A method and system for handling failures of a transport robot

Abstract

The application discloses a kind of handling robot fault processing method and system, it is related to robot control technical field.The specific embodiment of method includes: in response to detecting the fault alarm information sent by handling robot, and determine that target toter currently carried by handling robot meets first preset condition, output prompt information;Dispatch target idle handling robot to the abnormal replacement port of transport line equipment;In response to detecting that target idle handling robot obtains target toter at abnormal replacement port, control target idle handling robot to continue to execute warehousing handling task.The embodiment effectively avoids the task interruption caused by handling robot failure, and improves the overall processing efficiency of task.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of computers, in particular to the technical field of robot control, and especially to a handling robot fault processing method and system. BACKGROUND

[0002] A handling robot refers to a robot applied to scenarios such as warehouse, sorting center, and goods transportation, for goods transfer and handling operations. A logistics robot is gradually considered as an important intelligent infrastructure in the digitalization and automation process of logistics and supply chain related enterprises.

[0003] In the prior art, when a handling robot fails, a field staff member cuts the handling robot to manual mode and drags it to an idle area for maintenance. After repair, the system task is resumed. If the abnormal handling robot is carrying a tote, the task of the tote may be delayed and cannot be processed in time. The handling robot can only wait for the maintenance to be completed and the task to be resumed normally to continue the previous task. SUMMARY

[0004] Embodiments of the present application provide a handling robot fault processing method, device, equipment, and storage medium.

[0005] According to a first aspect, embodiments of the present application provide a handling robot fault processing method, which comprises: in response to detecting a fault alarm information sent by a handling robot, and determining that a target tote currently carried by the handling robot meets a first preset condition, outputting a prompt information; dispatching a target idle handling robot to an abnormal replacement port of a transportation line equipment; in response to detecting that the target idle handling robot obtains the target tote at the abnormal replacement port, controlling the target idle handling robot to continue to execute a warehouse-in handling task.

[0006] According to a second aspect, embodiments of the present application provide a transportation method, which comprises: scanning a box number of a tote on a transportation line via a scanning equipment; in response to determining that a transportation task state corresponding to the box number is a warehouse-in transportation task completed, transporting the tote corresponding to the box number to an abnormal replacement port.

[0007] According to a third aspect, embodiments of the present application provide a handling robot fault processing system, which comprises: a control equipment for executing a handling robot fault processing method, a transportation line equipment for executing a transportation method, and a handling robot for receiving a dispatching instruction sent by the control equipment, moving from a current position to the abnormal replacement port to load a target tote based on the dispatching instruction, and sending a fault alarm information to the control equipment when a fault occurs.

[0008] According to a fourth aspect, an electronic device is provided, which includes one or more processors; a storage device having one or more programs stored thereon, when the one or more programs are executed by the one or more processors, the one or more processors implement the handling method of the robotic carrier failure as any of the embodiments of the first aspect.

[0009] According to a fifth aspect, a computer readable medium is provided, which has a computer program stored thereon, when the program is executed by a processor, the handling method of the robotic carrier failure as any of the embodiments of the first aspect is implemented.

[0010] The present application responds to the detection of the failure alarm information sent by the robotic carrier, and determines that the target tote currently carried by the robotic carrier meets the first preset condition, and outputs prompt information; dispatches the target idle robotic carrier to the abnormal replacement port of the transport line equipment; in response to detecting that the target idle robotic carrier obtains the target tote at the abnormal replacement port, the target idle robotic carrier continues to execute the warehouse-in carrying task, which realizes that when the robotic carrier fails, the target tote carried by the robotic carrier is put into the transport line equipment to replace the robotic carrier to continue to execute the warehouse-in task, effectively avoids the task interruption caused by the robotic carrier failure, and improves the overall processing efficiency of the task.

[0011] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present disclosure, nor to limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1 is an exemplary system architecture diagram in which the present application can be applied;

[0013] Figure 2 is a flowchart of one embodiment of the handling method of the robotic carrier failure according to the present application;

[0014] Figure 3 is a schematic diagram of one application scenario of the handling method of the robotic carrier failure according to the present application;

[0015] Figure 4 is a flowchart of another embodiment of the transport method according to the present application;

[0016] Figure 5 is a schematic diagram of one embodiment of the handling system of the robotic carrier failure according to the present application;

[0017] Figure 6 is a schematic diagram of another embodiment of the handling system of the robotic carrier failure according to the present application;

[0018] Figure 7 is a structural schematic diagram of a computer system of a server suitable for implementing the embodiments of the present application. DETAILED DESCRIPTION

[0019] Exemplary embodiments of the present application are described herein below with reference to the accompanying drawings, in which various details are set forth to facilitate an understanding of the embodiments of the present application. It will be apparent to those skilled in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present application. Also, the description set forth herein focuses on the functioning and construction of the present application, and description of known functions and constructions is omitted in the interest of brevity and conciseness.

[0020] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0021] Figure 1 An exemplary system architecture 100 is shown, to which the embodiments of the handling robot fault processing method of the present application can be applied.

[0022] As shown in Figure 1 , the system architecture 100 can include a control device 101 of a handling robot, handling robots 102, 103, a transport line device 104, and a network 105. The handling robots 102, 103 are installed with containers carrying totes, which are used to carry items to be put into or taken out of a warehouse. The transport line device 104 is provided with a tote taking port 106, a tote placing port 107, an abnormality replacement port 108, and a picking station 109. The transport line device 104 is used to perform an out-warehouse transport task and an in-warehouse transport task, wherein the in-warehouse transport task is to transport totes from the picking station 109 to the tote taking port 106 via the transport line device 104, and the out-warehouse transport task is to transport totes from the tote placing port 107 to the picking station 109 via the transport line device 104. The handling robots 102, 103 are used to perform an out-warehouse handling task and an in-warehouse handling task, wherein the out-warehouse handling task is to transport totes from a storage location to the tote placing port 107 of the transport line device via the handling robots 102, 103, and the in-warehouse handling task is to transport totes from the tote taking port 106 of the transport line device to a corresponding storage location of the totes via the handling robots 102, 103.

[0023] The network 105 is a medium for providing a communication link between the control device 101 and the handling robots 102, 103. The network 105 can include various connection types, such as wired, wireless communication links, or fiber optic cables, etc.

[0024] The control device 101 responds to the detection of the failure alarm information sent by the carrying robot, and determines that the target tote currently carried by the carrying robot meets the first preset condition, and outputs prompt information; dispatches a target idle carrying robot to the abnormal replacement port of the transport line device; in response to detecting that the target idle carrying robot obtains the target tote at the abnormal replacement port, the target idle carrying robot continues to execute the storage carrying task.

[0025] The control device 101 can be a terminal device or a server, used to control the carrying robot.

[0026] It should be noted that if the control device 101 is a server, the server can be hardware or software. When the server is hardware, it can be implemented as a distributed server cluster composed of multiple servers, or as a single server. When the server is software, it can be implemented as multiple software or software modules (for example, used to provide carrying robot failure processing services), or as a single software or software module. Herein, no specific limitation is made.

[0027] If the control device 101 is a terminal device, the terminal device can be separately arranged, or arranged on a device used to control the carrying robot.

[0028] The carrying robots 102 and 103 can interact with the control device 101 through the network 105 to receive or send information, etc. The carrying robots 102 and 103 can be mechanical and electronic devices with computing and execution capabilities, or combinations of terminal devices and mechanical mechanisms with control capabilities. For example, the carrying robots can include, but are not limited to, automatic guided vehicle (AGV) trolleys, etc.

[0029] It should be noted that the carrying robot failure processing method provided in the embodiments of the present application is generally executed by the control device 101.

[0030] It should be understood that Figure 1 The number of control devices, networks, and carrying robots, and transport line devices in the above-mentioned embodiments is only illustrative. According to the implementation needs, there can be any number of control devices, networks, and carrying robots.

[0031] Figure 2 A flowchart 200 that can be applied to the carrying robot failure processing method of the present application is shown. In the present embodiment, the carrying robot failure processing method includes the following steps:

[0032] Step 201, in response to detecting the failure alarm information sent by the carrying robot, and determining that the target tote currently carried by the carrying robot meets the first preset condition, outputting prompt information.

[0033] In the present embodiment, the execution subject (such as the control device 101) can be a terminal device or a server.Figure 1 The control device 101 shown in the middle can detect the fault alarm information sent by the transfer robot in real time or periodically. The fault alarm information is used to indicate that the transfer robot has a fault.

[0034] The transfer robot is installed with a container carrying the totes.

[0035] The execution subject responds to the detection of the fault alarm information sent by the transfer robot, and determines that the target tote currently carried by the transfer robot meets the first preset condition, and outputs prompt information.

[0036] The first preset condition includes that the tote corresponds to a warehouse transfer task in progress and a warehouse transport task that has been completed.

[0037] Here, the prompt information is used to indicate that the target tote is put into the transport line equipment. After receiving the prompt information, the worker can put the target tote into the transport line equipment, and the transport line equipment is used to transport the tote with the transport task state of warehouse transport completed to the abnormal replacement port.

[0038] The warehouse transfer task is to transport the tote from the tote pickup port of the transport line equipment to the corresponding storage position of the tote by the transfer robot, and the warehouse transport task is to transport the tote from the picking station to the tote pickup port by the transport line equipment.

[0039] It should be pointed out that the number of target totes can be one or more, which is not limited by the present application.

[0040] Step 202, dispatch the target idle transfer robot to the abnormal replacement port of the transport line equipment.

[0041] In this embodiment, the execution subject can determine any of the idle transfer robots as the target idle transfer robot, or determine the nearest transfer robot in the idle transfer robots via the intelligent scheduling module, and determine the nearest transfer robot as the target idle transfer robot, and send a dispatch instruction to the target idle transfer robot, wherein the dispatch instruction is used to instruct the target idle transfer robot to move from the current location to the abnormal replacement port.

[0042] Here, the intelligent scheduling module is used to calculate the optimal selection or combination of various tasks, and generate corresponding tasks.

[0043] Step 203, in response to detecting that the target idle transfer robot obtains the target tote at the abnormal replacement port, control the target idle transfer robot to continue to execute the warehouse transfer task.

[0044] In the embodiment, the execution subject can detect in real time or periodically whether the target idle carrying robot obtains the target toter bin at the abnormal replacement port, and control the target idle carrying robot to continue to perform the storage carrying task in response to detection that the target idle carrying robot obtains the target toter bin at the abnormal replacement port.

[0045] Specifically, the target toter bin to be stored is picked up by the workstation and then enters the transport line equipment, which is used to perform a storage transport task, i.e., to transport the target toter bin from the picking workstation to the toter bin taking port. Further, the execution subject selects the nearest idle carrying robot and the recommended storage location from the idle carrying robots via the intelligent investigation module to generate a storage carrying task for the idle carrying robot. After the idle carrying robot takes the target toter bin at the toter bin taking port, the idle carrying robot performs the storage carrying task, i.e., transports the target toter bin from the toter bin taking port to the corresponding storage location. If the carrying robot fails during the transportation, a failure alarm information is sent, and the execution subject determines that the carrying robot fails in response to detection of the failure alarm information sent by the carrying robot, and determines that the target toter bin meets the first preset condition, i.e., the carrying task state corresponding to the toter bin is in the storage carrying task, and the transport task state is in the storage transport completed state, and outputs a prompt information to instruct the staff to put the target toter bin into the transport line equipment, and dispatches the target idle carrying robot to the abnormal replacement port of the transport line equipment. Further, the execution subject can also set the state of the target toter bin corresponding to the storage carrying task to be in the storage carrying task to be processed. The execution subject controls the target idle carrying robot to continue to perform the storage carrying task of the target toter bin in response to detection that the target idle carrying robot obtains the target toter bin at the abnormal replacement port, i.e., continues to perform the storage task in the to-be-processed state until the storage is completed.

[0046] In some optional manners, the method further includes: in response to detection of the failure alarm information sent by the carrying robot, and determination that the target toter bin currently carried by the carrying robot meets the second preset condition, outputting a prompt information.

[0047] In the implementation manner, the execution subject can detect in real time or periodically the failure alarm information sent by the carrying robot, and output a prompt information in response to detection of the failure alarm information sent by the carrying robot and determination that the target toter bin currently carried by the carrying robot meets the second preset condition.

[0048] The second preset condition includes: the carrying task state corresponding to the toter bin is in the out-of-storage carrying task, and the transport task state is in the out-of-storage transport task to be completed state.

[0049] Here, the prompt information is used to indicate that the target tote is to be put into the transport line device. After receiving the prompt information, the worker can put the target tote into the transport line device, and the transport line device is used to transport the tote whose transport task status is an outbound transport task that is not completed to the sorting station for sorting.

[0050] Here, the outbound transport task is a task of transporting the tote from the storage location to the drop-off port of the transport line device via the transport robot, and the inbound transport task is a task of transporting the tote from the drop-off port to the storage location via the transport line device.

[0051] Further, the execution subject can also modify the transport task status of the target tote from a transport task in progress to a completed transport task.

[0052] This implementation avoids the interruption of the outbound task due to the failure of the transport robot and improves the overall processing efficiency of the task by outputting the prompt information in response to detecting the failure alarm information sent by the transport robot and determining that the target tote currently carried by the transport robot meets the second preset condition.

[0053] In some optional manners, the method further includes: in response to detecting the failure alarm information sent by the transport robot, outputting failure prompt information.

[0054] In this implementation, after receiving the failure alarm information sent by the transport robot and determining that the transport robot has failed, the execution subject can output the failure prompt information, where the failure prompt information is used to indicate that the transport robot is switched to a manual mode and moved to a preset idle area for failure maintenance.

[0055] This implementation helps to reduce the impact of the failed transport robot on the transport robots that are executing tasks and facilitates the maintenance of the failed transport robot by outputting the failure prompt information in response to detecting the failure alarm information sent by the transport robot.

[0056] In some optional manners, the target idle transport robot is the transport robot closest to the transport line device among the idle transport robots.

[0057] In this implementation, the execution subject determines the transport robot closest to the transport line device among the idle transport robots via the intelligent scheduling module, determines the transport robot closest to the transport line device as the target idle transport robot, and sends a dispatch instruction to the target idle transport robot.

[0058] This implementation further improves the task processing efficiency by determining the transport robot closest to the transport line device as the target idle transport robot and dispatching the target idle transport robot to the abnormal replacement port of the transport line device to complete the inbound task.

[0059] With reference to the foregoing Figure 3 , Figure 3 is a schematic diagram of an application scenario of the handling robot fault processing method according to the embodiment.

[0060] In the application scenario shown in Figure 3 , the execution subject 301 determines that the handling robot 302 has a fault in response to detecting the fault alarm information sent by the handling robot 302, and determines that the target tote currently carried by the handling robot meets the first preset condition, the first preset condition including: the tote corresponds to a storage handling task in progress and a transport task state of the tote is a storage transport task completed, outputting prompt information, the prompt information being used to instruct to put the target tote into the transport line device 303, the transport line device 303 being used to transport the tote with the transport task state of the storage transport completed to the abnormal replacement port 304; further, dispatching the target idle handling robot 305 to the abnormal replacement port 304 of the transport line device via an intelligent scheduling module; in response to detecting that the target idle handling robot 305 obtains the target tote at the abnormal replacement port, controlling the target idle handling robot to continue to execute the storage handling task.

[0061] The handling robot fault processing method of the present disclosure avoids task interruption caused by handling robot failure and improves the overall processing efficiency of the task by outputting prompt information in response to detecting the fault alarm information sent by the handling robot and determining that the target tote currently carried by the handling robot meets the first preset condition; dispatching the target idle handling robot to the abnormal replacement port of the transport line device; and in response to detecting that the target idle handling robot obtains the target tote at the abnormal replacement port, controlling the target idle handling robot to continue to execute the storage handling task.

[0062] Further reference is made to Figure 4 , which shows a flow 400 of one embodiment of the transport method. In this embodiment, the flow 400 of the transport method of the present embodiment can include the following steps:

[0063] Step 401, scanning the box number of the tote on the transport line via a scanning device.

[0064] In this embodiment, the execution subject (such as the transport line device shown in Figure 1 ) can scan the box number of the tote on the transport line via a scanning device.

[0065] The scanning device can be a device that converts graphical or image information into a digital signal in a scanning manner in existing technologies or future developed technologies, such as a scanning gun, a BCR (bar code reader), etc., which is not limited in the present application.

[0066] Step 402, in response to determining that the transport task state corresponding to the box number is that the in-warehouse transport task has been completed, transporting the turnover box corresponding to the box number to the abnormal replacement port.

[0067] In the embodiment, the execution subject can judge the transport task state corresponding to the box number. If the transport task state corresponding to the box number is that the in-warehouse transport task has been completed, the turnover box corresponding to the box number is transported to the abnormal replacement port.

[0068] In some optional manners, the method further includes: in response to determining that the transport task state corresponding to the box number is that the in-warehouse transport task is in progress, transporting the turnover box corresponding to the box number to the box taking port.

[0069] In the implementation, the execution subject can judge the transport task state corresponding to the box number. If the transport task state corresponding to the box number is that the in-warehouse transport task is in progress, the turnover box corresponding to the box number is transported to the box taking port.

[0070] The implementation realizes the in-warehouse transport of the turnover box by transporting the turnover box corresponding to the box number to the box taking port in response to determining that the transport task state corresponding to the box number is that the in-warehouse transport task is in progress.

[0071] In some optional manners, the method further includes: in response to determining that the transport task state corresponding to the box number is that the out-warehouse transport task is in progress and the handling task state is that the out-warehouse handling task has been completed, transporting the turnover box corresponding to the box number to the picking station.

[0072] In the implementation, the execution subject can judge the transport task state corresponding to the box number and the handling task state. If the transport task state corresponding to the box number is that the out-warehouse transport task is in progress and the handling task state is that the out-warehouse handling task has been completed, the turnover box corresponding to the box number is transported to the picking station.

[0073] The implementation realizes the out-warehouse transport of the turnover box by transporting the turnover box corresponding to the box number to the picking station in response to determining that the transport task state corresponding to the box number is that the out-warehouse transport task is in progress and the handling task state is that the out-warehouse handling task has been completed.

[0074] The above embodiments of the present application, and the flow 400 of the transport method in the embodiments, realize the in-warehouse transport of the turnover box of the faulty handling robot by transporting the turnover box corresponding to the box number to the abnormal replacement port in response to determining that the transport task state corresponding to the box number is that the in-warehouse transport task has been completed.

[0075] Further referring to Figure 5 , the present application provides an embodiment of a handling robot fault processing system.

[0076] In the embodiment, the system comprises a control device 501, a carrying robot 502 and a transport line device 503.

[0077] The control device 501 is configured to execute the fault processing method as described in Embodiment 2 above. The transport line device 503 is configured to execute the transport method as described in Embodiment 4 above. The carrying robot 502 is configured to receive the dispatch instruction sent by the control device and move from the current position to the abnormal replacement port to load the tote based on the dispatch instruction, and send the fault alarm information to the control console when a fault occurs.

[0078] In a specific example, as shown in Figure 6 If the carrying robot fails during transport, the fault alarm information is sent, and the control device determines that the carrying robot has failed in response to detecting the fault alarm information sent by the carrying robot, and outputs the fault prompt information to prompt switching the carrying robot to manual mode. Further, the control device determines whether the target tote carried by the carrying robot meets the first preset condition, i.e., whether the tote corresponds to an in-warehouse carrying task in progress and the transport task state is in-warehouse transport completed, and if the first preset condition is met, outputs the prompt information to instruct the worker to put the target tote into the transport line device (manual line putting), and determines the target idle carrying robot in the idle carrying robots via the intelligent production scheduling module, and sends a dispatch instruction to the target idle carrying robot to control the target idle carrying robot to move from the current position to the abnormal replacement port of the transport line device. Further, the control device can set the carrying task state corresponding to the target tote to in-warehouse carrying task pending.

[0079] Meanwhile, the transport line device can scan the tote number on the transport line via a scanning device, e.g., a BCR scanning device, and determine whether the transport task state corresponding to the tote number is in-warehouse transport task completed, and if the transport task state corresponding to the tote number is in-warehouse transport task completed, transport the tote corresponding to the tote number (target tote) to the abnormal replacement port.

[0080] In response to detecting that the target idle carrying robot obtains the target tote at the abnormal replacement port, the control device controls the target idle carrying robot to continue executing the in-warehouse carrying task of the target tote, i.e., continues executing the in-warehouse carrying task in the pending state until the in-warehouse is completed.

[0081] It should be understood that Figure 5 the number of control devices 501, carrying robots 502 and transport line devices 503 in

[0082] According to the embodiments of the present application, the present application further provides an electronic device and a readable storage medium.

[0083] As shown in Figure 7 FIG. 7 is a block diagram of an electronic device for a handling robot fault processing method according to an embodiment of the present application.

[0084] 700 is a block diagram of an electronic device for a handling robot fault processing method according to an embodiment of the present application. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular telephones, smart phones, wearable devices, and other similar computing devices. The components shown in the electronic device, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present application described and / or claimed in this document.

[0085] As shown in Figure 7 The electronic device includes one or more processors 701, memory 702, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components are interconnected using different busses, and can be mounted on a common motherboard or in other manners, as desired. The processor can process instructions for execution within the electronic device, including instructions stored in the memory or on storage devices to display graphical information for a GUI on an external input / output device, such as a display device coupled to the interface. In other implementations, multiple processors and / or multiple buses can be employed as desired to improve performance, for example, as can be needed for certain implementations of the present application. Also, various other external devices (e.g., storage devices, printers, etc.) can be connected as desired to the electronic device. Figure 7 The processor 701 is taken as an example in the embodiment.

[0086] The memory 702 is a non-transitory computer readable storage medium provided by the present application. The memory stores instructions executable by at least one processor, so that the at least one processor executes the handling robot fault processing method provided by the present application. The non-transitory computer readable storage medium of the present application stores computer instructions for causing a computer to execute the handling robot fault processing method provided by the present application.

[0087] The memory 702, as a kind of non-transient computer readable storage medium, can be used to store non-transient software programs, non-transient computer executable programs and modules, such as the program instructions / modules corresponding to the handling robot fault processing method in the embodiments of the present application.The processor 701 executes the various functions of the server and data processing by running the non-transient software programs, instructions and modules stored in the memory 702, that is, implements the handling robot fault processing method in the above method embodiments.

[0088] The memory 702 can include a program storage area and a data storage area, wherein the program storage area can store an operating system and at least one application required by a function; the data storage area can store data created based on the use of the electronic device for maintenance of the logistics robot, etc.In addition, the memory 702 can include a high-speed random access memory, and can also include a non-transient memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transient solid-state memory device.In some embodiments, the memory 702 can optionally include a memory disposed remotely with respect to the processor 701, and these remote memories can be connected to the electronic device for maintenance of the logistics robot through a network.The examples of the above network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network and a combination thereof.

[0089] The electronic device for handling robot fault processing can further include an input device 703 and an output device 704.The processor 701, the memory 702, the input device 703 and the output device 704 can be connected by bus or other means, Figure 7 Taking the connection by bus as an example.

[0090] The input device 703 can receive input digital or character information, such as touch screen, keypad, mouse, trackpad, touchpad, pointing stick, one or more mouse buttons, trackball, joystick, etc.Input device.The output device 704 can include display devices, auxiliary lighting devices (such as LEDs) and tactile feedback devices (such as vibration motors) and the like.The display device can include but is not limited to liquid crystal display (LCD), light emitting diode (LED) display and plasma display.In some embodiments, the display device can be a touch screen.

[0091] Various implementations of the systems and techniques described here can be realized in digital electronic circuitry, integrated circuitry, specially designed ASICs (application specific integrated circuits), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0092] These computer programs (also known as programs, software, software applications or code) include machine instructions for the programmable processor, and can be implemented in a high-level procedural and / or object-oriented programming language, and / or in assembly / machine language. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus and / or device (e.g., magnetic discs, optical disks, memory, Programmable Logic Devices (PLDs)) used to provide machine instructions and / or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal used to provide machine instructions and / or data to a programmable processor.

[0093] To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0094] The systems and techniques described herein can be implemented in a computing system that includes a back end component, e.g., as a data server, or that includes a middleware component, e.g., an application server, or that includes a front end component, e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described herein, or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication, e.g., a communication network. Examples of communication networks include a local area network (LAN), a wide area network (WAN), and the Internet.

[0095] The computer system can include clients and servers. The clients and the servers are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other.

[0096] According to the technical scheme of the embodiment of the present application, the task termination caused by the failure of the transfer robot is effectively avoided, and the overall processing efficiency of the task is improved.

[0097] It should be understood that various forms of flow shown above can be used to reorder, add, or delete steps. For example, each step described in the present application can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical scheme disclosed in the present application can be achieved, and the present application is not limited herein.

[0098] The above detailed description does not constitute a limitation on the protection scope of the present application. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A method for handling a failure of a transport robot, the method comprising: in response to detecting a failure alarm information sent by a transport robot and determining that a target tote currently carried by the transport robot meets a first preset condition or a second preset condition, outputting prompt information, wherein the first preset condition comprises that a transport task state corresponding to the tote is an in-warehouse transport task in progress and a transport task state is an in-warehouse transport task completed, and the second preset condition comprises that a transport task state corresponding to the tote is an out-of-warehouse transport task in progress and a transport task state is an out-of-warehouse transport task not completed; the prompt information is used to instruct to put the target tote into a transport line device, in response to determining that the target tote meets the first preset condition, controlling the transport line device to transport the target tote to an abnormal replacement port of the transport line device; dispatching a target idle transport robot to the abnormal replacement port of the transport line device; in response to detecting that the target idle transport robot obtains the target tote at the abnormal replacement port, controlling the target idle transport robot to continue to execute the in-warehouse transport task; and in response to determining that the target tote meets the second preset condition, controlling the transport line device to transport the target tote to a picking station for picking. The in-warehouse transport task is to transport a tote from a tote taking port of a transport line device to a corresponding storage location of the tote by a transport robot, the in-warehouse transport task is to transport a tote from a picking station to the tote taking port by a transport line device, the out-of-warehouse transport task is to transport a tote from the storage location to a tote placing port of the transport line device by a transport robot, and the out-of-warehouse transport task is to transport a tote from the tote placing port to the picking station by a transport line device. 2.The method of claim 1, further comprising: in response to determining that the target tote meets the second preset condition, modifying a transport task state corresponding to the target tote from a transport task in progress to a transport task completed. 3.The method of claim 1, further comprising: in response to detecting a failure alarm information sent by a transport robot, outputting failure prompt information, the failure prompt information is used to instruct to switch the transport robot to a manual mode and move the transport robot to a preset idle area for failure maintenance.

4. The method of any one of claims 1-3, wherein, The target idle transport robot is an idle transport robot closest to the transport line device.

5. A handling robot failure handling system, the system comprising: The control device is used to execute the method as claimed in any one of claims 1-4, the transport line device is used to execute the following transport method, the transport method comprises: scanning the box number of the turnover box on the transport line via a scanning device; in response to determining that the transport task state corresponding to the box number is that the inbound transport task has been completed, transporting the turnover box corresponding to the box number to the abnormal replacement port; in response to determining that the transport task state corresponding to the box number is that the inbound transport task is in progress, transporting the turnover box corresponding to the box number to the box taking port; in response to determining that the transport task state corresponding to the box number is that the outbound transport task is in progress, and the carrying task state is that the outbound carrying task has been completed, transporting the turnover box corresponding to the box number to the picking station, the carrying robot is used to receive the dispatching instruction sent by the control device, and move from the current position to the abnormal replacement port to load the target turnover box based on the dispatching instruction, and send the fault alarm information to the control device when a fault occurs.

6. An electronic device, comprising: Comprise: at least one processor; and a memory in communication with the at least one processor; wherein the memory stores computer instructions executable by the at least one processor to enable the at least one processor to execute the method of any one of claims 1-4.

7. A non-transitory computer-readable storage medium having stored thereon computer instructions, wherein, The computer instructions are used to make the computer execute the method of any one of claims 1-4.

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