Safety control system, method, safety transmission system, and electronic device

Abstract

The application relates to the technical field of warehouse logistics, and discloses a safety control system and method, a safety transmission system and electronic equipment. The safety control system comprises a plurality of safety control units, each of which is used for controlling a group of mobile devices; wherein the plurality of safety control units comprise a first safety control unit and at least one second safety control unit; the first safety control unit is configured to generate a safety instruction and send the safety instruction to each mobile device in a first mobile device group corresponding to the second safety control unit and the first safety control unit in a case where it is determined that a safety event is triggered; and the second safety control unit is configured to receive the safety instruction and send the safety instruction to each mobile device in a second mobile device group corresponding to the second safety control unit. The safety control system provided in the application can simultaneously control a large number of AGVs, thereby improving the load capacity of the safety control system.

Description

Technical Field

[0001] This application relates to the field of warehousing and logistics technology, and in particular to a safety control system, method, safety transmission system and electronic equipment. Background Technology

[0002] With the development of mobile device technology, more and more mobile devices are being used in industries such as freight, warehousing, logistics, and catering, greatly facilitating people's production and life.

[0003] In mobile device operation scenarios, control signals are typically transmitted from a control platform to the mobile device, enabling the device to perform corresponding operations and thus achieving control. However, if there are security vulnerabilities during the transmission of control signals between the control platform and the mobile device—for example, if the control signals are tampered with—the control platform will be unable to effectively manage the mobile device, potentially leading to a loss of control. Therefore, a secure control system is needed to ensure the secure transmission of control signals to the mobile device.

[0004] Typically, safety control systems can only control a limited number of mobile devices, meaning their capacity is limited. For example, a safety control system can typically control a few to a few hundred mobile devices. However, in some large-scale warehousing or logistics scenarios, the number of mobile devices (such as robots) may reach thousands. In such cases, existing safety control systems struggle to manage and control thousands of mobile devices simultaneously. Summary of the Invention

[0005] To address the aforementioned problems, embodiments of this application provide a security control system, method, security transmission system, and electronic device, applicable to scenarios involving a large number (e.g., thousands) of mobile devices, thereby improving the security control system's capacity to support mobile devices. Specifically, embodiments of this application disclose the following technical solutions:

[0006] A first aspect of this application provides a security control system comprising a plurality of security control units, each of which controls a group of mobile devices. The plurality of security control units includes a first security control unit and at least one second security control unit. The first security control unit is configured to: upon determining that a security event has been triggered, generate a security instruction and send the security instruction to each mobile device in a first group of mobile devices corresponding to the second security control unit and the first security control unit, respectively. The second security control unit is configured to: receive the security instruction and send the security instruction to each mobile device in a second group of mobile devices corresponding to the second security control unit.

[0007] In some embodiments, the security control system further includes a wireless transmitter coupled to a plurality of security control units. A first security control unit is configured to transmit security commands to each mobile device in a first group of mobile devices corresponding to the first security control unit via the wireless transmitter.

[0008] In some embodiments, the first security control unit is configured to send security instructions to the second security control unit via a wireless transmitter. The second security control unit is configured to receive security instructions via a wireless transmitter and send security instructions to each mobile device in the second mobile device group corresponding to the second security control unit via a wireless transmitter.

[0009] In some embodiments, the security control system further includes a switch coupled to a plurality of security control units. A first security control unit is configured to send security commands to a second security control unit via the switch. The second security control unit is configured to receive security commands via the switch and send security commands to each mobile device in a second group of mobile devices corresponding to the second security control unit via a wireless transmitter.

[0010] In some embodiments, the first interfaces of the plurality of security control units are respectively coupled to a wireless transmitter, and the second interfaces of the plurality of security control units are respectively coupled to a switch. The first security control unit is configured to: send a security command to the wireless transmitter through its first interface, causing the wireless transmitter to send the security command to each mobile device in the first mobile device group. The first security control unit is also configured to: send a security command to the switch through its second interface, causing the switch to send the security command to the second security control unit. The second security control unit is configured to receive a security command through its second interface and send a security command to the wireless transmitter through its first interface, causing the wireless transmitter to send the security command to each mobile device in the second mobile device group.

[0011] In some embodiments, the security control system further includes a wireless transmitter, and a first security control unit is coupled to both the wireless transmitter and the second security control unit. The first security control unit is configured to send security instructions to each mobile device in a first mobile device group corresponding to the first security control unit via the wireless transmitter; the second security control unit is configured to receive the security instructions sent by the first security control unit and send security instructions to each mobile device in a second mobile device group via the first security control unit and the wireless transmitter.

[0012] In some embodiments, a first interface of the first security control unit is coupled to a wireless transmitter, and a second interface of the first security control unit is coupled to a first interface of the second security control unit. The first security control unit is configured to: upon determining that a security event has been triggered, generate a security command, send the security command to each mobile device in the first mobile device group via the first interface of the first security control unit and the wireless transmitter, and send the security command to the second security control unit via the second interface of the first security control unit. The second security control unit is configured to: receive the security command via the first interface of the second control unit, and send the security command to each mobile device in the second mobile device group via the first security control unit and the wireless transmitter.

[0013] In some embodiments, the plurality of security control units further includes a third security control unit. A first interface of the third security control unit is coupled to a second interface of the second security control unit. The second security control unit is configured to send security commands to the third security control unit via its second interface. The third security control unit is configured to receive security commands via its first interface and send security commands to each mobile device in the third mobile device group corresponding to the third security control unit via the second security control unit, the first security control unit, and the wireless transmitter.

[0014] In some embodiments, the security control system further includes a wireless transmitter, a first security control unit coupled to a second security control unit, and both the first and second security control units being coupled to the wireless transmitter. The first security control unit is configured to transmit the security command to each mobile device in a first group of mobile devices corresponding to the first security control unit via the wireless transmitter; the second security control unit is configured to receive the security command transmitted by the first security control unit and transmit the security command to each mobile device in a second group of mobile devices via the wireless transmitter.

[0015] In some embodiments, a first interface of the first security control unit is coupled to a wireless transmitter, a second interface of the first security control unit is coupled to a first interface of the second security control unit, and a second interface of the second security control unit is coupled to the wireless transmitter. The first security control unit is configured to: upon determining that a security event has been triggered, generate a security command, send the security command to each mobile device in the first mobile device group via the first interface of the first security control unit and the wireless transmitter, and send the security command to the second security control unit via the second interface of the first security control unit. The second security control unit is configured to: receive the security command via the first interface of the second security control unit, and send the security command to each mobile device in the second mobile device group via the second interface of the second security control unit and the wireless transmitter.

[0016] In some embodiments, the plurality of security control units further includes a third security control unit, and the second security control unit further includes a third interface. The third interface of the second security control unit is coupled to a first interface of the third security control unit, and the second interface of the third security control unit is coupled to a wireless transmitter. The second security control unit is further configured to send security commands to the third security control unit through the third interface of the second security control unit. The third security control unit is configured to receive security commands through the first interface of the third security control unit, and to send security commands to each mobile device in the third mobile device group corresponding to the third security control unit through the second interface of the third security control unit and the wireless transmitter.

[0017] In some embodiments, the safety control system further includes at least one safety triggering unit; wherein the at least one safety triggering unit includes a first safety triggering unit coupled to a first safety control unit. The first safety triggering unit is configured to: upon receiving a trigger operation input by a user, generate a safety trigger signal and send the safety trigger signal to the first safety control unit; wherein the safety triggering event includes an emergency stop event and / or a reset event. The first safety control unit is configured to: receive the safety trigger signal and determine, based on the safety trigger signal, that a safety event has been triggered.

[0018] In some embodiments, safety commands include emergency stop commands and / or reset commands.

[0019] A second aspect of this application provides a secure transmission system, which includes a security control system as described in the first aspect and a plurality of mobile devices. The mobile devices are configured to receive security commands sent by corresponding security control units in the security control system and to perform corresponding operations according to the security commands.

[0020] A third aspect of this application provides a security control method applied to a security control system. The security control system includes multiple security control units, each of which controls a group of mobile devices. The multiple security control units include a first security control unit and at least one second security control unit. The method includes: upon determining that a security event has been triggered, the first security control unit generates a security instruction and sends the security instruction to the second security control unit and to each mobile device in the first group of mobile devices corresponding to the first security control unit. The second security control unit receives the security instruction and sends the security instruction to each mobile device in the second group of mobile devices corresponding to the second security control unit.

[0021] A fourth aspect of this application provides an electronic device, including: a processor and a memory, wherein the memory is used to store computer-executable instructions; and the processor is used to read the instructions from the memory and execute the instructions to implement the security control method described in the third aspect above.

[0022] A fifth aspect of this application provides a computer-readable storage medium storing computer program instructions, which, when read by a computer, execute the security control method described in the third aspect above.

[0023] A sixth aspect of this application provides a computer program product including a computing program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions that, when executed by a computer, cause the computer to perform the security control method described in the third aspect above.

[0024] The security control system provided in this application includes multiple security control units, each of which can control a group of mobile devices. These multiple security control units include a first security control unit and a second security control unit. The first security control unit, upon determining that a security event has been triggered, generates a security command and sends the security command to each mobile device in its corresponding first mobile device group, causing each mobile device in the first mobile device group to perform a corresponding operation according to the security command. Simultaneously, the first security control unit can also send a security command to the second security control unit, which receives the security command and sends it to each mobile device in its corresponding second mobile device group, causing each mobile device in the second mobile device group to perform a corresponding operation according to the security command. Compared with related technologies, this application expands the number of mobile devices that the security control system can manage by increasing the number of security control units in the security control system, and by having one security control unit control a group of mobile devices, thus improving the load capacity of the security control system. Furthermore, since data transmission is possible between each security control unit, unified security management of all mobile devices can be achieved in scenarios with a large number of mobile devices. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1This is a schematic diagram illustrating an interaction scenario between a control platform and a mobile device, provided for some embodiments of this application.

[0027] Figure 2 A schematic diagram of a safety control system provided for some embodiments of this application;

[0028] Figure 3 A schematic diagram of another safety control system provided in some embodiments of this application;

[0029] Figure 4 A schematic diagram of yet another safety control system provided in some embodiments of this application;

[0030] Figure 5 A schematic diagram of another security control system provided for some embodiments of this application;

[0031] Figure 6A A schematic diagram of another security control system provided for some embodiments of this application;

[0032] Figure 6B A schematic diagram of another security control system provided for some embodiments of this application;

[0033] Figure 7A A schematic diagram of another security control system provided for some embodiments of this application;

[0034] Figure 7B A schematic diagram of another security control system provided for some embodiments of this application;

[0035] Figure 8 A schematic diagram of a secure transmission system provided for some embodiments of this application;

[0036] Figure 9 This is a schematic diagram of a security control method according to some embodiments of this application;

[0037] Figure 10 This is a schematic diagram of an electronic device according to some embodiments of this application. Detailed Implementation

[0038] To enable those skilled in the art to better understand the technical solutions in the embodiments of the present invention, and to make the above-mentioned objectives, features and advantages of the embodiments of the present invention more apparent and understandable, the technical solutions in the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0039] Figure 1 This is a schematic diagram illustrating an interaction scenario between a control platform and a mobile device, provided as an embodiment of this application. Figure 1As shown, the control platform 10 can send control commands to multiple mobile devices 20 through at least two communication links (such as the first communication link 105 and the second communication link 106) to control the operation of the multiple mobile devices 20.

[0040] In some embodiments, the control platform 10 is configured to: upon determining that an emergency stop event has been triggered, generate an emergency stop command and transmit the emergency stop command to multiple mobile devices 20 via a first communication link 105. The emergency stop command conforms to a preset secure communication protocol, and the first communication link 105 is a link conforming to the preset secure communication protocol. The mobile devices 20 are configured to: receive the emergency stop command via the first communication link 105, parse the emergency stop command using the preset secure communication protocol, and perform a shutdown operation based on the parsing result.

[0041] Since the first communication link 105 for transmitting emergency stop commands between the control platform 10 and the multiple mobile devices 20 conforms to a preset secure communication protocol, and the emergency stop command also conforms to the preset secure communication protocol, it can be ensured that the control platform 10 can safely transmit the emergency stop signal to the multiple mobile devices 20.

[0042] For example, the mobile device 20 can be an Automated Guided Vehicle (AGV), a robot, or other similar device. For instance, multiple mobile devices 20 may include AGV1 to AGVm, where m is an integer greater than 1.

[0043] In some examples, control platform 10 refers to a platform that controls multiple mobile devices 20. For example, in a warehouse management scenario, a warehouse may include multiple AGVs (such as AGV1 to AGVm), and a control platform 10 for managing and controlling these multiple AGVs. By controlling the mobile devices 20, control platform 10 can schedule, stop, and resume operation of the mobile devices.

[0044] For example, such as Figure 1 As shown, the control platform 10 includes a safety control mechanism 11. The safety control mechanism 11 may include, for example, a safety control unit, such as a central processing unit (CPU) and a safety input / output module. The safety control mechanism 11 is used to generate an emergency stop command when an emergency stop event is determined to be triggered.

[0045] In some examples, the control platform 10 also includes a safety trigger mechanism 12, which may be coupled to the safety control mechanism 11. For example, the safety trigger mechanism 12 may include at least one of an emergency stop button, a light curtain, and a safety door lock.

[0046] In some embodiments, when the safety triggering mechanism 12 detects a triggering operation, it can generate a safety trigger signal. For example, when a triggering operation is detected, such as an emergency stop button being pressed, a light curtain being blocked, or a safety door lock being opened, a corresponding safety trigger signal can be generated. The safety triggering mechanism 12 can send the generated safety trigger signal to the safety control mechanism 11. The safety control mechanism 11 receives the safety trigger signal and generates an emergency stop command conforming to a preset safety communication protocol.

[0047] For example, the control platform 10 may also include a server that can be used to generate scheduling instructions. For instance, the scheduling instructions may be generated by system software 13 in the server.

[0048] In some examples, the control platform 10 can send emergency stop commands and / or scheduling commands to each mobile device 20 via a wireless transmitter 14, and the mobile device 20 can stop or move according to the emergency stop command or scheduling command sent by the control platform 10.

[0049] In some examples, the first communication link 105 is a link with a preset secure communication protocol. Therefore, emergency stop commands conforming to the preset secure communication protocol can be protected when transmitted through the first communication link 105, thereby achieving secure transmission. In other examples, scheduling commands generated by the system software 13 can be sent to each mobile device 20 through the second communication link 106. The second communication link 106 can be a link that does not need to conform to the preset secure communication protocol, and this application embodiment does not limit this.

[0050] Typically, the load capacity of the control platform 10 is limited, meaning the number of mobile devices 20 (such as AGVs) that the control platform 10 can manage and control is limited. For example, the load capacity of the control platform 10 can be determined by the safety control mechanism 11 (such as a CPU). For example, the number of mobile devices 20 that the control platform 10 can manage depends on the manufacturer and / or model of the safety control mechanism 11.

[0051] In some examples, the control platform 10 typically includes a safety control mechanism 11, which (such as a CPU) can typically control a few, dozens, or hundreds of AGVs. However, with the development of mobile device technology, in some large-scale warehouse management scenarios, the number of AGVs required may reach several thousand. Under the premise of ensuring secure transmission between the control platform 10 and the mobile device 20, the existing control platform 10 cannot simultaneously control and manage these thousands of AGVs.

[0052] To address the aforementioned issues, this application provides a safety control system that can solve the problem of safety control for all AGVs in large-scale warehousing scenarios, such as when the number of AGVs reaches thousands.

[0053] The safety control system provided in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0054] Figure 2 This is a schematic diagram of a safety control system provided in an embodiment of this application. Figure 2 As shown, in some embodiments, the safety control system 100 includes a plurality of safety control units.

[0055] For example, such as Figure 2 As shown, the plurality of safety control units includes a first safety control unit 111 and at least one second safety control unit 112. For example, the first safety control unit 111 is any one of the plurality of safety control units, and the second safety control unit 112 is any of the remaining safety control units other than the first safety control unit 111.

[0056] In some examples, the number of second safety control units 112 may be one or more, and this application embodiment does not limit this.

[0057] It should be noted that the safety control system 100 can be the above-described embodiment (e.g., Figure 1 The control platform 10 in the above embodiment, the safety control unit can be the one described above (e.g., Figure 1 The safety control mechanism 10 in the ) means that the safety control unit may include the CPU.

[0058] For example, the safety control system 100 may include n safety control units, that is, the safety control system 100 includes a first safety control unit 111 and n-1 second safety control units 112. Here, n is an integer greater than 1.

[0059] In some embodiments, each security control unit is used to control a group of mobile devices 20.

[0060] In some examples, a group of mobile devices may include at least one mobile device 20. For instance, multiple mobile devices 20 in a warehouse can be divided into a corresponding number of mobile device groups based on the number of security control units. For example, if the number of security control units is n, multiple mobile devices 20 can be divided into n groups, where each group contains m mobile devices, meaning each security control unit can control m mobile devices 20.

[0061] It should be noted that the mobile device 20 in this embodiment can be an AGV or other types of mobile devices, such as robots. This embodiment does not limit this. This embodiment uses an AGV as an example for illustrative purposes.

[0062] In some embodiments, the first security control unit 111 is configured to generate a security instruction upon determining that a security event has been triggered, and to send the security instruction to the second security control unit 112 and each mobile device in the first mobile device group corresponding to the first security control unit 111. The second security control unit 112 is configured to receive the security instruction and to send the security instruction to each mobile device in the second mobile device group corresponding to the second security control unit 112.

[0063] For example, the first safety control unit 111 can control each mobile device in its corresponding first mobile device group according to a safety command; the second safety control unit 112 can control each mobile device in its corresponding second mobile device group according to a safety command. For example, controlling the stopping and starting of each mobile device.

[0064] For example, the first safety control unit 111 and the second safety control unit 112 can transmit (e.g., share) safety commands to each other. That is, when any safety control unit (e.g., the first safety control unit 111) generates a safety command, in addition to sending the safety command to each mobile device in the corresponding mobile device group (e.g., the first mobile device group), it can also send the safety command to other safety control units (e.g., the second safety control unit 112), so that the other safety control units can send the safety command to each mobile device in the corresponding mobile device group (e.g., the second mobile device group), thereby enabling the safety control system 100 to simultaneously control the emergency stop and resume operation of all mobile devices 20.

[0065] It should be noted that the embodiments of this application take the generation of security instructions by the first security control unit 111 and their transmission to the second security control unit 112 as an example for illustrative purposes.

[0066] Figure 3 This is a schematic diagram of another security control system provided in an embodiment of this application. Figure 3 As shown, the first safety control unit 111 corresponds to the first mobile device group of AGV11 to AGV1m. The first safety control unit 111 can send the generated safety instructions to AGV11 to AGV1m to control the stopping (such as emergency stop) and running (such as resumption of running) of AGV11 to AGV1m.

[0067] In some examples, the first safety control unit 111 is coupled to the second safety control unit 112. For instance, the first safety control unit 111 can be directly coupled to the second safety control unit 112, or the first safety control unit 111 can be coupled to the second safety control unit 112 through other devices. Therefore, the first safety control unit 111 and the second safety control unit 112 can communicate with each other. For example, the first safety control unit 111 can send a safety command to the second safety control unit 112, which receives the safety command and sends it to each mobile device in the second mobile device group, such as AGV21 to AGV2m, to control the stopping and running of AGV21 to AGV2m.

[0068] In some embodiments, such as Figure 3 As shown, the safety control system 100 further includes at least one (or more) safety triggering units. Among these, at least one safety triggering unit includes a first safety triggering unit 121 coupled to the first safety control unit 111.

[0069] In some embodiments, the first security trigger unit 121 is configured to generate a security trigger signal and send it to the first security control unit 111 when a trigger operation is detected. The first security control unit 111 is configured to receive the security trigger signal and determine, based on the security trigger signal, that a security event has been triggered.

[0070] In some examples, the security triggering unit can also be the embodiment described above (e.g., Figure 1 The safety triggering mechanism 12 in the ) may also include at least one of an emergency stop button, a light curtain, and a safety door lock.

[0071] For example, in the safety control system 100, the number of safety triggering units may be the same as or different from the number of safety control units. For instance, if each of the multiple safety control units is coupled to a safety triggering unit, then the number of safety triggering units is the same as the number of safety control units; if some (one or more) of the multiple safety control units are coupled to safety triggering units, then the number of safety triggering units is less than the number of safety control units.

[0072] In some examples, if the first safety control unit 111 is coupled to the first safety triggering unit 121, when the first safety triggering unit 121 detects a triggering operation, it can generate a safety triggering signal according to the triggering operation and send the safety triggering signal to the first safety control unit 111; the first safety control unit 111 receives the safety triggering signal and determines that a safety event has been triggered according to the safety triggering signal.

[0073] For example, safety events include emergency stop events and / or reset events. In some examples, an emergency stop event can be triggered by a user pressing an emergency stop button, or by a light curtain being blocked, or by a security door lock being opened; a reset event can be triggered by a user pressing a reset button, or similar actions. This application does not limit the scope of the examples.

[0074] In some embodiments, a security command can be used to instruct the mobile device 20 to stop or resume operation. Exemplarily, the security command may include an emergency stop command and / or a reset command. For example, when the security event is an emergency stop event, the security command generated by the first security control unit 111 is an emergency stop command, which is used to instruct the mobile device 20 to stop operation (e.g., an emergency stop); when the security event is a reset event, the security command generated by the first security control unit 111 is a reset command, which is used to instruct the mobile device 20 to resume operation.

[0075] In some examples, such as Figure 3 As shown, the first safety control unit 111 and the first safety triggering unit 121 can be referred to as the first master station, and the second safety control unit 112 or the second safety control unit 112 and the second safety triggering unit 122 (in the case where the safety triggering unit includes the second safety triggering unit 122 coupled to the second safety control unit 112) can be referred to as the second master station. That is to say, the second master station may or may not include the safety triggering unit.

[0076] For example, if the second master station includes a security triggering unit, such as the second security triggering unit 122, then when the second security triggering unit 122 detects a triggering operation, it can also generate a security triggering signal and send it to the second security control unit 112. The second security control unit 112 can generate a security command based on the received security triggering signal and send the security command to each mobile device in the second mobile device group, as well as the first security control unit 111, so that the first security control unit 111 sends the security command to each mobile device in the first mobile device group, thereby controlling the stopping and running of all mobile devices.

[0077] In some examples, when the safety control system 100 includes multiple safety triggering units, each safety triggering unit can generate a safety trigger signal when it detects a triggering operation. This safety trigger signal is then sent to the safety control unit coupled to it. The safety control unit can generate a safety command based on the safety trigger signal and send the safety command to its corresponding mobile device group and other safety control units, so that the other safety control units can send the command to their respective corresponding mobile device groups, thereby enabling the safety control system 100 to control all mobile devices 20.

[0078] Therefore, the security control system provided in this application embodiment includes multiple security control units, each of which can control a group of mobile devices. These multiple security control units include a first security control unit 111 and at least one second security control unit 112. The first security control unit 111 generates a security instruction when a security event is determined to be triggered, and sends the security instruction to each mobile device in its corresponding first mobile device group, so that each mobile device in the first mobile device group performs a corresponding operation according to the security instruction. Simultaneously, the first security control unit 111 can also send a security instruction to the second security control unit 112, which receives the security instruction and sends it to each mobile device in its corresponding second mobile device group, so that each mobile device in the second mobile device group performs a corresponding operation according to the security instruction. Compared with related technologies, this application embodiment increases the number of security control units in the security control system, and one security control unit controls a group of mobile devices, thus expanding the number of mobile devices that the security control system 100 can manage and improving the load capacity of the security control system 100. Furthermore, since data transmission is possible between each security control unit, unified security management of all mobile devices by the security control system 100 can be achieved in scenarios with a large number of mobile devices.

[0079] Figure 4 This is a schematic diagram of another safety control system provided in an embodiment of this application.

[0080] In some embodiments, such as Figure 4 As shown, the security control system 100 also includes a wireless transmitter 130. The wireless transmitter 130 is coupled to multiple security control units. The first security control unit 111 is configured to send security commands to each mobile device in the first mobile device group corresponding to the first security control unit 111 via the wireless transmitter 130.

[0081] In some embodiments, the first security control unit 111 is further configured to send security instructions to the second security control unit 112 via the wireless transmitter 130. The second security control unit 112 is configured to receive security instructions via the wireless transmitter 130 and send security instructions to each mobile device in the second mobile device group corresponding to the second security control unit 112 via the wireless transmitter 130.

[0082] For example, the wireless transmitter 130 can transmit communication data between each security control unit and each mobile device 20 in its corresponding mobile device group. For instance, the wireless transmitter 130 can be used to transmit data between the first master station and each mobile device 20 in the first mobile device group; or, the wireless transmitter 130 can also be used to transmit communication data between each security control unit. For instance, the wireless transmitter 130 can be used to transmit data between the first master station and the second master station (i.e., each master station).

[0083] In some examples, the wireless transmitter 130 can perform data transmission between the master station and each mobile device group based on a preset correspondence between multiple security control units and multiple mobile device groups. This preset correspondence can be generated in advance by the security control units and sent to the wireless transmitter 130. For example, the first security control unit 111 can send the preset correspondence and security commands to the wireless transmitter 130, and the wireless transmitter 130 can send the security commands to each mobile device in the first mobile device group according to the preset correspondence. Alternatively, it can be preset and stored in the wireless transmitter 130. For example, after the first security control unit 111 sends the security commands to the wireless transmitter 130, the wireless transmitter 130 determines the first mobile device group corresponding to the first security control unit 111 according to the stored preset correspondence and sends the security commands to each mobile device in the first mobile device group. The embodiments in this application are not limited in scope.

[0084] In other examples, the security commands sent by the security control unit may carry identification information that instructs the wireless transmitter 130 to send the security command to each mobile device in its corresponding mobile device group, or to other security control units.

[0085] Therefore, in the security control system 100 provided in this application embodiment, the wireless transmitter 130 can realize the transmission of security instructions between each security control unit and each mobile device in its corresponding mobile device group, and the wireless transmitter 130 can also realize the transmission of security instructions between each security control unit, thereby realizing unified security control of all mobile devices 20 by the security control system 100.

[0086] Figure 5 This is a schematic diagram of another safety control system provided in an embodiment of this application. Figure 5 As shown, the security control system 100 also includes a switch 140.

[0087] For example, such as Figure 5 As shown, multiple security control units are coupled to switch 140, and multiple security control units are also coupled to wireless transmitter 130.

[0088] In some embodiments, the first security control unit 111 is configured to send security instructions to the second security control unit 112 via the switch 140. The second security control unit 112 is configured to receive security instructions via the switch 140 and send security instructions to each mobile device in the second mobile device group corresponding to the second security control unit 112 via the wireless transmitter 130.

[0089] For example, the wireless transmitter 130 is used to transmit communication data between each safety control unit and each mobile device in its corresponding mobile device group. For example, the wireless transmitter 130 can send scheduling instructions generated by the system software 13 to each mobile device 20; or, for another example, the wireless transmitter 130 can send safety instructions (such as emergency stop instructions) generated by the first safety control unit 111 to each mobile device in the first mobile device group.

[0090] For example, switch 140 is used to transmit data between various security control units, that is, data between various master stations. For instance, first security control unit 111 (such as first master station) can send generated security commands (such as emergency stop commands) to second security control unit 112 (such as second master station) through switch 140.

[0091] For example, each safety control unit may include two interfaces, namely a first interface A and a second interface B. In some examples, such as Figure 5 As shown, the first interface A of each security control unit can be coupled to the wireless transmitter 130, and the second interface B of each security control unit can be coupled to the switch 140. It should be noted that each security control unit may also include more interfaces, such as three interfaces; this embodiment does not limit this.

[0092] In some embodiments, the first security control unit 111 is configured to send a security command to the wireless transmitter 130 via its first interface A, causing the wireless transmitter 130 to send the security command to each mobile device in the first mobile device group. The first security control unit is also configured to send a security command to the switch 140 via its second interface B, causing the switch 140 to send the security command to the second security control unit 112. The second security control unit 112 is configured to receive the security command via its second interface and send the security command to the wireless transmitter 130 via its first interface, causing the wireless transmitter 130 to send the security command to each mobile device in the second mobile device group.

[0093] In some examples, the security control system 100 may contain one or more switches 140. The number of switches 140 can be determined based on the number of ports on the switches 140 and the number of security control units. For example, when the number of security control units is less than the number of ports on the switches 140, a single switch 140 can be used to transmit security commands between the security control units. Conversely, when the number of security control units is greater than the number of ports on the switches 140, multiple switches 140 can be used to transmit security commands between the security control units. It should be noted that when there are multiple switches 140, data transmission is possible between these multiple switches 140, thus ensuring data transmission between the security control units.

[0094] Therefore, the security control system provided in this application embodiment, while ensuring the security of data transmission, enables data transmission between various security control units by adding a switch 140, thereby avoiding network congestion caused by excessive data volume in the wireless transmitter 130.

[0095] Figure 6A This is a schematic diagram of another safety control system provided in an embodiment of this application. Figure 6A As shown, the second security control unit 112 can be coupled to the wireless transmitter 130 through the first security control unit 111.

[0096] In some embodiments, the first security control unit 111 is configured to send security instructions to each mobile device in the first mobile device group corresponding to the first security control unit 111 via the wireless transmitter 130; the second security control unit 112 is configured to receive the security instructions sent by the first security control unit 111, and send security instructions to each mobile device in the second mobile device group via the first security control unit 111 and the wireless transmitter 130.

[0097] In some embodiments, such as Figure 6AAs shown, the first interface A of the first security control unit 111 is coupled to the wireless transmitter 130, and the second interface B of the first security control unit 111 is coupled to the first interface A of the second security control unit. The first security control unit 111 is configured to generate a security command when a security event is determined to be triggered, and send the security command to each mobile device in the first mobile device group through the first interface A of the first security control unit 111 and the wireless transmitter 130, and also send the security command to the second security control unit 112 through the second interface B of the first security control unit 111. The second security control unit 112 is configured to receive the security command through its first interface A, and send the security command to each mobile device in the second mobile device group through the first security control unit 111 and the wireless transmitter 130.

[0098] In some examples, such as Figure 6A As shown, when the first security control unit 111 is coupled to the second security control unit 112 and the wireless transmitter 130 respectively, the first security control unit 111 can act as a data transmission relay. The transmission data of other security control units (such as the second security control unit 112) can be transmitted to each mobile device in their respective mobile device group through the first security control unit 111.

[0099] In some examples, if the first security triggering unit 121 detects a security event being triggered, the first security control unit 111 can generate a security command based on the security trigger signal sent by the first security triggering unit 121. The first security control unit 111 can send the security command to the wireless transmitter 130 and the second security control unit 112 through the second interface B. The wireless transmitter 130 can send the security command sent by the first security control unit to each mobile device in the first mobile device group. The second security control unit 112 receives the security command sent by the first security control unit through the first interface A, and then sends the security command to each mobile device in the second mobile device group through the first security control unit 111 and the wireless transmitter 130. For example, the second security control unit 112 can process the received security command before sending it to each mobile device in the second mobile device group through the first security control unit 111 and the wireless transmitter 130. This embodiment of the application does not limit this.

[0100] In some examples, if the second security trigger unit 122 detects that a security event has been triggered, the second security control unit 112 can generate a security command based on the security trigger signal sent by the second security trigger unit 122. The second security control unit 112 sends the security command to the first security control unit 111 through the first interface A; the first security control unit 111 receives the security command through the second interface B and sends the security command to the wireless transmitter 130 through the first interface A, so that the wireless transmitter 130 sends the security command to each mobile device in the first mobile device group and each mobile device in the second mobile device group respectively.

[0101] Figure 6B This is a schematic diagram of another safety control system provided in an embodiment of this application. Figure 6B As shown, the first security control unit 111 is coupled to the second security control unit 112, and the first security control unit 111 and the second security control unit 112 are respectively coupled to the wireless transmitter 130.

[0102] In some embodiments, the first security control unit 111 is configured to send security instructions to each mobile device in the first mobile device group corresponding to the first security control unit 111 via a wireless transmitter 130; the second security control unit 112 is configured to receive the security instructions sent by the first security control unit 111 and send security instructions to each mobile device in the second mobile device group via the wireless transmitter 130.

[0103] In some embodiments, such as Figure 6B As shown, the first interface A of the first security control unit 111 is coupled to the wireless transmitter 130, the second interface B of the first security control unit 111 is coupled to the first interface A of the second security control unit 112, and the second interface B of the second security control unit is coupled to the wireless transmitter 130. The first security control unit 111 is configured to: upon determining that a security event has been triggered, generate a security command, send the security command to each mobile device in the first mobile device group through the first interface A of the first security control unit 111 and the wireless transmitter 130, and send the security command to the second security control unit through the second interface B of the first security control unit 111. The second security control unit 112 is configured to: receive the security command through the first interface A of the second security control unit 112, and send the security command to each mobile device in the second mobile device group through the second interface B of the second security control unit and the wireless transmitter 130.

[0104] In some examples, a second security control unit 112 cascaded with the first security control unit 111 can also be coupled to a wireless transmitter 130. In this case, when the second security control unit 112 receives a security command sent from the second interface B of the first security control unit 111 cascaded with it, it can send the security command to the wireless transmitter 130 through the second interface B of the second security control unit 112, so that the wireless transmitter 130 can send the security command to each mobile device in the second mobile device group, thereby controlling the stopping and running of each mobile device.

[0105] Figure 7A This is a schematic diagram of another safety control system provided in an embodiment of this application. Figure 7A As shown, the multiple safety control units also include a third safety control unit 113.

[0106] For example, the first interface A of the third safety control unit 113 is coupled to the second interface B of the second safety control unit 112.

[0107] In some embodiments, the first security control unit 111 is configured to: generate a security instruction upon determining that a security event has been triggered, and send the security instruction to the second security control unit via its second interface B. The second security control unit 112 is configured to: send the security instruction to the third security control unit 113 via its first interface A and its second interface B. The third security control unit 113 is configured to: receive the security instruction via its first interface A, and send the security instruction to each mobile device in the third mobile device group corresponding to the third security control unit 113 via the second security control unit, the first security control unit 111, and the wireless transmitter 130.

[0108] It should be noted that when there are multiple second safety control units 112, that is, when multiple safety control units are coupled between the first safety control unit 111 and the third safety control unit 113, the connection method and data transmission process are similar to the above process, and will not be repeated here to avoid repetition.

[0109] In some examples, if the second security control unit 112 is coupled to the third security control unit 113, the third security control unit 113 can receive security instructions sent by the first security control unit 111 through the second security control unit 112, and then send its security instructions to the third mobile device group through the second security control unit 112, the first security control unit 111 and the wireless transmitter 130.

[0110] In some examples, if the third security trigger unit 123 detects a security event being triggered, the third security control unit 113 can generate a security command based on the security trigger signal sent by the third security trigger unit 123. The third security control unit 113 sends the security command to the second security control unit 112 through the first interface A. The second security control unit 112 receives the security command through the second interface B and sends it to the first security control unit 111 through the first interface A. The first security control unit 111 receives the security command through the second interface B and sends it to the wireless transmitter 130 through the first interface A, so that the wireless transmitter 130 sends the security command to each mobile device in the first mobile device group, each mobile device in the second mobile device group, and each mobile device in the third mobile device group respectively.

[0111] It should be noted that the embodiments of this application do not limit the security triggering unit that triggers the security event.

[0112] Figure 7B This is a schematic diagram of another safety control system provided in an embodiment of this application. Figure 7B As shown, the multiple safety control units also include a third safety control unit 113.

[0113] For example, the second security control unit 112 further includes a third interface C; the third interface C of the second security control unit 112 is coupled to the first interface A of the third security control unit 113, and the second interface B of the third security control unit 113 is coupled to the wireless transmitter 130.

[0114] In some embodiments, the second security control unit 112 is further configured to send security instructions to the third security control unit 113 via its third interface C. The third security control unit 113 is configured to receive security instructions via its first interface A, and to send security instructions to each mobile device in the third mobile device group corresponding to the third security control unit 113 via its second interface B and the wireless transmitter 130.

[0115] In some examples, when the second security control unit 112 also includes a third interface C, the first security control unit 111, the second security control unit 112, and the third security control unit 113 can be cascaded and coupled to the wireless transmitter 130 respectively. In this case, when the second security control unit 112 receives a security command sent by the second interface B of the first security control unit 111, it can send it to the wireless transmitter 130 through the second interface B of the second security control unit 112, so that the wireless transmitter 130 can send the security command to each mobile device in the second mobile device group, thereby controlling the stop and operation of each mobile device. Simultaneously, the second security control unit 112 can send the security command to the third security control unit 113 through its third interface C. The third security control unit 113 receives the security command through its first interface A and sends it to the wireless transmitter 130 through its second interface B, so that the wireless transmitter 130 can send the security command to each mobile device in the third mobile device group, thereby controlling the stop and operation of each mobile device.

[0116] Therefore, in this embodiment, the security control units are connected in a cascaded manner. When one security control unit (such as the first security control unit 111) is connected to the wireless transmitter 130, other security control units connected to the first security control unit 111 (such as the second security control unit 112 and / or the third security control unit 113) can send security commands to each mobile device in the corresponding mobile device group through the first security control unit 111 and the wireless transmitter 130, thereby achieving unified security control of all mobile devices 20 by the security control system 100. Alternatively, the security control units can be directly cascaded to transmit security commands, and each security control unit is coupled to the wireless transmitter 130, sending the security commands it acquires to each mobile device in its corresponding mobile device group through the wireless transmitter 130, thereby achieving unified security control of all mobile devices 20 by the security control system 100.

[0117] Figure 8 This is a schematic diagram of a secure transmission system provided in an embodiment of this application. Figure 8 As shown, the secure transmission system 1 includes a secure control system 100 and multiple mobile devices 20. The secure control system 100 can be the same as the one described in the above embodiments.

[0118] In some embodiments, the mobile device 20 is configured to receive a security instruction sent by the corresponding security control unit in the security control system 100, and perform a corresponding operation according to the security instruction.

[0119] In some examples, each of the multiple mobile devices 20 can receive security commands from the security control unit corresponding to its respective mobile device group. For example, each mobile device in the first mobile device group can receive security commands from the first security control unit 111, and each mobile device in the second mobile device group can receive security commands from the second security control unit 112; that is, in the above embodiments. Figure 4 and Figure 5 The transmission method between the multiple security control units and the multiple mobile devices 20.

[0120] In other examples, each mobile device may also receive security commands from the security control unit corresponding to its group of mobile devices, sent through other security control units. For example, each mobile device in the second group of mobile devices may receive security commands from the second security control unit 112, sent through the first security control unit 111.

[0121] In some embodiments, such as Figure 8 As shown, each mobile device 20 includes a security control mechanism 21, a wireless receiver 22, and an actuator 23. The wireless receiver 22 is coupled to the wireless transmitter 130 in the security control system 100; the security control mechanism 21 is coupled to both the wireless receiver 22 and the actuator 23.

[0122] The wireless receiver 22 is configured to receive security commands sent by the wireless transmitter 130 and transmit the security commands to the security control mechanism 21. The security control mechanism 21 is configured to receive the security commands, parse the commands according to a preset security communication protocol, obtain the parsing result, and send the parsing result to the execution mechanism 23. The execution mechanism 23 is configured to perform corresponding operations based on the parsing result.

[0123] In some examples, the actuator 23 may execute the stop operation corresponding to the emergency stop instruction or the run operation corresponding to the reset instruction based on the parsing result; or it may execute the operation corresponding to other scheduling instructions. This application embodiment does not limit this.

[0124] Figure 9 This is a schematic diagram of a security control method provided in an embodiment of this application. The security control method is applied to a security control system, such as the security control system 100 in the above embodiment. The security control system includes multiple security control units, each of which controls a group of mobile devices; wherein the multiple security control units include a first security control unit 111 and a second security control unit 112.

[0125] like Figure 9As shown, the safety control method includes steps S910 to S920.

[0126] In step S910, when the first security control unit 111 determines that a security event has been triggered, it generates a security command and sends the security command to each mobile device in the first mobile device group corresponding to the second security control unit 112 and the first security control unit 111, respectively.

[0127] In step S920, the second security control unit 112 receives a security instruction and sends the security instruction to each mobile device in the second mobile device group corresponding to the second security control unit 112.

[0128] In some embodiments, the security control system 100 further includes a wireless transmitter 130.

[0129] For example, in step S910, the first security control unit 111 sends the security instruction to each mobile device in the first mobile device group corresponding to the first security control unit 111, including: the first security control unit 111 sends the security instruction to each mobile device in the first mobile device group corresponding to the first security control unit 111 through the wireless transmitter 130.

[0130] For example, in step S910, the first security control unit 111 sends a security instruction to the second security control unit 112, and the step further includes: the first security control unit 111 sends a security instruction to the second security control unit via a wireless transmitter 130.

[0131] For example, in step S920, the second security control unit 112 receives a security instruction and sends the security instruction to each mobile device in the second mobile device group corresponding to the second security control unit 112, including: the second security control unit 112 receives the security instruction through the wireless transmitter 130 and sends the security instruction to each mobile device in the second mobile device group corresponding to the second security control unit 112 through the wireless transmitter 130.

[0132] In some embodiments, the security control system 100 further includes a switch 140.

[0133] For example, in step S910, the first security control unit 111 sends the security instruction to each mobile device in the first mobile device group corresponding to the first security control unit 111, and further includes: the first security control unit 111 sends the security instruction to the second security control unit 112 through the switch 140.

[0134] For example, in step S920, the second security control unit 112 receives a security instruction and sends the security instruction to each mobile device in the second mobile device group corresponding to the second security control unit 112. The step also includes: the second security control unit 112 receives the security instruction through the switch 140 and sends the security instruction to each mobile device in the second mobile device group corresponding to the second security control unit through the wireless transmitter 130.

[0135] In some embodiments, the second security control unit 112 is coupled to the wireless transmitter 130 via the first security control unit 111. In step S910, when the first security control unit 111 determines that a security event has been triggered, it generates a security command and sends the security command to each mobile device in the first mobile device group corresponding to the first security control unit 111. This includes: the first security control unit 11 generates a security command when it determines that a security event has been triggered, and sends the security command to each mobile device in the first mobile device group via the wireless transmitter 130. In step S920, the second security control unit 112 receives the security command and sends the security command to each mobile device in the second mobile device group corresponding to the second security control unit 112. This also includes: the second security control unit 112 receives the security command sent by the first security control unit 111 and sends the security command to each mobile device in the second mobile device group via the first security control unit 111 and the wireless transmitter 130.

[0136] In some embodiments, the first security control unit 111 is coupled to the second security control unit 112, and both the first security control unit 111 and the second security control unit 112 are coupled to the wireless transmitter 130. In step S910, when the first security control unit 111 determines that a security event has been triggered, it generates a security command and sends the security command to each mobile device in the first mobile device group corresponding to the first security control unit 111. This includes: the first security control unit 11 generates a security command when it determines that a security event has been triggered, and sends the security command to each mobile device in the first mobile device group via the wireless transmitter 130. In step S920, the second security control unit 112 receives the security command and sends the security command to each mobile device in the second mobile device group corresponding to the second security control unit 112. This also includes: the second security control unit 112 receives the security command sent by the first security control unit and sends the security command to each mobile device in the second mobile device group via the wireless transmitter 130.

[0137] Figure 10This is a schematic diagram of an electronic device provided in an embodiment of this application. In some embodiments, the electronic device includes one or more processors and a memory. The memory is configured to store one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the security control method described in the above embodiments.

[0138] like Figure 10 As shown, the electronic device 1000 includes a processor 1001 and a memory 1002. Exemplarily, the electronic device 1000 may also include a communications interface 1003 and a communications bus 1004.

[0139] The processor 1001, memory 1002, and communication interface 1003 communicate with each other via communication bus 1004. Communication interface 1003 is used to communicate with other network elements such as clients or other servers.

[0140] In some embodiments, the processor 1001 is used to execute program 1005, which specifically performs the relevant steps in the above-described security control method embodiments. Specifically, program 1005 may include program code, which includes computer-executable instructions.

[0141] For example, processor 1001 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application. Electronic device 1000 may include one or more processors, which may be processors of the same type, such as one or more CPUs; or they may be processors of different types, such as one or more CPUs and one or more ASICs.

[0142] In some embodiments, memory 1002 is used to store program 1005. Memory 1002 may include high-speed RAM memory, and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0143] Specifically, program 1005 can be called by processor 1001 to cause electronic device 1000 to perform the following operations:

[0144] When a security event is determined to be triggered, the first security control unit 111 generates a security command and sends the security command to each mobile device in the first mobile device group corresponding to the second security control unit 112 and the first security control unit 111, respectively.

[0145] The second security control unit 112 receives security instructions and sends security instructions to each mobile device in the second mobile device group corresponding to the second security control unit 112.

[0146] This application provides a computer-readable storage medium storing at least one executable instruction that, when executed on an electronic device 1000, causes the electronic device 1000 to perform the security control method described in the above embodiments.

[0147] Specifically, the executable instructions can be used to cause the electronic device 1000 to perform the following operations:

[0148] When a security event is determined to be triggered, the first security control unit 111 generates a security command and sends the security command to each mobile device in the first mobile device group corresponding to the second security control unit 112 and the first security control unit 111, respectively.

[0149] The second security control unit 112 receives security instructions and sends security instructions to each mobile device in the second mobile device group corresponding to the second security control unit 112.

[0150] For example, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CD-ROM), magnetic tape, floppy disk, and optical data storage device, etc.

[0151] The beneficial effects that the security control method, electronic device and computer-readable storage medium provided in this application embodiment can achieve can be referred to the beneficial effects in the corresponding security control system provided above, and will not be repeated here.

[0152] It should be noted that in this application, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

[0153] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the apparatus embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0154] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus or device (such as a computer-based system, a processor-included system or other system that can fetch and execute instructions from, an instruction execution system, apparatus or device).

[0155] For the purposes of this specification, "computer-readable medium" can mean any means that can contain, store, communicate, propagate, or transmit programs for use by or in conjunction with an instruction execution system, apparatus, or device.

[0156] More specific examples (a non-exhaustive list) of computer-readable media include the following: electrical connections having one or more wires (electronic devices), portable computer disks (magnetic devices), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM).

[0157] Furthermore, the computer-readable medium can even be paper or other suitable media on which the program can be printed, because the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory. It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof.

[0158] In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0159] The embodiments described above do not constitute a limitation on the scope of protection of this application.

Claims

1. A safety control system, characterized in that, The security control system includes multiple security control units and a wireless transmitter. Each security control unit is used to control a group of mobile devices. The multiple security control units include a first security control unit, at least one second security control unit, and a third security control unit. The first security control unit is coupled to the third security control unit through the at least one second security control unit. The first security control unit is configured to: generate a security command when a security event is determined to be triggered, send the security command to each mobile device in the first mobile device group corresponding to the first security control unit through the first interface of the first security control unit and the wireless transmitter, and send the security command to the second security control unit through the second interface of the first security control unit; wherein, the first interface of the first security control unit is coupled to the wireless transmitter, and the second interface of the first security control unit is coupled to the first interface of the second security control unit. The second security control unit is configured to: receive the security command through a first interface of the second security control unit; send the security command to each mobile device in the second mobile device group corresponding to the second security control unit through a second interface of the second security control unit and the wireless transmitter; and send the security command to the third security control unit through a third interface of the second security control unit; wherein the second interface of the second security control unit is coupled to the wireless transmitter; the second security control unit further includes a third interface, which is coupled to the first interface of the third security control unit; The third security control unit is configured to: receive the security command through a first interface of the third security control unit, and send the security command to each mobile device in the third mobile device group corresponding to the third security control unit through a second interface of the third security control unit and the wireless transmitter; wherein the second interface of the third security control unit is coupled to the wireless transmitter.

2. The system according to claim 1, characterized in that, The wireless transmitter is coupled to the plurality of security control units; The first security control unit is configured to send the security command to each mobile device in the first mobile device group corresponding to the first security control unit via the wireless transmitter.

3. The system according to claim 2, characterized in that, The first security control unit is configured to send the security command to the second security control unit via the wireless transmitter; The second security control unit is configured to: receive the security instruction via the wireless transmitter, and send the security instruction to each mobile device in the second mobile device group corresponding to the second security control unit via the wireless transmitter.

4. The system according to claim 2, characterized in that, The security control system also includes a switch, which is coupled to the plurality of security control units; The first security control unit is configured to send the security command to the second security control unit via the switch; The second security control unit is configured to receive the security instruction through the switch and send the security instruction to each mobile device in the second mobile device group corresponding to the second security control unit through the wireless transmitter.

5. The system according to claim 4, characterized in that, The first interfaces of the plurality of security control units are respectively coupled to the wireless transmitter, and the second interfaces of the plurality of security control units are respectively coupled to the switch; The first security control unit is configured to send the security command to the wireless transmitter through a first interface of the first security control unit, so that the wireless transmitter sends the security command to each mobile device in the first mobile device group; The first security control unit is further configured to send the security command to the switch through the second interface of the first security control unit, so that the switch sends the security command to the second security control unit; The second security control unit is configured to receive the security instruction through a second interface of the second security control unit, and to send the security instruction to the wireless transmitter through a first interface of the second security control unit, so that the wireless transmitter sends the security instruction to each mobile device in the second mobile device group.

6. The system according to claim 1, characterized in that, The second security control unit is coupled to the wireless transmitter through the first security control unit; The first security control unit is configured to send the security command to each mobile device in the first mobile device group corresponding to the first security control unit via the wireless transmitter; The second security control unit is configured to: receive the security command sent by the first security control unit, and send the security command to each mobile device in the second mobile device group through the first security control unit and the wireless transmitter.

7. The system according to claim 6, characterized in that, The first interface of the first security control unit is coupled to the wireless transmitter, and the second interface of the first security control unit is coupled to the first interface of the second security control unit; The first security control unit is configured to: generate the security instruction when it is determined that the security event is triggered, send the security instruction to each mobile device in the first mobile device group through the first interface of the first security control unit and the wireless transmitter, and send the security instruction to the second security control unit through the second interface of the first security control unit; The second security control unit is configured to: receive the security command through a first interface of the second security control unit, and send the security command to each mobile device in the second mobile device group through the first security control unit and the wireless transmitter.

8. The system according to claim 7, characterized in that, The first interface of the third safety control unit is coupled to the second interface of the second safety control unit; The second security control unit is configured to send the security command to the third security control unit through a second interface of the second security control unit; The third security control unit is configured to: receive the security instruction through a first interface of the third security control unit, and send the security instruction to each mobile device in the third mobile device group corresponding to the third security control unit through the second security control unit, the first security control unit, and the wireless transmitter.

9. The system according to any one of claims 1-8, characterized in that, The safety control system further includes at least one safety triggering unit; wherein, the at least one safety triggering unit includes a first safety triggering unit coupled to the first safety control unit; The first security triggering unit is configured to generate a security triggering signal and send the security triggering signal to the first security control unit when a triggering operation is detected. The first safety control unit is configured to: receive the safety trigger signal, and determine that the safety event has been triggered based on the safety trigger signal; wherein the safety event includes an emergency stop event and / or a reset event.

10. The system according to any one of claims 1-8, characterized in that, The safety commands include emergency stop commands and / or reset commands.

11. A secure transmission system, characterized in that, Includes a security control system as described in any one of claims 1-10 and a plurality of mobile devices; The mobile device is configured to receive security instructions sent by the corresponding security control unit in the security control system, and to perform corresponding operations according to the security instructions.

12. The system according to claim 11, characterized in that, The mobile device includes a wireless receiver, a security control mechanism, and an actuator; wherein the wireless receiver is coupled to a wireless transmitter in the security control system; and the security control mechanism is coupled to both the wireless receiver and the actuator. The wireless receiver is configured to: receive the security instruction sent by the wireless transmitter, and send the security instruction to the security control mechanism; The security control mechanism is configured to: receive the security instruction, parse the security instruction according to a preset security communication protocol, obtain the parsing result, and send the parsing result to the execution mechanism; The actuator is configured to perform corresponding operations based on the parsing results.

13. A safety control method, characterized in that, An application is made in a security control system, which includes multiple security control units and a wireless transmitter. Each of the multiple security control units is used to control a group of mobile devices. The multiple security control units include a first security control unit, at least one second security control unit, and a third security control unit. The first security control unit is coupled to the third security control unit through the at least one second security control unit. The method includes: When the first security control unit determines that a security event has been triggered, it generates a security command and sends the security command to each mobile device in the first mobile device group corresponding to the first security control unit through the first interface of the first security control unit and the wireless transmitter, and sends the security command to the second security control unit through the second interface of the first security control unit; wherein, the first interface of the first security control unit is coupled to the wireless transmitter, and the second interface of the first security control unit is coupled to the first interface of the second security control unit. The second security control unit receives the security command through its first interface, sends the security command to each mobile device in the second mobile device group corresponding to the second security control unit through its second interface and the wireless transmitter, and sends the security command to the third security control unit through its third interface; wherein, the second interface of the second security control unit is coupled to the wireless transmitter; the second security control unit also includes a third interface, which is coupled to the first interface of the third security control unit; The third security control unit receives the security command through its first interface and sends the security command to each mobile device in the third mobile device group corresponding to the third security control unit through its second interface and the wireless transmitter; wherein the second interface of the third security control unit is coupled to the wireless transmitter.

14. The method according to claim 13, characterized in that, The security control system further includes a switch; the first security control unit and the second security control unit are respectively coupled to the switch; The method further includes: The first security control unit sends the security command to the second security control unit through the switch; The second security control unit receives the security instruction through the switch and sends the security instruction to each mobile device in the second mobile device group corresponding to the second security control unit through the wireless transmitter.

15. The method according to claim 13, characterized in that, The second security control unit is coupled to the wireless transmitter via the first security control unit; the method further includes: When the first security control unit determines that a security event has been triggered, it generates a security command and sends the security command to each mobile device in the first mobile device group via the wireless transmitter. The second security control unit receives the security command sent by the first security control unit, and sends the security command to each mobile device in the second mobile device group through the first security control unit and the wireless transmitter.

16. An electronic device, characterized in that, include: One or more processors; and The memory is configured to store one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the security control method according to any one of claims 13-15.

17. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by a processor, implements the security control method according to any one of claims 13-15.

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