

[0096] If the material robot detects that the actual feeding position is invalid, it can be determined that the actual feeding position is abnormal. At this time, the actual feeding position does not match the feeding position information. Subsequently, the material transfer task can be stopped to avoid material dropping.

[0097] In this way, if the obtained feeding position information itself is abnormal, subsequent detection or determination operations can be avoided, and the material transfer task can be stopped in time.

[0098] In some application scenarios, it is also possible not to detect whether the feeding position information is valid, but directly execute sub-steps 2023 and 2033 as described above to determine whether the actual feeding position matches the feeding position information.

[0099] In some alternative implementation manners, the abnormal situation further includes any stop situation occurring at any time;

[0100] In some application scenarios, after obtaining the feeding position information, it means that the material transfer task can be started. Therefore, the material robot needs to detect in real time whether a stop situation occurs, and when a stop situation is detected at any time, the material transfer task needs to be stopped in time.

[0101] In these application scenarios, the stop situation may include the following situations:

[0102] Stop situation 1, the emergency stop button of the material robot is triggered;

[0103] In some application scenarios, an emergency stop button can be set on the material robot to urgently stop the current operation when the material robot has an abnormality, the material robot cannot operate normally, or an abnormal situation is artificially found during the interaction with the material table. Therefore, the material robot can detect in real time whether its emergency stop button is triggered. If it is detected that the emergency stop button is triggered, it can be regarded that a stop situation occurs currently. Here, for example, it can be determined whether the emergency stop button is triggered by detecting whether the emergency stop button is pressed.

[0104] Stop situation 2, the collision sensor of the material robot is collided;

[0105] The above-mentioned collision sensor may include, for example, a collision avoidance strip, a collision sensor, and other devices that can essentially detect that the material robot has been collided.

[0106] After the material robot detects that the collision sensor has been collided, it can be regarded as a current stop situation, and the material transfer task needs to be stopped.

[0107] Stop situation 3, the material robot switches from the automatic mode to the manual mode;

[0108] In some application scenarios, when the staff pushes the material robot, the staff generally switches the material robot from the automatic mode to the manual mode. At this time, the material robot cannot perform related operations autonomously. Therefore, the material robot can determine the working state in the manual mode as the stop state. That is, when the material robot detects that it is in the manual mode, it can determine that a stop situation has occurred.

[0109] Stop situation 4, receiving a stop instruction; the stop instruction is used to instruct the material robot to stop the material transfer task.

[0110] In some application scenarios, if a stop instruction for instructing to stop the material transfer task is received, it can be regarded as a stop situation. The stop instruction here can be issued by the robot management system, for example.

[0111] In specific application scenarios, the material robot may encounter the above four stop situations at any time. Therefore, it is necessary to detect in real time to avoid untimely handling, resulting in the dropping of materials.

[0112] In some alternative implementation manners, the abnormal situation further includes an abnormal communication connection between the material robot and the material platform; thus, Figure 1 step 102 in the illustrated embodiment or Figure 2 the illustrated embodiment may further include: before the material robot interacts with the material platform, detecting whether the device used by the material robot for communicating with the material platform is normally connected; if the device connection is abnormal, determining that the communication connection between the material robot and the material platform is abnormal.

[0113] In some application scenarios, before the material robot detects that it has no abnormality and is about to transport materials to the material platform, it needs to interact with the material platform. Here, the content of the information interaction may include, for example, whether the material platform can continue to feed materials, whether the material platform is working properly, etc.

[0114] Subsequently, before interacting with the material platform, it can be detected whether the device for communication is normally connected. The above-mentioned device may include an infrared communication sensor, for example.

[0115] If it is detected that the device for communication is normally connected, it can be regarded as being able to communicate with the material platform normally. If it is detected that the device connection is abnormal, it can be regarded as an abnormal communication connection. At this time, it can be regarded as being unable to communicate with the material platform normally, and then the material transfer task can be stopped from being executed.

[0116] In some alternative implementation manners, the abnormal situation further includes receiving the material platform working abnormal information sent by the material platform; in this way, Figure 1 step 103 in the illustrated embodiment or Figure 2 the illustrated embodiment may further include: when receiving the material platform working abnormal information sent by the material platform, stopping the execution of the material transfer task.

[0117] In some application scenarios, if the material robot determines that it can communicate with the material platform normally, it can receive the information transmitted by the material platform. When the material platform detects that it has an abnormality, it can send the working abnormal information to the material robot. Then, when the material robot receives the material platform working abnormal information, it can determine that the material platform cannot feed materials normally at present. Therefore, the material transfer task can be stopped from being executed to avoid material dropping, and no additional pressure will be applied to the material platform, enabling the material platform to handle the abnormal situation first. In these application scenarios, the material transfer task can be stopped from being executed by stopping the operation of its own roller. And the working abnormal information sent by the material platform can be replied, so that the material platform can determine that no feeding will occur currently.

[0118] In some alternative implementation manners, during the execution of the material transfer task, a conveying mechanism is used to transport materials; in this way, Figure 1 step 103 in the illustrated embodiment or Figure 2 the illustrated embodiment may further include: when any abnormal conveying situation is detected during the operation of the conveying mechanism, stopping the execution of the material transfer task;

[0119] During the execution of the material transfer task, for example, a conveying mechanism such as a roller, a conveyor belt, or a conveying chain can be used to transport the materials from the material robot to the material platform. When it is detected that the conveying structure is transporting, it can be regarded as being in the formal transfer stage currently.

[0120] During the operation of the conveying mechanism, the abnormal conveying situation can be detected in real time, and when any abnormal conveying situation is detected, the execution of the material transfer task can also be stopped. The abnormal conveying situation may include the following situations:

[0121] Abnormal conveying situation 1, the relative feeding position is within an invalid range; the relative feeding position represents the relative position between the material robot and the material platform;

[0122] In some application scenarios, there may be a situation where the material robot moves slightly due to material jamming or material deformation. At this time, when using a camera or lidar installed on the material robot for positioning, there will be a positioning error. Therefore, in order to ensure the normal actual feeding position, it is necessary to detect in real time whether the relative feeding position is within the invalid range. The above invalid range may include, for example, a range outside the error range such as excluding 1 cm, 2 cm, etc., which can substantially not affect the docking of the material robot with the material table to enable the smooth transmission of materials.

[0123] Abnormal transportation situation 2, the material robot stops;

[0124] During the operation of the conveying mechanism, it is also necessary to detect in real time whether the material robot stops. The stop situation here can be the same as or similar to any one of the stop situations 1 to 4 in the above steps, which will not be elaborated here.

[0125] Abnormal transportation situation 3, receiving the emergency stop information sent by the material table;

[0126] In some application scenarios, the material table may be abnormal during the material transportation process. Therefore, the material robot needs to detect in real time whether it has received the emergency stop information sent by the material table. When the material robot receives the emergency stop information sent by the material table, it can be regarded as an abnormal transportation situation.

[0127] Abnormal transportation situation 4, starting from the start of material transportation, the accumulated transportation duration exceeds the threshold;

[0128] In some application scenarios, there may be a problem of transportation timeout. Therefore, the material robot can detect in real time whether the transportation duration for transporting materials exceeds the time threshold. The threshold here may include, for example, 2 seconds, 3 seconds, etc., which can substantially be regarded as the duration capable of transporting materials from the material robot to the material table. If it is detected that the transportation duration exceeds the threshold, it can be regarded as an abnormal transportation situation of the material robot.

[0129] After detecting the above abnormal situation, an emergency stop instruction can be sent to the material table, and the emergency stop instruction instructs the material table to stop receiving materials.

[0130] If the material robot detects any of the above abnormal transportation situations, it can immediately send an emergency stop message to the material table so that the material table can respond to the abnormal situation and stop receiving materials in a timely manner. In some application scenarios, in order to ensure that the material table receives the emergency stop information, for example, a time period of 1 second or 2 seconds can be set, and within this time period, the emergency stop information can be sent to the material table every 100 milliseconds, for example.

[0131] By real-time detecting the above four abnormal transportation situations during the material transportation process, the material transmission task can be stopped in time to cope with these randomly occurring abnormal transportation situations and avoid material dropping.

[0132] In some alternative implementation manners, the material transmission instruction includes the quantity of materials to be transmitted, and Figure 1 the illustrated embodiment or Figure 2 the abnormal handling method in the illustrated embodiment may further include the following steps of detecting whether the quantity of materials is abnormal:

[0133] First, after the material transportation is completed, the total quantity of transported materials is counted;

[0134] In some application scenarios, for example, the total quantity of transported materials can be counted by using an infrared sensor installed on the roller of the material robot. Specifically, the infrared sensor can determine the total quantity of materials by whether the infrared rays are blocked. In these application scenarios, the material robot may use multiple tracks for transportation. An infrared sensor can be installed on each track. In this way, after obtaining the quantity of materials detected by each infrared sensor, the total quantity of transported materials can be determined by combining the number of tracks.

[0135] When performing material transmission, there are scenarios where the material robot transports materials to the material platform and scenarios where the material robot receives materials from the material platform. Therefore, in specific application scenarios, the total quantity of materials can be counted by determining whether the infrared sensor is blocked or unblocked. Details are not described one by one here.

[0136] Then, when it is detected that the total quantity of materials is inconsistent with the quantity of materials to be transmitted, it is determined that the transportation task has not been completed normally; the quantity of materials to be transmitted is obtained from the material transmission instruction.

[0137] After the total quantity of materials is determined, it can be detected whether the total quantity of materials is consistent with the quantity of materials to be transmitted.

[0138] If it is detected that the total quantity of materials is inconsistent with the quantity of materials, it can be determined that the transportation task has not been completed normally. That is, although the material robot has performed material transportation, the total quantity of transported materials is inconsistent with the quantity of materials indicated by the material transmission instruction that should be completed. In this way, there may be situations where materials are left behind or the materials exceed the load-bearing range of the material platform. Therefore, this abnormal situation needs to be recorded to facilitate the verification of the quantity of materials.

[0139] In some alternative implementation manners, Figure 1 or Figure 2 the abnormal handling method in the illustrated embodiment further includes the following steps:

[0140] First, count at least one abnormal cause that leads to the occurrence of the abnormal situation, and mark the abnormal cause to obtain a corresponding label.

[0141] After detecting an abnormality, the material robot can count the abnormal causes that lead to the occurrence of the abnormal situation. For example, when detecting an abnormal actual feeding position, if it is determined that it is caused by an abnormal relative feeding position, it can be further determined which specific situation that causes the relative feeding position to be invalid leads to it, and the abnormal cause is determined.

[0142] After determining the abnormal cause, each abnormal cause can be marked so that each abnormal cause corresponds to a label. For example, the abnormal relative feeding position is because the material robot does not detect marker information in its navigation map. Then this abnormal cause can be marked to obtain the label for the abnormal relative feeding position. Here, the label can include identifiers such as numbers, letters, or symbols that can substantially be used to distinguish abnormal causes.

[0143] Then, send an exception handling instruction to the server; the exception handling instruction includes the handling means for the abnormal cause and the label corresponding to the abnormal cause; the exception handling instruction is used to instruct the server to manage the unissued material transfer tasks based on the handling means and the label.

[0144] After the material robot marks the abnormal cause, it can record the handling means to solve the abnormal situation caused by this abnormal cause. And an exception handling instruction can be generated based on the above handling means and label.

[0145] After generating the exception handling instruction, it can be sent to the server, and the server can be instructed to manage the material transfer tasks based on the handling means and the label, so that in the subsequent material transfer instructions, it can be indicated that when the material robot encounters an abnormal situation caused by the same abnormal cause, it can be processed based on the corresponding handling means. Here, the server can pre-store the correspondence between the abnormal cause and the label. In this way, after receiving the label, the corresponding abnormal cause can be determined. To a certain extent, it can reduce the memory pressure on the server.

[0146] Please refer to Figure 3 , which shows the structural block diagram of an exception handling device provided by an embodiment of the present application. This exception handling device can be a module, a program segment, or code on an electronic device. It should be understood that this device corresponds to the above Figure 1 method embodiment and can execute Figure 1 each step involved in the method embodiment. The specific functions of this device can be seen in the above description. To avoid repetition, the detailed description is appropriately omitted here.

[0147] Optionally, the above-mentioned exception handling device includes a receiving module 301, a detection module 302, and an end module 303. Among them, the receiving module 301 is used to receive a material transfer instruction; the material transfer instruction is used to indicate the execution of a material transfer task; the detection module 302 is used to detect whether any abnormal situation occurs during the execution of the material transfer task; the abnormal situation includes at least two types; the end module 303 is used to stop executing the material transfer task if an abnormal situation is detected.

[0148] Optionally, the abnormal situation includes that the actual feeding position where the material robot docks with the material table does not match the feeding position information; the feeding position information is used to indicate the position where the material robot docks with the material table; and the detection module 302 is further used to: obtain the feeding position information from the material transfer instruction; detect whether the actual feeding position of the material robot matches the feeding position information; the actual feeding position includes an absolute feeding position and / or a relative feeding position; the absolute feeding position represents the feeding position obtained by the material robot through its own positioning, and the relative feeding position represents the relative position between the material robot and the material table; if the actual feeding position does not match the feeding position information, it is determined that an abnormal situation occurs.

[0149] Optionally, the detection module 302 is further used to: detect whether the feeding position information is valid; if the feeding position information is valid, detect whether the actual feeding position is valid; if the actual feeding position is invalid, it is determined that the actual feeding position does not match the feeding position information.

[0150] Optionally, the detection module 302 is further used to detect whether the feeding position information simultaneously meets the following conditions: the feeding position information is non-empty information; the position coordinates corresponding to the feeding position information in the navigation map of the material robot are within the valid range; the position coordinates corresponding to the feeding position information can be found in the navigation map of the material robot; the feeding position information indicates that the object docked with the material robot in the navigation map is the material table.

[0151] Optionally, the detection module 302 is further used to: determine the position coordinates corresponding to the feeding position information in the navigation map of the material robot; detect whether the distance error between the position represented by the position coordinates and the absolute feeding position is within the valid range; and if the distance error is not within the valid range, it is determined that the absolute feeding position is invalid.

[0152] Optionally, when the detection module 302 further detects one of the following situations, it determines that the relative feeding position is invalid. The situations here include: no marker information is detected at the position coordinates corresponding to the feeding position information in the navigation map of the material robot; the corresponding relationship between the position coordinates and the feeding position information and the marker information are pre-stored in the material robot; after the marker information is detected in the navigation map, the corresponding relative position information cannot be detected using the marker information; the relative position information represents the relative distance between the marker and the material robot; after the relative position information is detected, it is determined that the time difference between the historical timestamp for obtaining the relative position information and the current timestamp is not within the valid time range; and the relative distance indicated by the relative position information is not within the valid distance range.

[0153] Optionally, the abnormal situation further includes any stop situation occurring at any time; the stop situation includes: the emergency stop button of the material robot is triggered; the collision sensor of the material robot is collided; the material robot switches from the automatic mode to the manual mode; a stop instruction is received; the stop instruction is used to instruct the material robot to stop the material transfer task.

[0154] Optionally, the abnormal situation further includes an abnormal communication connection between the material robot and the material platform, and the detection module 302 is further configured to: before the material robot and the material platform perform information interaction, detect whether the device used by the material robot to communicate with the material platform is normally connected; if the device connection is abnormal, determine that the communication connection between the material robot and the material platform is abnormal.

[0155] Optionally, the abnormal situation further includes receiving the material platform working abnormal information sent by the material platform; the end module 303 is further configured to: if the material platform working abnormal information sent by the material platform is received, stop executing the material transfer task.

[0156] Optionally, the material is transported by a conveying mechanism during the execution of the material transfer task; the end module 303 is further configured to: if any abnormal transportation situation is detected during the operation of the conveying mechanism, stop executing the material transfer task; the abnormal transportation situation includes: the relative feeding position is within the invalid range; the relative feeding position represents the relative position between the material robot and the material platform; the material robot has a stop situation; an emergency stop information sent by the material platform is received; starting from the time when the material starts to be transported, the accumulated transportation duration exceeds the threshold; and the abnormal handling device further includes a sending module, and the sending module is configured to: send an emergency stop instruction to the material platform, and the emergency stop instruction instructs the material platform to stop receiving materials.

[0157] Optionally, the abnormal situation includes an abnormality in the total amount of materials transported, and the abnormal handling device further includes a quantity verification module, which is configured to: after the material transportation is completed, count the total amount of materials transported; when it is detected that the total amount of materials is inconsistent with the quantity of materials to be transmitted, determine that the transportation task has not been completed normally; the quantity of materials to be transmitted is obtained from the material transmission instruction.

[0158] Optionally, the abnormal handling device further includes a statistics module, which is configured to: count at least one abnormal cause that causes the abnormal situation, and mark the abnormal cause to obtain a corresponding label; send an abnormal handling instruction to the server; the abnormal handling instruction includes the handling means for the abnormal cause and the label corresponding to the abnormal cause; the abnormal handling instruction is used to instruct the server to manage the unissued material transmission tasks based on the handling means and the label.

[0159] It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the device described above can refer to the corresponding process in the foregoing method embodiment, and will not be described again here.

[0160] Please refer to Figure 4 , Figure 4 , which is a structural block diagram of a material transmission system provided by an embodiment of the present application. The above material transmission system includes a server 401, a robot 402, and a material platform 403. Among them, the server 401 is configured to send a material transmission instruction, and the material transmission instruction is used to instruct to execute a material transmission task; the robot 402 is configured to run the abnormal handling method provided by the embodiment of the present application or any one of its possible implementation manners; the material platform 403 is configured to dock with the robot to receive or send materials.

[0161] It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system described above can refer to the corresponding process in the foregoing method embodiment, and will not be described again here.

[0162] An embodiment of the present application further provides a robot for executing an abnormal handling method. The robot may include: a processor, a communication module, and a conveying mechanism. The processor is configured to implement the abnormal handling method provided by the embodiment of the present application or any one of its possible implementation manners. The communication module (for example, may include an infrared communication sensor) is configured to communicate with other devices, and the conveying mechanism is configured to convey materials.

[0163] It should be noted that those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working process of the robot described above can refer to the corresponding process in the foregoing method embodiments and will not be repeated herein.

[0164] The embodiments of the present application provide a readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it can execute the exception handling method provided in the embodiments of the present application or any possible implementation manner thereof.

[0165] This embodiment discloses a computer program product. The computer program product includes a computer program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the methods provided in the foregoing method embodiments. For example, the method may include: receiving a material transfer instruction for instructing to perform a material transfer task; detecting whether any abnormal situation occurs during the execution of the material transfer task; the abnormal situation includes at least two types; if it is detected that an abnormal situation occurs, stop executing the material transfer task.

[0166] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are only illustrative. For example, the division of the units is only a logical function division, and there may be other division methods in actual implementation. For another example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed mutual coupling or direct coupling or communication connection may be through some communication interfaces. The indirect coupling or communication connection of the devices or units may be in an electrical, mechanical or other form.

[0167] In addition, the units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0168] Furthermore, in each embodiment of the present application, the functional modules may be integrated together to form an independent part, or each module may exist alone, or two or more modules may be integrated to form an independent part.

[0169] In this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations.

[0170] The above are only the embodiments of the present application and are not intended to limit the protection scope of the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application.

Claims

1. An exception handling method, characterized in that, Including: Receiving a material transfer instruction; the material transfer instruction is used to indicate the execution of a material transfer task; During the execution of the material transfer task, detecting various abnormal situations to check if any abnormal situation occurs; If any abnormal situation is detected, stopping the execution of the material transfer task; Wherein, the abnormal situation includes: when the material robot docks with the material platform, the actual feeding position where it is located does not match the feeding position information indicated by the material transfer instruction; The actual feeding position includes an absolute feeding position and / or a relative feeding position. The absolute feeding position represents the feeding position obtained by the material robot through its own positioning, and the relative feeding position represents the relative position between the material robot and the material platform; The feeding position information is used to indicate the position where the material robot docks with the material platform, and the conveying mechanism is used to transport materials during the execution of the material transfer task; Detecting whether the actual feeding position of the material robot matches the feeding position information includes: Detecting whether the feeding position information is valid; If the feeding position information is valid, detecting whether the actual feeding position is valid; If the actual feeding position is invalid, determining that the actual feeding position does not match the feeding position information.

2. The method according to claim 1, characterized in that Detecting whether the feeding position information is valid includes detecting whether the feeding position information simultaneously meets the following conditions: The feeding position information is non-empty information; The position coordinates corresponding to the feeding position information in the navigation map of the material robot are within the valid range; The position coordinates corresponding to the feeding position information can be found in the navigation map of the material robot; The feeding position information indicates that the object docking with the material robot in the navigation map is the material platform.

3. The method according to claim 1, wherein Detecting whether the absolute feeding position is valid includes: Determining the position coordinates corresponding to the feeding position information in the navigation map of the material robot; Detecting whether the distance error between the position represented by the position coordinates and the absolute feeding position is within the valid range; and If the distance error is not within the valid range, determining that the absolute feeding position is invalid.

4. The method according to claim 1, wherein Determining that the relative feeding position is invalid includes detecting one of the following situations: No marker information is detected at the position coordinates corresponding to the feeding position information in the navigation map of the material robot; After the marker information is detected in the navigation map, the corresponding relative position information cannot be detected using the marker information; The relative position information represents the relative distance between the marker and the material robot; After the relative position information is detected, determining that the time difference between the historical timestamp when the relative position information is obtained and the current timestamp is not within the valid time range; And The relative distance indicated by the relative position information is not within the valid distance range.

5. The method according to any one of claims 1 to 4, characterized in that, During the execution of the material transfer task, using the conveying mechanism to transport materials; The "if any abnormal situation is detected, stopping the execution of the material transfer task" includes: If any abnormal transportation situation is detected during the operation of the conveying mechanism, stop executing the material transfer task; the abnormal transportation situations include: The relative feeding position is within an invalid range; the relative feeding position represents the relative position between the material robot and the material table. The material robot stops. Receiving an emergency stop message sent by the material table. Starting from the time when the material starts to be transported, the accumulated transportation duration exceeds the threshold; and The method further includes: Sending an emergency stop instruction to the material table, and the emergency stop instruction instructs the material table to stop receiving materials.

6. The method according to claim 5, characterized in that, The abnormal situation includes that the total amount of the transported materials is abnormal, and the method further includes: After the material transportation is completed, counting the total amount of the transported materials. When it is detected that the total amount of the materials is inconsistent with the quantity of the materials to be transferred, it is determined that the transportation task is not normally completed; the quantity of the materials to be transferred is obtained from the material transfer instruction.

7. The method according to any one of claims 1-4, characterized in that, The method further includes: Counting at least one abnormal reason that causes the abnormal situation, and marking the abnormal reason to obtain a corresponding label. Sending an abnormal situation handling instruction to the server; the abnormal situation handling instruction includes the handling means for the abnormal reason and the label corresponding to the abnormal reason; the abnormal situation handling instruction is used to instruct the server to manage the unissued material transfer tasks based on the handling means and the label.

8. An exception handling device, characterized in that, For executing the method according to any one of claims 1-7, the abnormal situation handling device includes: A receiving module, configured to receive a material transfer instruction; the material transfer instruction is used to instruct the execution of a material transfer task. A detection module, configured to detect various abnormal situations during the execution of the material transfer task to detect whether any abnormal situation occurs. An end module, configured to stop executing the material transfer task if any abnormal situation is detected. Wherein, the abnormal situation includes that the actual feeding position where the material robot docks with the material table does not match the feeding position information indicated by the material transfer instruction. The actual feeding position includes an absolute feeding position and / or a relative feeding position, the absolute feeding position represents the feeding position obtained by the material robot through self-positioning, and the relative feeding position represents the relative position between the material robot and the material table. The feeding position information is used to indicate the position where the material robot docks with the material table, and the conveying mechanism is used to convey materials during the execution of the material transfer task. The detection module is further configured to: Detect whether the feeding position information is valid. If the feeding position information is valid, detect whether the actual feeding position is valid. If the actual feeding position is invalid, determine that the actual feeding position does not match the feeding position information.

9. A material transfer system, characterized in that, Includes: A server, configured to send a material transfer instruction; the material transfer instruction is used to instruct the execution of a material transfer task. A robot, configured to run the method according to any one of claims 1-7; and, A material table, configured to dock with the robot to receive materials or send materials.

10. A robot, characterized in that, It includes a processor, a communication module and a conveying mechanism. The processor is used to implement the method described in any one of claims 1-7. The communication module is used to communicate with other devices. The conveying mechanism is used to convey materials.

11. A readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it runs the method described in any one of claims 1-7.

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