Driver control method, device, storage medium, driver and logistics vehicle

Abstract

The present invention proposes a control method, device, storage medium, driver and logistics trolley for a first driver, the first driver is communicatively connected with a plurality of second drivers, and the control method of the driver includes: when the first driver is in a fault state, controlling the component driven by the first driver to shut down; determining at least one conjugate driver according to the degree of association between the first driver and the plurality of second drivers; sending an autonomous parking message to at least one conjugate driver, so that at least one conjugate driver adjusts the operating state of the component driven by it according to the autonomous parking message. In the above technical solution of the present invention, after the first driver determines that it is in a fault state, it does not need to report the fault information to the controller, but directly sends an autonomous parking message to at least one conjugate driver, omitting the step of transmitting instructions through the controller, thereby improving the transmission efficiency of instructions.

Description

Technical Field

[0001] The present invention relates to the field of automatic control technology, and in particular to a control method and device for a driver, a storage medium, a driver and a logistics vehicle. Background Art

[0002] The logistics trolley includes multiple drives. During the operation of the logistics trolley, if one drive fails or loses connection, if the components driven by other drives are not shut down safely in time, it is very easy to cause a safety accident. Therefore, how to provide a solution that can quickly control the safe shutdown of components driven by other drives when one drive fails or loses connection has become a problem that needs to be solved urgently. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art or related art.

[0004] To this end, a first aspect of the present invention is to provide a control method for a driver.

[0005] A second aspect of the present invention is to provide a control device for a drive.

[0006] A third aspect of the present invention is to provide a readable storage medium.

[0007] A fourth aspect of the present invention is to provide a driver.

[0008] A fifth aspect of the present invention is to provide a logistics vehicle.

[0009] In view of this, according to a first aspect of the present invention, a control method for a driver is proposed, which is used for a first driver, and the first driver is communicatively connected with multiple second drivers. The control method for the driver includes: when the first driver is in a fault state, controlling the component driven by the first driver to shut down; determining at least one conjugate driver according to the degree of association between the first driver and the multiple second drivers; and sending an autonomous parking message to at least one conjugate driver, so that the at least one conjugate driver adjusts the operating state of the component it drives according to the autonomous parking message.

[0010] It should be noted that the execution subject of the control method of the driver proposed in the present invention can be the control device of the driver. In order to more clearly illustrate the control method of the driver proposed in the present invention, the following technical scheme is exemplified by taking the execution subject of the control method of the driver as the control device of the driver.

[0011] It should also be noted that the premise for implementing the control method of the driver proposed in this technical solution is that the first driver has turned on the autonomous parking function. Specifically, the control device can turn on or off the autonomous parking function of the first driver by setting the enabling parameters of the first driver.

[0012] In this technical solution, the control method of the driver is used for the first driver, and the first driver is connected to the plurality of second drivers for communication. Specifically, the first driver and the plurality of second drivers are both arranged on a logistics vehicle.

[0013] Specifically, when the first driver is in a faulty state, the control device controls the components driven by the first driver to shut down. Specifically, if the first driver is in a faulty state, it indicates that the working parts of the first driver have faults such as overvoltage, overcurrent, etc., or there is a communication fault between the first driver and the controller of the logistics vehicle. At this time, in order to avoid safety accidents, the control device immediately controls the components driven by the first driver to shut down.

[0014] Furthermore, the control device determines at least one conjugate driver according to the degree of association between the first driver and the plurality of second drivers. Specifically, the conjugate driver refers to a driver that has a high degree of association with the first driver.

[0015] Furthermore, an autonomous parking message is sent to at least one conjugate driver, so that at least one conjugate driver adjusts the operating state of the component driven by it according to the autonomous parking message. Specifically, when the first driver is in a faulty state, if the operating state of the component driven by the conjugate driver is not adjusted, a safety accident may occur. For example, when the left wheel servo driver of the logistics trolley is in a faulty state, if the right wheel travel motor of the logistics trolley is not controlled to stop, the logistics trolley may spin in place and spin around, which is very likely to cause a safety accident.

[0016] In this technical solution, when the first driver is in a fault state, the control device first controls the component driven by itself to shut down, and then directly sends an autonomous parking message to the second driver (i.e., at least one conjugate driver) with a higher degree of association with it, and adjusts the working state of the component driven by the conjugate driver to avoid safety accidents. In the technical solution of the present invention, after the first driver determines that it is in a fault state, it does not report the fault information to the controller of the logistics trolley, but directly sends an autonomous parking message to at least one conjugate driver determined according to the degree of association, omitting the step of transmitting instructions through the controller of the logistics trolley, improving the transmission efficiency of the instructions, and further improving the response rate of the conjugate driver. At the same time, it avoids the problem that the corresponding component cannot be driven to shut down in time when there is a communication failure between the controller and the first driver or the conjugate driver, thereby ensuring the reliability of the operation of the logistics trolley.

[0017] In addition, the control method of the above-mentioned driver according to the present invention may also have the following additional technical features:

[0018] In the above technical solution, the step of sending the autonomous parking message to at least one conjugate actuator specifically includes: sending the autonomous parking message to at least one conjugate actuator via a digital port; and / or sending the autonomous parking message to at least one conjugate actuator via a communication bus.

[0019] In this technical solution, there are three ways for the control device to send an autonomous parking message to at least one conjugate drive. One is to send the autonomous parking message to at least one conjugate drive through the digital port and the communication bus (CAN bus) at the same time; one is to send the autonomous parking message to at least one conjugate drive only through the digital port; one is to send the autonomous parking message to at least one conjugate drive only through the communication bus; the specific method is set according to the actual situation.

[0020] In this technical solution, the control device can send an autonomous parking message to at least one conjugate drive through a digital port and a communication bus (CAN bus) at the same time, so that when a problem occurs in one of the modes, at least one conjugate drive can still receive the autonomous parking message. In this way, the reliability of data transmission between the first drive and at least one conjugate data is guaranteed, thereby ensuring the stability of the operation of the logistics trolley.

[0021] In the above technical solution, the step of sending an autonomous parking message to at least one conjugate actuator through a communication bus specifically includes: obtaining a receiving parameter of at least one conjugate actuator; when the receiving parameter is greater than a preset threshold, sending the autonomous parking message to at least one conjugate actuator in an on-demand manner; or when the receiving parameter is equal to the preset threshold, sending the autonomous parking message to at least one conjugate actuator in a broadcast manner; or when the receiving parameter is less than the preset threshold, sending the autonomous parking message to at least one conjugate actuator in a multicast manner.

[0022] In this technical solution, the control device first obtains the receiving parameters of at least one conjugate drive. Specifically, according to the receiving parameters of the conjugate drive, it can be determined in which way to send the autonomous parking message to the at least one conjugate drive through the communication bus.

[0023] Specifically, when the received parameter is greater than a preset threshold, the control device sends an autonomous parking message to at least one conjugate actuator in an on-demand manner. Specifically, the on-demand manner means that the control device sends an autonomous parking message to the conjugate actuator in a one-to-one manner, ensuring the reliability of data transmission. This method is more suitable for the case where there is only one conjugate actuator.

[0024] Furthermore, when the received parameter is equal to the preset threshold, the control device sends the autonomous parking message to at least one conjugate actuator in a broadcasting manner. Specifically, the broadcasting manner means that the control device sends the autonomous parking message to all conjugate actuators at the same time, thereby improving the efficiency of data transmission. This manner is more suitable for the case where multiple second actuators are all conjugate actuators.

[0025] Furthermore, when the received parameter is equal to the preset threshold, the control device sends an autonomous parking message to at least one conjugate drive in a multicast manner. Specifically, the multicast manner means that the control device sends an autonomous parking message to a group of conjugate drives at the same time. A group of drives is generally used to indicate drives with an interlocking relationship, such as the left wheel servo drive and the right wheel servo drive of the logistics trolley. This method can improve the efficiency of data transmission while ensuring the reliability of data transmission.

[0026] In the above technical solution, the first driver is arranged on the logistics vehicle and is communicatively connected with the controller of the logistics vehicle. When the first driver is in a faulty state, before controlling the component driven by the first driver to shut down, the control method also includes: confirming whether there is a working component failure in the first driver and confirming whether there is a communication failure between the first driver and the controller; when it is determined that there is a working component failure and / or a communication failure, confirming that the first driver is in a faulty state.

[0027] In this technical solution, when the first driver is in a faulty state, before controlling the components driven by the first driver to shut down, it is also necessary to confirm through the control device whether there is a working component failure in the first driver and whether there is a communication failure between the first driver and the controller.

[0028] Specifically, the above-mentioned working component failure is used to indicate that an overvoltage or overcurrent failure occurs inside the driver. It is understandable that these failures do not affect the first driver from sending data to the controller or the plurality of second drivers.

[0029] Further, when the first driver turns on the autonomous parking function and the first driver cannot receive information sent by the controller within a specified time, it is confirmed that there is a communication failure between the first driver and the controller.

[0030] Furthermore, when any of the above-mentioned faults occurs in the first driver, the control device can determine that the first driver is in a fault state.

[0031] In this technical solution, the judgment criteria for the first driver being in a fault state include not only the fault of the first driver itself, but also the situation that there is a communication fault between the first driver and the controller. In this way, it is avoided that when there is a communication fault between the controller and the first driver, the first driver cannot control the shutdown of the component driven by it according to the instructions of the controller, which is prone to safety accidents, and the reliability of the operation of the logistics trolley is better guaranteed.

[0032] In the above technical solution, the control method further includes: when the first driver is in a non-fault state, receiving an autonomous parking message sent by a second driver in a fault state among multiple second drivers; and adjusting the operating state of the component driven by the first driver according to the autonomous parking message.

[0033] In this technical solution, when the first driver is in a non-fault state, the control device detects whether an autonomous parking message is transmitted on the data port and / or the communication bus, and receives the autonomous parking message when the autonomous parking message is transmitted. Specifically, if the control device detects that an autonomous parking message is transmitted on the data port and / or the communication bus, it indicates that there is a second driver in a fault state among the plurality of second drivers, and the first driver is a conjugate driver of the faulty driver.

[0034] Further, the control device adjusts the operating state of the component driven by the first driver according to the received autonomous parking message.

[0035] In this technical solution, when the first driver is not in a faulty state, the control device can also receive an autonomous parking message through the detection data port and / or the communication bus, and adjust the operating state of the components driven by the first driver according to the autonomous parking message. In this way, when there is a second driver in a faulty state among the multiple second drivers, the first driver can adjust the working state of the components driven by the controller in time to avoid causing safety accidents, thereby ensuring the reliability of the operation of the logistics trolley.

[0036] In the above technical solution, the step of adjusting the operating state of the component driven by the first driver according to the autonomous parking message specifically includes: when the autonomous parking message is a first preset message, controlling the component driven by the first driver to run at zero speed; or when the autonomous parking message is a second preset message, disconnecting the power supply of the component driven by the first driver.

[0037] In this technical solution, the control device determines to which operating state the component driven by the first drive is adjusted according to the content of the autonomous parking message.

[0038] Specifically, if the autonomous parking message is the first preset message, it indicates that the fault of the faulty driver is relatively easy to handle, and at this time, the control device controls the components driven by the first driver to run at zero speed. In this way, safety can be ensured, and the working state of the components driven by the first driver can be restored in time after the fault is eliminated.

[0039] Furthermore, if the autonomous parking message is the second preset message, it indicates that the fault of the faulty driver is not easy to handle, and at this time, the control device disconnects the power supply of the component driven by the first driver. In this way, the reliability of the operation of the logistics vehicle is better guaranteed.

[0040] In this technical solution, the control device determines whether the fault of the second drive in a faulty state is easy to handle based on the content of the autonomous parking message, and adopts different autonomous parking methods according to the difficulty of handling, which not only ensures the safe operation of the logistics vehicle, but also can promptly restore the working state of the components driven by the first drive after the fault is eliminated.

[0041] According to a second aspect of the present invention, a drive control device is proposed, which is used for a first drive, and the first drive is communicatively connected to multiple second drives. The drive control device includes: a processing unit, which is used to control the shutdown of the component driven by the first drive when the first drive is in a fault state; the processing unit is also used to determine at least one conjugate drive according to the degree of association between the first drive and the multiple drives; a sending unit, which is used to send an autonomous parking message to at least one conjugate drive, so that the at least one conjugate drive adjusts the operating state of the component it drives according to the autonomous parking message.

[0042] In this technical solution, the control method of the driver is used for the first driver, and the first driver is connected to the plurality of second drivers for communication. Specifically, the first driver and the plurality of second drivers are both arranged on a logistics vehicle.

[0043] Specifically, when the first driver is in a faulty state, the processing unit controls the components driven by the first driver to shut down. Specifically, if the first driver is in a faulty state, it indicates that the working parts of the first driver have faults such as overvoltage, overcurrent, etc., or there is a communication failure between the first driver and the controller of the logistics vehicle. At this time, in order to avoid safety accidents, the control device immediately controls the components driven by the first driver to shut down.

[0044] Furthermore, the control device determines at least one conjugate driver according to the degree of association between the first driver and the plurality of second drivers. Specifically, the conjugate driver refers to a driver that has a high degree of association with the first driver.

[0045] Furthermore, an autonomous parking message is sent to at least one conjugate driver, so that at least one conjugate driver adjusts the operating state of the component driven by it according to the autonomous parking message. Specifically, when the first driver is in a faulty state, if the operating state of the component driven by the conjugate driver is not adjusted, a safety accident may occur. For example, when the left wheel servo driver of the logistics trolley is in a faulty state, if the right wheel travel motor of the logistics trolley is not controlled to stop, the logistics trolley may spin in place and spin around, which is very likely to cause a safety accident.

[0046] In this technical solution, when the first driver is in a faulty state, the processing unit first controls the component driven by itself to shut down, and then directly sends an autonomous parking message to the second driver (i.e., at least one conjugate driver) with a higher degree of association with it, and adjusts the working state of the component driven by the conjugate driver to avoid safety accidents. In the technical solution of the present invention, after the first driver determines that it is in a faulty state, it does not report the fault information to the controller of the logistics trolley, but directly sends an autonomous parking message to at least one conjugate driver determined according to the degree of association, omitting the step of transmitting instructions through the controller of the logistics trolley, improving the transmission efficiency of the instructions, and further improving the response rate of the conjugate driver. At the same time, it avoids the problem that the corresponding component cannot be driven to shut down in time when there is a communication failure between the controller and the first driver or the conjugate driver, thereby ensuring the reliability of the operation of the logistics trolley.

[0047] According to a third aspect of the present invention, a readable storage medium is provided, on which a program or instruction is stored, and when the program or instruction is executed by a processor, the control method of the driver provided in the first aspect of the present invention is implemented. Therefore, the readable storage medium has all the beneficial effects of the control method of the driver provided in the first aspect of the present invention, which will not be described in detail here.

[0048] According to the fourth aspect of the present invention, a driver is proposed, comprising: a control device of the driver proposed in the second aspect of the present invention, and / or a readable storage medium proposed in the third aspect of the present invention. Therefore, the driver has all the beneficial effects of the control device of the driver proposed in the second aspect of the present invention and / or the readable storage medium proposed in the third aspect of the present invention, which will not be repeated here.

[0049] According to the fifth aspect of the present invention, a logistics trolley is proposed, comprising: a drive as proposed in the fourth aspect of the present invention. Therefore, the drive has all the beneficial effects of the drive proposed in the fourth aspect of the present invention, which will not be repeated here.

[0050] Additional aspects and advantages of the present invention will become apparent from the following description or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0052] Figure 1 A schematic diagram showing a flow chart of a method for controlling a driver according to an embodiment of the present invention;

[0053] Figure 2 A second flow chart of a method for controlling a driver according to an embodiment of the present invention is shown;

[0054] Figure 3 A third flowchart of a method for controlling a driver according to an embodiment of the present invention is shown;

[0055] Figure 4 A fourth flowchart of a method for controlling a driver according to an embodiment of the present invention is shown;

[0056] Figure 5 A fifth flow chart of a method for controlling a driver according to an embodiment of the present invention is shown;

[0057] Figure 6 A sixth flow chart of a method for controlling a driver according to an embodiment of the present invention is shown;

[0058] Figure 7 A schematic block diagram showing a control device of a driver according to an embodiment of the present invention is shown;

[0059] Figure 8 A schematic block diagram of a driver according to an embodiment of the present invention is shown;

[0060] Fig. 9 A schematic diagram of a logistics vehicle according to an embodiment of the present invention is shown;

[0061] Fig.10 A schematic diagram of the interlocking connection of the left and right wheel drives of the logistics vehicle according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0062] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0063] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0064] Combine the following Figures 1 to 10, the control method, device, storage medium, driver and logistics trolley provided by the embodiments of the present invention are described in detail through specific embodiments and their application scenarios.

[0065] Embodiment 1:

[0066] Figure 1 A schematic flow chart of a control method of a driver according to an embodiment of the present invention is shown, wherein the control method comprises:

[0067] Step S102, when the first driver is in a fault state, controlling the components driven by the first driver to shut down;

[0068] Step S104, determining at least one conjugate driver according to the degree of association between the first driver and the plurality of second drivers;

[0069] Step S106: sending an autonomous parking message to at least one conjugate actuator, so that the at least one conjugate actuator adjusts the operating state of the component driven by it according to the autonomous parking message.

[0070] It should be noted that the execution subject of the control method of the driver proposed in the present invention may be the control device of the driver. In order to more clearly illustrate the control method of the driver proposed in the present invention, the following embodiments are exemplified by taking the execution subject of the control method of the driver as the control device of the driver.

[0071] It should also be noted that the premise for implementing the control method of the driver proposed in this embodiment is that the first driver has turned on the autonomous parking function. Specifically, the control device can turn on or off the autonomous parking function of the first driver by setting the enabling parameters of the first driver.

[0072] Exemplarily, the control device sets the enabling parameters of the first driver as shown in Table 1:

[0073] Table 1

[0074] Parameter number Parameter Description Setting range Setting units Fn1C0 Whether autonomous parking is enabled. 0: Disabled, 1: Enabled. 0～1 -

[0075] In this embodiment, the control method of the driver is used for the first driver, and the first driver is connected to the plurality of second drivers in communication. Specifically, the first driver and the plurality of second drivers are both arranged on a logistics vehicle. For example, the structural diagram of the logistics vehicle is as follows: Fig. 9 As shown, through Fig. 9 It can be seen that the logistics unloading generally includes a left-wheel servo drive, a right-wheel four-degree drive, a rotating low-voltage servo drive and a lifting low-voltage servo drive, among which any servo drive can be used as the first drive.

[0076] Specifically, when the first driver is in a faulty state, the control device controls the components driven by the first driver to shut down. Specifically, if the first driver is in a faulty state, it indicates that the working parts of the first driver have faults such as overvoltage, overcurrent, etc., or there is a communication fault between the first driver and the controller of the logistics vehicle. At this time, in order to avoid safety accidents, the control device immediately controls the components driven by the first driver to shut down.

[0077] Furthermore, the control device determines at least one conjugate driver according to the degree of association between the first driver and the plurality of second drivers. Specifically, the conjugate driver refers to a driver that has a high degree of association with the first driver.

[0078] Furthermore, an autonomous parking message is sent to at least one conjugate driver, so that at least one conjugate driver adjusts the operating state of the component driven by it according to the autonomous parking message. Specifically, when the first driver is in a faulty state, if the operating state of the component driven by the conjugate driver is not adjusted, a safety accident may occur. For example, when the left wheel servo driver of the logistics trolley is in a faulty state, if the right wheel travel motor of the logistics trolley is not controlled to stop, the logistics trolley may spin in place and spin around, which is very likely to cause a safety accident.

[0079] In this embodiment, when the first driver is in a fault state, the control device first controls the component driven by itself to shut down, and then directly sends an autonomous parking message to the second driver (i.e., at least one conjugate driver) with a higher degree of association with it, and adjusts the working state of the component driven by the conjugate driver to avoid safety accidents. In this embodiment, after the first driver determines that it is in a fault state, it does not report the fault information to the controller of the logistics trolley, but directly sends an autonomous parking message to at least one conjugate driver determined according to the degree of association, omitting the step of transmitting instructions through the controller of the logistics trolley, improving the transmission efficiency of the instructions, and then improving the response rate of the conjugate driver. At the same time, it avoids the problem that the corresponding component cannot be driven to shut down in time when there is a communication failure between the controller and the first driver or the conjugate driver, thereby ensuring the reliability of the operation of the logistics trolley.

[0080] Figure 2 A schematic flow chart of a control method of a driver according to an embodiment of the present invention is shown, wherein the control method comprises:

[0081] Step S202, when the first driver is in a fault state, controlling the components driven by the first driver to shut down;

[0082] Step S204, determining at least one conjugate driver according to the degree of association between the first driver and the plurality of second drivers;

[0083] Step S206, sending an autonomous parking message to at least one conjugate actuator through a digital port, so that at least one conjugate actuator adjusts the operating state of a component driven by it according to the autonomous parking message;

[0084] Step S208: sending an autonomous parking message to at least one conjugate actuator via the communication bus, so that the at least one conjugate actuator adjusts the operating state of the component driven by it according to the autonomous parking message.

[0085] In this embodiment, there are three ways for the control device to send an autonomous parking message to at least one conjugate drive. One is to send the autonomous parking message to at least one conjugate drive through the digital port and the communication bus (CAN bus) at the same time; one is to send the autonomous parking message to at least one conjugate drive only through the digital port; one is to send the autonomous parking message to at least one conjugate drive only through the communication bus; the specific method is set according to the actual situation.

[0086] Exemplarily, the autonomous parking message sent through the digital port is shown in Table 2:

[0087] Table 2

[0088]

[0089]

[0090] Exemplarily, the autonomous parking message sent via the communication bus is shown in Table 3:

[0091] Table 3

[0092]

[0093] In this embodiment, the control device can send an autonomous parking message to at least one conjugate drive through a digital port and a communication bus (CAN bus) at the same time, so that when a problem occurs in one of the modes, at least one conjugate drive can still receive the autonomous parking message. In this way, the reliability of data transmission between the first drive and at least one conjugate data is guaranteed, thereby ensuring the stability of the operation of the logistics trolley.

[0094] Figure 3 A schematic flow chart of a control method of a driver according to an embodiment of the present invention is shown, wherein the control method comprises:

[0095] Step S302, when the first driver is in a fault state, controlling the components driven by the first driver to shut down;

[0096] Step S304, determining at least one conjugate driver according to the degree of association between the first driver and the plurality of second drivers;

[0097] Step S306, sending an autonomous parking message to at least one conjugate actuator through a digital port, so that at least one conjugate actuator adjusts the operating state of a component driven by it according to the autonomous parking message;

[0098] Step S308, obtaining receiving parameters of at least one conjugate driver;

[0099] Step S310, when the received parameter is greater than a preset threshold, sending an autonomous parking message to at least one conjugate actuator in an on-demand manner;

[0100] Step S312, when the received parameter is equal to the preset threshold, sending an autonomous parking message to at least one conjugate actuator in a broadcasting manner;

[0101] Step S314: When the received parameter is less than a preset threshold, an autonomous parking message is sent to at least one conjugate drive in a multicast manner.

[0102] In this embodiment, the process of sending an autonomous parking message to at least one conjugate actuator via the communication bus is as follows: the control device first obtains the receiving parameters of the at least one conjugate actuator. Specifically, based on the receiving parameters of the conjugate actuator, it can be determined in which manner to send the autonomous parking message to the at least one conjugate actuator via the communication bus.

[0103] Specifically, when the received parameter is greater than a preset threshold, the control device sends an autonomous parking message to at least one conjugate actuator in an on-demand manner. Specifically, the on-demand manner means that the control device sends an autonomous parking message to the conjugate actuator in a one-to-one manner, ensuring the reliability of data transmission. This method is more suitable for the case where there is only one conjugate actuator.

[0104] Furthermore, when the received parameter is equal to the preset threshold, the control device sends the autonomous parking message to at least one conjugate actuator in a broadcasting manner. Specifically, the broadcasting manner means that the control device sends the autonomous parking message to all conjugate actuators at the same time, thereby improving the efficiency of data transmission. This manner is more suitable for the case where multiple second actuators are all conjugate actuators.

[0105] Further, when the received parameter is equal to the preset threshold, the control device sends the autonomous parking message to at least one conjugate actuator in a multicast manner. Specifically, the multicast manner means that the control device sends the autonomous parking message to a group of conjugate actuators at the same time, and a group of actuators is generally used to indicate actuators that have an interlocking relationship, such as Fig.10 The left wheel servo driver and the right wheel servo driver of the logistics trolley are shown in an interlocking connection relationship. The multicast method can improve the efficiency of data transmission and ensure the reliability of data transmission.

[0106] Exemplarily, the above receiving parameters are shown in Table 4:

[0107] Table 4

[0108]

[0109] Among them, in Table 4, the preset threshold is 0. Therefore, when the receiving parameter is a negative number, the autonomous parking message is sent in a multicast mode after a fault, when the receiving parameter is a positive number, the autonomous parking message is sent in an on-demand mode after a fault, and when the receiving parameter is 0, the autonomous parking message is sent in a broadcast mode after a fault.

[0110] Figure 4 A schematic flow chart of a control method of a driver according to an embodiment of the present invention is shown, wherein the control method comprises:

[0111] Step S402, confirming whether there is a working component failure in the first driver and confirming whether there is a communication failure between the first driver and the controller;

[0112] Step S404, in the case where it is determined that there is a working component failure and / or a communication failure, confirming that the first drive is in a fault state;

[0113] Step S406, when the first driver is in a fault state, controlling the components driven by the first driver to shut down;

[0114] Step S408, determining at least one conjugate driver according to the degree of association between the first driver and the plurality of second drivers;

[0115] Step S410: sending an autonomous parking message to at least one conjugate actuator, so that the at least one conjugate actuator adjusts the operating state of a component driven by the at least one conjugate actuator according to the autonomous parking message.

[0116] In this embodiment, when the first driver is in a faulty state, before controlling the components driven by the first driver to shut down, it is also necessary to confirm through the control device whether there is a working component failure in the first driver and whether there is a communication failure between the first driver and the controller.

[0117] Specifically, the above-mentioned working component failure is used to indicate that an overvoltage or overcurrent failure occurs inside the driver. It is understandable that these failures do not affect the first driver from sending data to the controller or the plurality of second drivers.

[0118] Further, when the first driver turns on the autonomous parking function and the first driver cannot receive information sent by the controller within a specified time, it is confirmed that there is a communication failure between the first driver and the controller.

[0119] Furthermore, when any of the above-mentioned faults occurs in the first driver, the control device can determine that the first driver is in a fault state.

[0120] In this embodiment, the judgment criteria for the first driver being in a fault state include not only the fault of the first driver itself, but also the situation that there is a communication fault between the first driver and the controller. In this way, it is avoided that when there is a communication fault between the controller and the first driver, the first driver cannot control the shutdown of the component driven by it according to the instruction of the controller, which is prone to safety accidents, and the reliability of the operation of the logistics trolley is better guaranteed.

[0121] Figure 5 A schematic flow chart of a control method of a driver according to an embodiment of the present invention is shown, wherein the control method comprises:

[0122] Step S502, when the first driver is in a fault state, controlling the components driven by the first driver to shut down;

[0123] Step S504, determining at least one conjugate driver according to the degree of association between the first driver and the plurality of second drivers;

[0124] Step S506, sending an autonomous parking message to at least one conjugate actuator, so that at least one conjugate actuator adjusts the operating state of the component driven by it according to the autonomous parking message;

[0125] Step S508, when the first driver is in a non-faulty state, receiving an autonomous parking message sent by a second driver in a faulty state among the plurality of second drivers;

[0126] Step S510: adjusting the operating state of a component driven by the first driver according to the autonomous parking message.

[0127] In this embodiment, when the first driver is in a non-fault state, the control device detects whether an autonomous parking message is transmitted on the data port and / or the communication bus, and receives the autonomous parking message when the autonomous parking message is transmitted. Specifically, if the control device detects that an autonomous parking message is transmitted on the data port and / or the communication bus, it indicates that a second driver in a fault state exists among the plurality of second drivers, and the first driver is a conjugate driver of the faulty driver.

[0128] Further, the control device adjusts the operating state of the component driven by the first driver according to the received autonomous parking message.

[0129] In this embodiment, when the first driver is not in a faulty state, the control device can also receive an autonomous parking message through the detection data port and / or the communication bus, and adjust the operating state of the components driven by the first driver according to the autonomous parking message. In this way, when there is a second driver in a faulty state among the multiple second drivers, the first driver can adjust the working state of the components driven by the controller in time to avoid causing safety accidents, thereby ensuring the reliability of the operation of the logistics trolley.

[0130] Figure 6 A schematic flow chart of a control method of a driver according to an embodiment of the present invention is shown, wherein the control method comprises:

[0131] Step S602, when the first driver is in a fault state, controlling the components driven by the first driver to shut down;

[0132] Step S604, determining at least one conjugate driver according to the degree of association between the first driver and the plurality of second drivers;

[0133] Step S606, sending an autonomous parking message to at least one conjugate actuator, so that at least one conjugate actuator adjusts the operating state of the component driven by it according to the autonomous parking message;

[0134] Step S608, when the first driver is in a non-faulty state, receiving an autonomous parking message sent by a second driver in a faulty state among the plurality of second drivers;

[0135] Step S610, when the autonomous parking message is the first preset message, controlling the component driven by the first driver to run at zero speed;

[0136] Step S612: when the autonomous parking message is the second preset message, disconnect the power supply of the component driven by the first driver.

[0137] In this embodiment, the control device determines the operating state to which the component driven by the first drive is to be adjusted based on the content of the autonomous parking message.

[0138] Specifically, if the autonomous parking message is the first preset message, it indicates that the fault of the faulty driver is relatively easy to handle, and at this time, the control device controls the components driven by the first driver to run at zero speed. In this way, safety can be ensured, and the working state of the components driven by the first driver can be restored in time after the fault is eliminated.

[0139] Furthermore, if the autonomous parking message is the second preset message, it indicates that the fault of the faulty driver is not easy to handle, and at this time, the control device disconnects the power supply of the component driven by the first driver. In this way, the reliability of the operation of the logistics vehicle is better guaranteed.

[0140] In this embodiment, the control device determines whether the fault of the second drive in a faulty state is easy to handle based on the content of the autonomous parking message, and adopts different autonomous parking methods according to the difficulty of handling, which not only ensures the safe operation of the logistics vehicle, but also can promptly restore the working state of the components driven by the first drive after the fault is eliminated.

[0141] Furthermore, the control device can also realize corresponding functions by setting parameters as shown in Table 5.

[0142] Table 5

[0143]

[0144] Embodiment 2:

[0145] Figure 7 A schematic block diagram of a control device of a driver according to an embodiment of the present invention is shown, wherein the control device 700 of the driver comprises: a processing unit 702, for controlling the shutdown of a component driven by the first driver when the first driver is in a fault state; the processing unit 702 is also used to determine at least one conjugate driver according to the degree of association between the first driver and multiple drivers; a sending unit 704, for sending an autonomous parking message to at least one conjugate driver, so that the at least one conjugate driver adjusts the operating state of the component driven by it according to the autonomous parking message.

[0146] In this embodiment, the control method of the driver is used for the first driver, and the first driver is in communication connection with a plurality of second drivers. Specifically, the first driver and the plurality of second drivers are both arranged on a logistics vehicle.

[0147] Specifically, when the first driver is in a faulty state, the processing unit 702 controls the components driven by the first driver to shut down. Specifically, if the first driver is in a faulty state, it indicates that the working parts of the first driver have faults such as overvoltage, overcurrent, etc., or there is a communication failure between the first driver and the controller of the logistics vehicle. At this time, in order to avoid safety accidents, the control device immediately controls the components driven by the first driver to shut down.

[0148] Furthermore, the control device determines at least one conjugate driver according to the degree of association between the first driver and the plurality of second drivers. Specifically, the conjugate driver refers to a driver that has a high degree of association with the first driver.

[0149] Furthermore, an autonomous parking message is sent to at least one conjugate driver, so that at least one conjugate driver adjusts the operating state of the component driven by it according to the autonomous parking message. Specifically, when the first driver is in a faulty state, if the operating state of the component driven by the conjugate driver is not adjusted, a safety accident may occur. For example, when the left wheel servo driver of the logistics trolley is in a faulty state, if the right wheel travel motor of the logistics trolley is not controlled to stop, the logistics trolley may spin in place and spin around, which is very likely to cause a safety accident.

[0150] In this embodiment, when the first driver is in a fault state, the processing unit 702 first controls the self-driven component to shut down, and then directly sends an autonomous parking message to the second driver (i.e., at least one conjugate driver) with a higher degree of association with it, and adjusts the working state of the component driven by the conjugate driver to avoid safety accidents. In the technical solution of the present invention, after the first driver determines that it is in a fault state, it does not report the fault information to the controller of the logistics trolley, but directly sends an autonomous parking message to at least one conjugate driver determined according to the degree of association, omitting the step of transmitting instructions through the controller of the logistics trolley, improving the transmission efficiency of the instructions, and then improving the response rate of the conjugate driver. At the same time, it avoids the problem that the corresponding component cannot be driven to shut down in time when there is a communication failure between the controller and the first driver or the conjugate driver, thereby ensuring the reliability of the operation of the logistics trolley.

[0151] Further, in this embodiment, in the step of sending an autonomous parking message to at least one conjugate actuator, the processing unit 702 is specifically used to send the autonomous parking message to at least one conjugate actuator through a digital port; and / or send the autonomous parking message to at least one conjugate actuator through a communication bus.

[0152] Further, in this embodiment, in the step of sending an autonomous parking message to at least one conjugate actuator via the communication bus, the processing unit 702 is specifically used to obtain a receiving parameter of at least one conjugate actuator; when the receiving parameter is greater than a preset threshold, the autonomous parking message is sent to at least one conjugate actuator in an on-demand manner; or when the receiving parameter is equal to the preset threshold, the autonomous parking message is sent to at least one conjugate actuator in a broadcast manner; or when the receiving parameter is less than the preset threshold, the autonomous parking message is sent to at least one conjugate actuator in a multicast manner.

[0153] Furthermore, in this embodiment, the first driver is arranged on the logistics vehicle and is communicatively connected with the controller of the logistics vehicle. When the first driver is in a faulty state, before the component driven by the first driver is controlled to shut down, the processing unit 702 is also used to confirm whether there is a working component failure in the first driver and whether there is a communication failure between the first driver and the controller; when it is determined that there is a working component failure and / or a communication failure, it is confirmed that the first driver is in a faulty state.

[0154] Furthermore, in this embodiment, the processing unit 702 is also used to receive an autonomous parking message sent by a second driver in a fault state among multiple second drivers when the first driver is in a non-fault state; and adjust the operating state of the component driven by the first driver according to the autonomous parking message.

[0155] Further, in this embodiment, in the step of adjusting the operating state of the component driven by the first driver according to the autonomous parking message, the processing unit 702 is specifically used to control the component driven by the first driver to run at zero speed when the autonomous parking message is a first preset message; or to disconnect the power supply of the component driven by the first driver when the autonomous parking message is a second preset message.

[0156] Embodiment three:

[0157] According to a third embodiment of the present invention, a readable storage medium is provided, on which a program or instruction is stored, and when the program or instruction is executed by a processor, the control method of the driver proposed in the above embodiment is implemented. Therefore, the readable storage medium has all the beneficial effects of the control method of the driver proposed in the above embodiment, which will not be repeated here.

[0158] Embodiment 4:

[0159] Figure 8 A schematic block diagram of a driver according to an embodiment of the present invention is shown, wherein the driver 800 includes: a driver control device 700 as proposed in the above embodiment of the present invention, and / or a readable storage medium 802 as proposed in the above embodiment of the present invention. Therefore, the driver 800 has all the beneficial effects of the driver control device 700 and / or the readable storage medium 802 as proposed in the above embodiment of the present invention, which will not be described in detail herein.

[0160] Embodiment five:

[0161] According to the fifth embodiment of the present invention, a logistics trolley is proposed, which includes: a driver as proposed in the above embodiment of the present invention. Therefore, the driver has all the beneficial effects of the driver proposed in the above embodiment of the present invention, which will not be repeated here.

[0162] In the description of this specification, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance unless otherwise clearly specified and limited; the terms "connection", "installation", "fixation" and the like should be understood in a broad sense, for example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0163] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0164] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in the field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0165] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A driver control method, for a first driver, wherein the first driver is communicatively connected with a plurality of second drivers, characterized in that: The control method of the driver comprises: When the first driver is in a fault state, controlling the component driven by the first driver to shut down; determining at least one conjugate driver according to the degree of association between the first driver and the plurality of second drivers; sending an autonomous parking message to at least one conjugate actuator, so that the at least one conjugate actuator adjusts the operating state of a component driven by the at least one conjugate actuator according to the autonomous parking message; The sending of the autonomous parking message to at least one conjugate actuator specifically includes: sending an autonomous parking message to the at least one conjugate actuator via a communication bus; The sending of the autonomous parking message to the at least one conjugate actuator via the communication bus specifically includes: acquiring a receiving parameter of the at least one conjugate driver; In the case where the received parameter is greater than a preset threshold, sending an autonomous parking message to the at least one conjugate actuator in an on-demand manner; or In the case where the received parameter is equal to a preset threshold, sending an autonomous parking message to the at least one conjugate actuator in a broadcasting manner; or In a case where the received parameter is less than a preset threshold, an autonomous parking message is sent to the at least one conjugate drive in a multicast manner.

2. The driver control method according to claim 1, characterized in that: The first driver is disposed on the logistics vehicle and is in communication connection with the controller of the logistics vehicle. When the first driver is in a fault state, before the component driven by the first driver is controlled to shut down, the control method further includes: confirming whether there is a working component failure of the first driver and confirming whether there is a communication failure between the first driver and the controller; In the case where it is determined that the working component failure and / or the communication failure exists, it is confirmed that the first drive is in a fault state.

3. The driver control method according to claim 1, characterized in that: The control method further comprises: When the first driver is in a non-fault state, receiving an autonomous parking message sent by a second driver in a fault state among the plurality of second drivers; The operating state of a component driven by the first driver is adjusted according to the autonomous parking message.

4. The control method of the driver according to claim 3, characterized in that: The adjusting the operating state of the component driven by the first driver according to the autonomous parking message specifically includes: When the autonomous parking message is a first preset message, controlling the component driven by the first driver to run at zero speed; or When the autonomous parking message is a second preset message, the power supply of the component driven by the first driver is disconnected.

5. A driver control device, used for a first driver, wherein the first driver is communicatively connected with a plurality of second drivers, characterized in that: The control device of the driver adopts the control method of the driver according to any one of claims 1 to 4, and the control device comprises: a processing unit, configured to control a component driven by the first driver to shut down when the first driver is in a fault state; The processing unit is further configured to determine at least one conjugate driver according to the degree of association between the first driver and the plurality of drivers; The sending unit is used to send an autonomous parking message to at least one conjugate actuator, so that the at least one conjugate actuator adjusts the operating state of the component driven by the at least one conjugate actuator according to the autonomous parking message.

6. A readable storage medium, characterized in that: The readable storage medium stores a program or an instruction, and when the program or the instruction is executed by the processor, the steps of the control method of the driver according to any one of claims 1 to 4 are implemented.

7. A driver, characterized in that: include: The control device of the drive according to claim 5; and / or The readable storage medium as claimed in claim 6.

8. A logistics vehicle, characterized in that: include: A driver as claimed in claim 7.

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