Bin gate control method, robot and storage medium

Abstract

The embodiment of the invention relates to a bin gate control method, a robot and a storage medium, and the method comprises the steps that operation data of a target assembly is acquired, the target assembly comprises a bin gate, a driving motor and a control circuit board, the input end of the driving motor is connected with the control circuit board, and the output end of the driving motor is connected with the bin gate; determining whether the target component is abnormal based on the operation data; and when the target component is abnormal, executing an exception handling operation on the target component. According to the method, whether the bin gate, the driving motor, the control circuit board and other assemblies are abnormal or not is determined by obtaining the operation data of the bin gate, the driving motor, the control circuit board and other assemblies, so that whether the driving motor normally drives the robot bin gate or not is accurately recognized, and when the bin gate, the driving motor, the control circuit board and other assemblies are abnormal, the robot bin gate is accurately recognized. And the corresponding exception handling operation is executed, so that the driving motor can normally drive the robot bin gate, the robot is ensured to successfully execute the task, and the task execution success rate is improved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of robot technology, and in particular to a warehouse door control method, a robot and a storage medium. Background Art

[0002] With the vigorous development of artificial intelligence technology, robot intelligent unmanned delivery services have gradually become popular. The market size continues to grow, making unmanned delivery services have very broad application prospects in many fields, such as express delivery, takeout, and B2C retail.

[0003] Currently, unmanned delivery service robots with closed doors have shown their unique advantages in logistics, food delivery, and retail. Closed doors can effectively protect the delivery items and prevent them from being damaged or lost during transportation, while also avoiding the risk of illegal acquisition of the delivery items. In the process of the existing drive motor driving the robot's door, it is impossible to identify whether the drive motor is driving the robot's door normally. When the drive motor has an abnormal condition (such as stalling, damage, and overload, etc.), continuing to drive the robot's door may cause damage to the drive motor and the door, resulting in the failure of the delivery task. Summary of the invention

[0004] In view of this, an embodiment of the present invention provides a warehouse door control method, a robot and a storage medium, aiming to solve the technical problem in the prior art that it is impossible to accurately identify whether the driving motor drives the robot warehouse door normally.

[0005] To solve the above technical problems, the embodiments of the present invention provide the following technical solutions:

[0006] In a first aspect, an embodiment of the present invention provides a door control method, which is applied to a first controller of a robot, and the method includes:

[0007] Acquiring operation data of a target component, wherein the target component includes the door, a drive motor and a control circuit board, an input end of the drive motor is connected to the control circuit board, an output end of the drive motor is connected to the door, and the operation data includes at least one of a switch state of the door, a temperature of the drive motor and a temperature of the control circuit board, a power supply current and a power supply voltage;

[0008] Determining whether an abnormality occurs in the target component based on the operation data;

[0009] When an exception occurs in the target component, an exception handling operation is performed on the target component.

[0010] In some embodiments, the drive motor and the control circuit board are provided with temperature sensors, the control circuit board includes a detection circuit, and the compartment door is provided with a switch sensor;

[0011] The obtaining of the operation data of the target component includes:

[0012] Acquiring the temperatures of the drive motor and the control circuit board respectively by means of temperature sensors disposed on the drive motor and the control circuit board;

[0013] Obtaining the switch state of the door through the switch sensor provided on the door;

[0014] The power supply current and / or power supply voltage of the control circuit board is obtained through the detection circuit.

[0015] In some embodiments, determining whether the target component is abnormal based on the operating data includes:

[0016] If one or more of the state of the door is non-compliant, the temperature of the drive motor exceeds the corresponding first temperature range, the temperature of the control circuit board exceeds the corresponding second temperature range, the power supply current of the control circuit board exceeds the preset current range, and the power supply voltage of the control circuit board exceeds the preset voltage range, it is determined that the target component is abnormal;

[0017] If the state of the warehouse door is compliant, and the temperature of the drive motor does not exceed the corresponding first temperature range, and the temperature of the control circuit board does not exceed the corresponding second temperature range, and the power supply current of the control circuit board does not exceed the preset current range, and the power supply voltage of the control circuit board does not exceed the preset voltage range, it is determined that there is no abnormality in the target component.

[0018] In some embodiments, the warehouse door is installed on the storage structure of the robot, and the control circuit board further includes a drive circuit and a door lock switch circuit, the output end of the drive circuit is connected to the input end of the drive motor, and the door lock switch circuit is connected to the door lock of the warehouse door;

[0019] The performing an exception handling operation on the target component includes:

[0020] If the abnormality is that the state of the door is not in compliance with regulations, wherein the door is in an open state during the driving process of the robot, the door is controlled to be closed by the drive circuit;

[0021] After the door is closed, the door is locked by the door lock switch circuit;

[0022] and / or,

[0023] If the abnormality is that the temperature of the drive motor is abnormal, stopping the drive motor through the drive circuit;

[0024] Restarting the drive motor through the drive circuit, reacquiring the temperature of the drive motor through the temperature sensor, and reacquiring the power supply current and power supply voltage of the drive motor through the detection circuit;

[0025] If, after the drive motor is restarted, the temperature of the drive motor does not exceed the corresponding first temperature range, the supply current does not exceed the preset current range, and the supply voltage does not exceed the preset voltage range, the drive motor is used normally;

[0026] If the temperature anomaly of the drive motor does not disappear after the drive motor is restarted, continue to restart the drive motor until the restart times of the drive motor reaches a preset times threshold, and then stop restarting the drive motor;

[0027] and / or,

[0028] If the abnormality is that the temperature, power supply current and / or power supply voltage of the control circuit board are abnormal, power supply to the control circuit board is stopped.

[0029] In some embodiments, the control circuit board further includes a timer circuit, and the timer circuit is used to detect whether the first controller of the robot is abnormal;

[0030] The method further comprises:

[0031] If the timer circuit does not receive an active signal sent by the first controller of the robot within a preset time period, it is determined that an abnormality occurs in the first controller of the robot, and the first controller is restarted.

[0032] In some embodiments, the control circuit board further includes a reverse electromotive force absorption circuit, and the method further includes:

[0033] During the operation of the drive motor, the reverse electromotive force generated by the drive motor is absorbed by the reverse electromotive force absorption circuit.

[0034] In some embodiments, the method further comprises:

[0035] Acquire a plurality of first current values ​​within a first preset time interval after starting the drive motor according to a first acquisition frequency;

[0036] Determining whether the current of the drive motor exceeds a preset threshold value according to the multiple first current values;

[0037] If the current of the drive motor exceeds a preset threshold, it is determined that the drive motor is abnormal;

[0038] If the current of the drive motor does not exceed the preset threshold, it is determined that the drive motor has no abnormality.

[0039] In some embodiments, the method further comprises:

[0040] Acquire a plurality of second current values ​​of the drive motor after the first preset time interval according to a second acquisition frequency;

[0041] Whether the driving motor is abnormal is determined according to the plurality of second current values.

[0042] In a second aspect, an embodiment of the present invention provides a robot, comprising:

[0043] Control system, used to control the operation of the robot;

[0044] The first controller is communicatively connected to the control system, and is used to execute any one of the warehouse door control methods proposed in the first aspect, or execute the steps in any one of the implementation methods of any one of the warehouse door control methods proposed in the first aspect.

[0045] In a third aspect, an embodiment of the present invention provides a computer-readable storage medium, on which computer program instructions executable by a processor are stored. When the computer program instructions are called by the processor, the processor executes any one of the warehouse door control methods proposed in the first aspect, or executes the steps in any one of the implementations of any one of the warehouse door control methods proposed in the first aspect.

[0046] Beneficial effects of the embodiments of the present invention: Different from the prior art, the warehouse door control method provided by the embodiments of the present invention is applied to the first controller of the robot, and the method includes: obtaining the operation data of the target component, wherein the target component includes a warehouse door, a driving motor and a control circuit board, the input end of the driving motor is connected to the control circuit board, and the output end of the driving motor is connected to the warehouse door, and the operation data includes the switch state of the warehouse door, the temperature of the driving motor and the temperature of the control circuit board, and at least one of the power supply current and the power supply voltage; determining whether the target component has an abnormality based on the operation data; when the target component has an abnormality, performing an exception handling operation on the target component.

[0047] In the present invention, the operating data of components such as the warehouse door, drive motor and control circuit board are obtained to determine whether the components such as the warehouse door, drive motor and control circuit board are normal, so as to accurately identify whether the drive motor drives the robot warehouse door normally, and when abnormalities occur in components such as the warehouse door, drive motor and control circuit board, corresponding exception handling operations are performed, so that the drive motor can drive the robot warehouse door normally, ensuring that the robot successfully performs the task and improving the success rate of task execution. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art description. Obviously, the drawings described below only illustrate certain embodiments of the present invention and should not be regarded as limiting the scope of protection. For those of ordinary skill in the art, other related drawings can also be obtained based on these drawings without creative work.

[0049] Figure 1 is a schematic diagram of an application scenario of a warehouse door control method provided by some embodiments of the present invention;

[0050] Figure 2 is a schematic diagram of the structure of a robot provided by some embodiments of the present invention;

[0051] Figure 3 is a schematic diagram of the structure of a first controller in a robot provided in some embodiments of the present invention;

[0052] Figure 4 is a schematic diagram of the structure of a control circuit board in a robot provided in some embodiments of the present invention;

[0053] Figure 5 is a flow chart of a warehouse door control method provided by some embodiments of the present invention;

[0054] Figure 6 yes Figure 5 A schematic diagram of a sub-process of step S100 in the door control method shown in the embodiment;

[0055] Figure 7 yes Figure 5 A schematic diagram of a sub-process of step S200 in the door control method shown in the embodiment. DETAILED DESCRIPTION

[0056] In order to make the purpose and advantages of the embodiments of the present invention easier to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The detailed description of the embodiments of the present invention in the drawings below does not limit the scope of protection claimed by the present invention, but only represents the selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0057] It should be noted that, if no conflict is constituted, the various technical features involved in the embodiments of the present invention described below can be combined with each other, and are all within the scope of protection of the present invention. In addition, although the functional modules are divided in the device or structural schematic diagram, and the logical order is shown in the flow chart, in some cases, the steps shown or described can be performed in a different order from the module division in the device, or in a different order from the flow chart. In addition, the "first", "second", "third" and other similar expressions used herein do not limit the data and execution order, but are only for the purpose of convenience of explanation and to distinguish between the same or similar items with basically the same functions and effects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features.

[0058] Unless otherwise defined, the technical terms and scientific terms used in this specification have the same meanings as those generally understood by those of ordinary skill in the art of the present invention. The terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. It should be understood that the term "and / or" used in this specification includes any and all combinations of one or more of the related listed items.

[0059] See also Figure 1 , Figure 1 A schematic diagram of an application scenario of a warehouse door control method provided by some embodiments of the present invention is shown.

[0060] like Figure 1 As shown, the application scenario includes: a robot 100 and a room door 200, and the robot 100 is delivering items to the outside of the room door 200 where the customer is. Among them, the robot 100 includes a warehouse door 150. In the process of delivering or transporting items, the robot 100 needs to detect the status of the warehouse door 150 in real time to ensure that the items can be delivered or transported to the user's location in a timely and safe manner. For example, during the driving process of the robot 100, it is necessary to ensure that the warehouse door 150 is in a closed and locked state to prevent the items in the warehouse door from being damaged, taken by mistake, or falling from the warehouse door to the outside, causing the items to be lost or damaged. When the items are delivered to the user's location, the warehouse door 150 is controlled to open, and the user is reminded in time to collect the items, so as to successfully perform the task.

[0061] It should be understood that in Figure 1 The application scenario shown schematically only shows a situation where the robot 100 delivers or transports items to the customer's door 200, and does not impose any restrictions on the structure, type, quantity, etc. of the robot 100 in other application scenarios. For example, in some other application scenarios, the robot 100 may include multiple doors 150, and each door 150 may contain items required by different customers.

[0062] When controlling the opening or closing of the door, components such as the drive motor, control circuit board, and controller need to work together to accurately and safely control the opening or closing of the door. Therefore, the robot 100 also includes some other necessary components.

[0063] In order to facilitate the understanding of the warehouse door control method provided by the embodiment of the present invention, the robot provided by the embodiment of the present invention is first introduced in detail.

[0064] See also Figure 2 , Figure 2 Schematic diagrams of the structure of the robot 100 in some embodiments of the present invention are shown.

[0065] like Figure 2 As shown, the robot 100 includes a control system 110, a first controller 120, a control circuit board 130, a drive motor 140, and a warehouse door 150. The control system 110 is communicatively connected to the first controller 120, the control circuit board 130 is electrically connected to the input end of the drive motor 140, the output end of the drive motor 140 is connected to the warehouse door 150, and the warehouse door 150 is installed on the storage structure of the robot 100.

[0066] In some embodiments, the drive motor 140 and the control circuit board 130 are both provided with temperature sensors, which are used to sense the temperatures of the drive motor 140 and the control circuit board 130, thereby determining whether the temperatures of the drive motor 140 and the control circuit board 130 are abnormal. The door 150 is provided with a switch sensor, which is used to sense the switch state of the door 150, thereby determining whether the switch state of the door 150 is abnormal.

[0067] The control system 110 serves as the control center of the robot 100, and is used to coordinate the various components or assemblies of the robot 100, control the operation of the robot 100, and realize the functions of the robot 100. The control system 110 may be a controller, or may include multiple controllers. In the case of including multiple controllers, the control system 110 may be a combination of controllers disposed in various components or assemblies (e.g., the control circuit board 130, the drive motor 140).

[0068] In some embodiments, the control system 110 may include a central processing unit (CPU), a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) device, etc. The control system 110 may also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.

[0069] It is easy to understand that the execution subject of any of the warehouse door control methods provided in the embodiments of the present invention can be a first controller of a robot of any suitable type and having certain computing and control capabilities. In some possible implementations, any of the warehouse door control methods provided in the embodiments of the present invention can be implemented by a processor calling computer program instructions stored in a memory.

[0070] See also Figure 3 , Figure 3 The schematic diagram of the structure of the first controller 120 is exemplarily shown. In some embodiments, the first controller 120 can be any one or more of a microcontroller, a single chip microcomputer and other suitable controllers.

[0071] For example, Figure 3 As shown, the first controller 120 includes at least one processor 121 and a memory 122 ( Figure 3 In the example of a bus system connection and a processor, the various components in the first controller 120 are coupled together through the bus system 123, and the bus system 123 is used to realize the connection and communication between these components. It is easy to understand that the bus system 123 includes not only a data bus, but also a power bus, a control bus, and a status signal bus. However, for the sake of clarity and brevity, Figure 3 In FIG. 1 , various buses are labeled as bus system 123. It can be understood that Figure 3 The structure shown in the embodiment is only for illustration and does not impose any limitation on the structure of the first controller 120. For example, the first controller 120 may also include Figure 3 More or fewer components as shown, or with Figure 3 Different configurations shown.

[0072] Specifically, the processor 121 is used to provide computing and control capabilities to control the first controller 120 to perform corresponding tasks. For example, the first controller 120 is controlled to perform any of the warehouse door control methods provided in the embodiments of the present invention, or to perform the steps in any possible implementation of any of the warehouse door control methods provided in the embodiments of the present invention. Those skilled in the art can understand that the processor 121 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.

[0073] The memory 122, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer executable programs, instructions and modules, for example, programs, instructions and modules corresponding to the warehouse door control method in the embodiment of the present invention. In some embodiments, the memory 122 may include a storage program area and a storage data area, and the storage program area may store an operating system, an application required for at least one function; the storage data area may store data created according to the use of the processor 121, etc. The processor 121 executes various functional applications and data processing of the first controller 120 by running the non-transitory software programs, instructions and modules stored in the memory 122, so as to implement any of the warehouse door control methods provided in the embodiment of the present invention, or execute the steps in any possible implementation of any of the warehouse door control methods provided in the embodiment of the present invention. Among them, the memory 122 may include a high-speed random access memory, and may also include a non-transitory memory. For example, at least one disk storage device, a flash memory device or other non-transitory solid-state storage device. In some embodiments, the memory 122 may also include a memory remotely arranged relative to the processor 121, and these remotely arranged memories may be connected to the processor 121 through a communication network. It can be understood that examples of the above-mentioned communication network include but are not limited to the Internet, corporate intranet, local area network, mobile communication network and combinations thereof.

[0074] See also Figure 4 , Figure 4 The schematic diagram of the structure of the control circuit board 130 in some embodiments of the present invention is schematically shown. The control circuit board 130 is used to control the drive motor 140, and the drive motor 140 is used to drive the door 150 to open and close.

[0075] like Figure 4 As shown, the control circuit board 130 includes a detection circuit 131, a drive circuit 132, a door lock switch circuit 133, a timer circuit 134 and a reverse electromotive force absorption circuit 135. Among them, the output end of the drive circuit 132 is electrically connected to the input end of the drive motor 140, and the door lock switch circuit 133 is connected to the door lock of the warehouse door 150.

[0076] The detection circuit 131 is used to detect the electrical characteristic data such as current and voltage of the control circuit board 130 and the drive motor 140 in real time, so as to quickly identify whether the control circuit board 130 has abnormal conditions such as overcurrent and overload, and identify whether the drive motor 140 has abnormal conditions such as stalling, damage, overload, etc.

[0077] The drive circuit 132 is used to control the drive motor 140. The drive circuit 132 is responsible for receiving the control signal (for example, PWM (pulse width modulation) signal) of the first controller 120, converting the control signal into a drive signal recognizable by the drive motor 140, and outputting the drive signal to the drive motor 140, thereby controlling the drive motor 140 to drive the warehouse door 150 to open and close.

[0078] The door lock switch circuit 133 is used to control the locking and unlocking of the door lock of the warehouse door 150. When the warehouse door 150 is in a closed state, in order to ensure the safety of the items, the door lock of the warehouse door 150 can be locked by the door lock switch circuit 133. When the items are delivered to the destination, the door lock of the warehouse door 150 can be unlocked by the door lock switch circuit 133, and then the warehouse door 150 can be controlled to open, and the customer can take the items from the warehouse door 150.

[0079] The timer circuit 134 is used to detect whether the first controller 120 of the robot 100 is abnormal. The first controller 120 periodically sends an active signal to the timer circuit 134 to inform the first controller 120 that it is working normally. If the timer circuit 134 receives the active signal sent by the first controller 120 within the time interval, it is determined that the first controller 120 is not abnormal. When the timer circuit 134 does not receive the active signal sent by the first controller 120 within the time interval, it is determined that the first controller 120 is abnormal and needs to be restarted. In some embodiments, the timer circuit 134 can be any one or more of a watchdog circuit, a reset circuit, and a monitoring circuit.

[0080] The reverse electromotive force absorption circuit 135 (also called a surge absorption circuit, a reverse electromotive force protection circuit) is used to absorb the reverse electromotive force generated during the rapid commutation operation of the drive motor 140 to prevent the reverse electromotive force generated by the drive motor 140 from causing potential interference or damage to other components, thereby ensuring the stability and reliability of the entire system. In some embodiments, the reverse electromotive force absorption circuit 135 can be any one or more of a diode absorption circuit, a transient voltage suppressor (TVS), an RC absorption circuit, and a varistor (MOV).

[0081] It should be understood that Figure 4 The hardware structure of the control circuit board 130 is only schematically shown, and does not impose any limitation on the structure, type, quantity, etc. of the control circuit board 130 in other embodiments. Figure 4 The control circuit board 130 shown in the embodiment includes more or fewer components, or has the same Figure 4 The control circuit board 130 shown in the embodiment has different configurations. For example, the control circuit board may also include a communication circuit, a power supply circuit, and the like.

[0082] It can be understood from the above that the warehouse door control method provided in the embodiment of the present invention can be implemented by the first controller of various suitable types of robots with certain computing and control capabilities, for example, it can be implemented by the first controller 120 of the above-mentioned robot 100. The warehouse door control method provided in the embodiment of the present invention is described in detail below in conjunction with the exemplary application and implementation of the robot provided in the embodiment of the present invention.

[0083] See also Figure 5 , Figure 5 The flowchart of the warehouse door control method provided by some embodiments of the present invention is schematically shown.

[0084] It is understandable that the door control method provided in the embodiment of the present invention can be applied to the first controller of the robot (for example, the first controller 120 of the robot 100). Specifically, the execution subject of the door control method is one or at least two first controllers of the robot.

[0085] like Figure 5 As shown, the door control method includes but is not limited to the following steps S100-S300:

[0086] S100: Acquire operating data of a target component, wherein the target component includes a door, a drive motor and a control circuit board, and the operating data includes at least one of a switch state of the door, a temperature of the drive motor and a temperature of the control circuit board, a power supply current and a power supply voltage.

[0087] Specifically, the robot's door, drive motor, control circuit board and other target components are provided with various required sensors, and the various sensors are connected to the data acquisition system, and the sensors are used to detect and collect relevant operation data of the door, drive motor and control circuit board, etc. The operation data includes at least one of the switch state of the door, the temperature of the drive motor and the temperature of the control circuit board, the power supply current and the power supply voltage.

[0088] The data sensed by the sensor is then collected in real time through the data acquisition system, and the collected data is transmitted to the first controller of the robot through wired communication methods (for example, I2C, SPI, CAN bus, etc.) or wireless communication methods (for example, Wi-Fi, Bluetooth and Zigbee, etc.), thereby obtaining the operating data of target components such as the warehouse door, drive motor and control circuit board.

[0089] See also Figure 6 , Figure 6 A sub-flow chart of step S100 in the warehouse door control method provided in some embodiments of the present invention is schematically shown.

[0090] like Figure 6 As shown, in some embodiments, obtaining the operating data of the target component specifically includes but is not limited to the following steps S110-S130:

[0091] S110: Acquire the temperatures of the drive motor and the control circuit board respectively through temperature sensors disposed on the drive motor and the control circuit board.

[0092] In some embodiments, the driving motor of the robot is provided with a first temperature sensor, wherein the first temperature sensor is generally a temperature sensor capable of withstanding high temperature and mechanical vibration, such as a thermocouple or a PT100 thermal resistor. The control circuit board of the robot is provided with a second temperature sensor, wherein the second temperature sensor is generally a small, high-precision temperature sensor, such as an integrated circuit temperature sensor LM35.

[0093] Specifically, the first temperature sensor and the second temperature sensor are connected to the ADC (analog-to-digital converter) interface of the data acquisition system or controller, and the data acquisition system or controller samples and acquires the electrical signal of the temperature sensor in a regular or real-time manner and converts it into temperature data. The data acquisition system or controller transmits the collected temperature data to the first controller of the robot through a wired communication method or a wireless communication method. After receiving the temperature data, the first controller performs necessary calibration and processing to obtain the real-time temperature of the drive motor and the control circuit board.

[0094] S120: Obtaining the switch status of the door through a switch sensor provided on the door.

[0095] In some embodiments, a switch sensor is provided at a suitable position of the door of the robot to sense the switch state of the door, wherein the switch sensor may be any one or more of a limit switch, a photoelectric switch, a magnetic switch, and a Hall effect sensor.

[0096] Specifically, the switch sensor is connected to the input interface of the first controller of the robot. The first controller collects the status signal of the switch sensor periodically or in real time, and judges the switch status of the warehouse door according to the status signal of the switch sensor (for example, a high level indicates that the warehouse door is open, and a low level indicates that the warehouse door is closed).

[0097] S130: Obtaining the power supply current and / or power supply voltage of the control circuit board through the detection circuit.

[0098] In some embodiments, the control circuit board includes a detection circuit, and the detection circuit is used to detect the power supply current and power supply voltage of the control circuit board. In one possible implementation, a current sensor such as a Hall effect current sensor or a current shunt can be selected, and the current sensor can be connected in series in the power supply circuit of the control circuit board, and the power supply current of the control circuit board can be obtained by measuring the current sensor. Similarly, a voltage sensor such as a voltage divider or an operational amplifier voltage sensor can be selected, and the voltage sensor can be connected in parallel at both ends of the power supply circuit of the control circuit board, and the power supply voltage of the control circuit board can be obtained by measuring the voltage sensor.

[0099] Specifically, the output signals of the current sensor and the voltage sensor are connected to a data acquisition system or a controller, which collects the output signals of the current sensor and the voltage sensor in a regular or real-time manner and converts the output signals into current value data and voltage value data. The data acquisition system or the controller transmits the collected current value data and voltage value data to the first controller of the robot through a wired communication method or a wireless communication method. After receiving the current value data and voltage value data, the first controller performs necessary calibration and processing to obtain the real-time power supply current and power supply voltage of the control circuit board.

[0100] S200: Determine whether an abnormality occurs in a target component based on the operation data.

[0101] Specifically, a corresponding data processing module is provided in the first controller of the robot to receive and process the operation data of the target component sensed by the sensor in real time.

[0102] The processed operating data of components such as the warehouse door, drive motor and control circuit board are compared with their corresponding preset thresholds to determine whether the operating data of components such as the warehouse door, drive motor and control circuit board exceed the preset thresholds or do not meet the preset conditions, thereby determining whether there are any abnormalities in components such as the warehouse door, drive motor and control circuit board.

[0103] In some embodiments, when the robot is in the process of driving, when the door is in a closed state, it indicates that there is no abnormality in the door. During the robot's driving process, if the door is not in a closed state, it indicates that there is an abnormality in the door.

[0104] In some embodiments, the temperature of the driving motor and the control circuit board of the robot should be within a specified operating temperature range. If the temperature of the driving motor and the control circuit board is within the operating temperature range, it indicates that the driving motor and the control circuit board are not abnormal. If the temperature of the driving motor and / or the control circuit board is not within the operating temperature range, it indicates that the driving motor and the control circuit board are abnormal.

[0105] In some embodiments, the power supply current of the control circuit board of the robot should be within a specified working current range, and the power supply voltage should be within a specified working voltage range. If the power supply current of the control circuit board is within the working current range, and the power supply voltage of the control circuit board is within the working voltage range, it indicates that there is no abnormality in the control circuit board. If the power supply current of the control circuit board is not within the working voltage range and / or the power supply voltage of the control circuit board is not within the working voltage range, it indicates that there is an abnormality in the control circuit board.

[0106] See also Figure 7 , Figure 7 A sub-process diagram of step S200 in the warehouse door control method provided in some embodiments of the present invention is schematically shown.

[0107] like Figure 7 As shown, in some embodiments, determining whether a target component is abnormal based on the operation data specifically includes but is not limited to the following steps S210-S220:

[0108] S210: If one or more of the following conditions exist: the state of the door is non-compliant, the temperature of the drive motor exceeds the corresponding first temperature range, the temperature of the control circuit board exceeds the corresponding second temperature range, the power supply current of the control circuit board exceeds the preset current range, and the power supply voltage of the control circuit board exceeds the preset voltage range, it is determined that an abnormality occurs in the target component.

[0109] Specifically, after detecting and analyzing the operating data of components such as the warehouse door, drive motor, and control circuit board, if one or more of the following first conditions exist, it means that components such as the warehouse door, drive motor, and control circuit board have abnormalities, and it is determined that the target component has abnormalities.

[0110] The first condition includes: the state of the warehouse door is non-compliant, the temperature of the drive motor exceeds the corresponding first temperature range, the temperature of the control circuit board exceeds the corresponding second temperature range, the power supply current of the control circuit board exceeds the preset current range, and the power supply voltage of the control circuit board exceeds the preset voltage range.

[0111] It can be understood that the state of the warehouse door is non-compliant means that if the state of the warehouse door in any of the execution processes of all the warehouse door actions is wrong or does not meet the conditions, the state of the warehouse door is determined to be non-compliant. For example, in some embodiments, if the warehouse door is not opened or closed within the preset opening and closing time, the state of the warehouse door is determined to be non-compliant.

[0112] It is easy to understand that the first temperature range, the second temperature range, the preset current range and the preset voltage range can be set and determined according to actual application requirements and historical experience data, and the embodiment of the present invention does not impose any limitation on this. For example, in some embodiments, the first temperature range can be 30-40°C, the second temperature range can be 40-45°C, the preset current range can be 0.1-0.5A, and the preset voltage range can be 3.2-6.4V.

[0113] S220: If the state of the compartment door is compliant, and the temperature of the drive motor does not exceed the corresponding first temperature range, and the temperature of the control circuit board does not exceed the corresponding second temperature range, and the power supply current of the control circuit board does not exceed the preset current range, and the power supply voltage of the control circuit board does not exceed the preset voltage range, then it is determined that there is no abnormality in the target component.

[0114] Specifically, after detecting and analyzing the operating data of components such as the warehouse door, drive motor and control circuit board, if the operating data of components such as the warehouse door, drive motor and control circuit board all meet the first condition, that is, the status of the warehouse door is compliant, and the temperature of the drive motor does not exceed the corresponding first temperature range, and the temperature of the control circuit board does not exceed the corresponding second temperature range, and the power supply current of the control circuit board does not exceed the preset current range, and the power supply voltage of the control circuit board does not exceed the preset voltage range, then it means that there is no abnormality in components such as the warehouse door, drive motor and control circuit board, and it is determined that there is no abnormality in the target component.

[0115] In some embodiments, whether the drive motor is abnormal can be determined by the current value of the drive motor at the moment of starting and within a period of time after starting.

[0116] In some embodiments, the door control method further includes but is not limited to the following steps S230-S260:

[0117] S230: Acquire a plurality of first current values ​​within a first preset time interval after starting the drive motor according to the first acquisition frequency.

[0118] During the start-up phase of the drive motor, especially during a period of time after starting, a significant inrush current will be generated. Although the inrush current is short-lived, its peak value may be as high as 1A. In order to avoid the first controller from misjudging the inrush current and affecting the normal operation of the drive motor and the smooth opening and closing of the door, the current value collected during the start-up phase of the drive motor can be subjected to corresponding current filtering.

[0119] Specifically, according to the first acquisition frequency and the first preset time interval, the acquisition number N1 is calculated, and the acquisition number N1 = the first preset time interval / the first acquisition frequency. Within the first preset time interval after the drive motor is started, according to the set first acquisition frequency, N1 current values ​​of the drive motor are collected, that is, multiple first current values ​​of the drive motor within the first preset time interval are collected.

[0120] It should be understood that the first acquisition frequency and the first preset time interval can be set and determined according to actual application requirements and historical experience data, and the embodiment of the present invention does not impose any limitation on this. For example, in some embodiments, the first acquisition frequency can be 100 Hz, and the first preset time interval can be 0.4s.

[0121] S240: Determine whether the current of the driving motor exceeds a preset threshold value according to the multiple first current values.

[0122] S250: If the current of the drive motor exceeds a preset threshold, it is determined that the drive motor is abnormal.

[0123] S260: If the current of the drive motor does not exceed the preset threshold, it is determined that the drive motor has no abnormality.

[0124] Specifically, after acquiring a plurality of first current values ​​of the driving motor, a corresponding method may be used to calculate and determine whether the current of the driving motor exceeds a preset threshold.

[0125] In some embodiments, the collected multiple first current values ​​are compared with the preset thresholds one by one to determine whether any of the first current values ​​exceeds the preset current threshold range. For example, if any of the first current values ​​is less than the minimum current threshold or greater than the maximum current threshold, it is determined that the current of the drive motor exceeds the preset threshold. If the collected multiple first current values ​​are all within the preset current threshold range, it is determined that the current of the drive motor does not exceed the preset threshold.

[0126] In some embodiments, a mean filter algorithm can be used to calculate and determine whether the current of the drive motor exceeds a preset threshold. Assuming that the preset threshold is 250mA, the first acquisition frequency is 100Hz, and the first preset time interval is 0.4s, then within the first preset time interval, N1=first preset time interval is 0.4s / first acquisition frequency is 100Hz=40 first current values ​​of the drive motor are collected according to the first acquisition frequency. Assuming that among the 40 first current values, except for one first current value reaching a current peak of 1000mA, the remaining first current values ​​are close to or lower than the normal value of 220mA.

[0127] Then, calculate (the first current value of 39 normal values ​​× 220mA + the first current value of 1 current peak value 1000mA) / 40 = 239.5mA to obtain the current of the driving motor in the first preset time interval, and then compare the current of the driving motor with the preset threshold value 250mA. It can be found that the current of the driving motor is less than the preset threshold value 250mA, then it can be determined that the current of the driving motor does not exceed the preset threshold value.

[0128] In some embodiments, if the current of the drive motor exceeds a preset threshold, it indicates that the current of the drive motor is overloaded, and it is determined that an abnormality occurs in the drive motor.

[0129] In some embodiments, if the current of the driving motor does not exceed the preset threshold, it means that the current of the driving motor is not overloaded, and it is determined that there is no abnormality in the driving motor.

[0130] In some embodiments, it is also possible to determine whether the drive motor is abnormal based on multiple current values ​​after the drive motor starts running for a period of time.

[0131] In some embodiments, the door control method further includes but is not limited to the following steps S270-S280:

[0132] S270: Acquire multiple second current values ​​of the driving motor after the first preset time interval according to the second acquisition frequency.

[0133] After the drive motor starts and runs for a first preset time interval, a plurality of second current values ​​of the drive motor within a second preset time interval after the first preset time interval continue to be collected.

[0134] Specifically, according to the second acquisition frequency and the second preset time interval, the acquisition number N2 is calculated, and the acquisition number N2=the second preset time interval / the second acquisition frequency. Within the second preset time interval after the drive motor starts and runs for the first preset time interval, N2 current values ​​of the drive motor are collected according to the set second acquisition frequency, that is, multiple second current values ​​of the drive motor within the second preset time interval are collected.

[0135] It should be understood that the second acquisition frequency and the second preset time interval can be determined according to actual application requirements and historical experience data, and the embodiment of the present invention does not impose any limitation on this. For example, in some embodiments, the second acquisition frequency can be 40 Hz, and the second preset time interval can be 0.8s.

[0136] S280: Determine whether the drive motor is abnormal based on the multiple second current values.

[0137] Specifically, after collecting and obtaining a plurality of second current values ​​of the drive motor, a corresponding method may be used to calculate and determine whether the current of the drive motor exceeds a preset current range, thereby determining whether the drive motor is abnormal.

[0138] In some embodiments, the collected multiple second current values ​​are compared with the preset current interval one by one to determine whether any second current value exceeds the preset current interval. For example, if any second current value is less than the minimum current threshold of the preset current interval or greater than the maximum current threshold of the preset current interval, it is determined that the current of the drive motor exceeds the preset current interval, thereby determining that the drive motor is abnormal. If the collected multiple second current values ​​are all within the preset current interval, it is determined that the current of the drive motor does not exceed the preset current interval, and the drive motor is not abnormal.

[0139] Of course, there may be other methods to calculate and determine whether the current of the drive motor exceeds the preset current range, thereby determining whether the drive motor is abnormal. The embodiment of the present invention does not impose any limitation on this.

[0140] It should be understood that the preset current interval can be set and determined according to actual application requirements and historical experience data, and the embodiments of the present invention do not impose any limitation on this. For example, in some embodiments, the preset current interval can be 0.1-0.3A.

[0141] S300: When an exception occurs in a target component, an exception handling operation is performed on the target component.

[0142] Specifically, when an abnormality occurs in target components such as a warehouse door, a driving motor, and a control circuit board, corresponding abnormality handling operations are performed on the target components according to different target components.

[0143] In some embodiments, if the switch state of the warehouse door is not compliant, that is, the warehouse door is in the open state during the driving process of the robot, or the warehouse door is in the closed state and the warehouse door is not locked, the warehouse door can be controlled to close and locked after closing.

[0144] In some embodiments, if the temperature of the drive motor is abnormal, the cooling component of the robot can be controlled to start and cool the drive motor so that the robot can continue to work normally. Alternatively, the drive motor can be stopped directly, and the drive motor can be restarted when the temperature of the drive motor is within the preset working temperature range after the drive motor cools down for a period of time.

[0145] In some embodiments, if the temperature, power supply current and / or power supply voltage of the control circuit board are abnormal, the power supply to the control circuit board is stopped. After checking the relevant components (e.g., the drive motor, the control circuit board, etc.) to eliminate the problems, faults or hidden dangers, the power supply to the control circuit board is restarted.

[0146] In some embodiments, an exception handling operation is performed on the target component, including but not limited to the following steps S310-S370:

[0147] S310: If the abnormality is that the state of the door is not in compliance with regulations, wherein the door is in an open state during the driving process of the robot, the door is controlled to be closed through the drive circuit.

[0148] Among them, the warehouse door is installed on the storage structure of the robot, and the control circuit board of the robot includes a door lock switch circuit, which is connected to the door lock of the warehouse door. The door lock switch circuit is used to control the door lock of the warehouse door to lock or unlock, thereby locking or unlocking the warehouse door.

[0149] In some embodiments, if the abnormality is that the state of the door is not in compliance, that is, the door is in an open state during the robot's driving process, the first controller sends a door closing control signal to the drive circuit. After receiving the door closing control signal, the drive circuit converts the door closing control signal into a drive signal recognizable by the drive motor, and sends the drive signal to the drive motor, so that the drive motor drives the door to close.

[0150] S320: After the door is closed, the door is locked through the door lock switch circuit.

[0151] Specifically, after the warehouse door of the robot is closed, that is, the warehouse door is in a closed state, the first controller sends a warehouse door locking control signal to the door lock switch circuit. After receiving the warehouse door locking control signal, the door lock switch circuit controls the door lock of the warehouse door to lock, thereby locking the warehouse door.

[0152] S330: If the abnormality is that the temperature of the drive motor is abnormal, the drive motor is stopped through the drive circuit.

[0153] Specifically, if the abnormality is that the temperature of the drive motor is abnormal, the first controller sends a motor stop control signal to the drive circuit. After receiving the motor stop control signal, the drive circuit converts the motor stop control signal into a drive signal recognizable by the drive motor, and sends the drive signal to the drive motor to stop the drive motor.

[0154] S340: Restart the drive motor through the drive circuit, reacquire the temperature of the drive motor through the temperature sensor, and reacquire the power supply current and power supply voltage of the drive motor through the detection circuit.

[0155] Specifically, after stopping the drive motor, the first controller sends a motor start control signal to the drive circuit. After receiving the motor start control signal, the drive circuit converts the motor start control signal into a drive signal recognizable by the drive motor and sends the drive signal to the drive motor to start the drive motor.

[0156] Then, the temperature of the driving motor is reacquired through a temperature sensor arranged on the driving motor, and the power supply current and power supply voltage of the driving motor are reacquired through a detection circuit of the control circuit board.

[0157] S350: If, after the drive motor is restarted, the temperature of the drive motor does not exceed the corresponding first temperature range, the supply current does not exceed the preset current range, and the supply voltage does not exceed the preset voltage range, the drive motor is used normally.

[0158] Specifically, after restarting the drive motor and obtaining the temperature, power supply current and power supply voltage of the drive motor after restarting, the temperature of the drive motor is compared with the corresponding first temperature range, the power supply current with the corresponding preset current range, and the power supply voltage with the corresponding preset voltage range.

[0159] In some embodiments, if the temperature of the driving motor does not exceed the corresponding first temperature range, the power supply current of the driving motor does not exceed the preset current range, and the power supply voltage of the driving motor does not exceed the preset voltage range, the motor is driven by the driving circuit to continue normal use.

[0160] S360: If the temperature anomaly of the drive motor does not disappear after the drive motor is restarted, continue to restart the drive motor until the restart times of the drive motor reaches a preset times threshold, and then stop restarting the drive motor.

[0161] Specifically, when restarting the drive motor, if the temperature anomaly of the drive motor does not disappear, that is, the temperature of the drive motor still exceeds the corresponding first temperature interval, the drive motor is continuously restarted through the drive circuit. After the drive motor is restarted a certain number of times, that is, the number of restarts of the drive motor reaches a preset number threshold, the restart of the drive motor is stopped.

[0162] It should be understood that the preset number of times threshold can be set and determined according to actual application conditions and historical experience data, and the present embodiment does not impose any limitation on this. For example, in some embodiments, the preset number of times threshold can be 3 times, 5 times or any other suitable number.

[0163] S370: If the abnormality is that the temperature, power supply current and / or power supply voltage of the control circuit board are abnormal, then the power supply to the control circuit board is stopped.

[0164] In some embodiments, if the abnormality is that the temperature, power supply current and / or power supply voltage of the control circuit board are abnormal, that is, the temperature of the control circuit board exceeds the corresponding second temperature interval, the power supply current exceeds the preset current interval and / or the power supply voltage exceeds the preset voltage interval, indicating that the control circuit board may have a problem or failure, or there is a safety hazard, then the power supply to the control circuit board is stopped. After checking the relevant components (such as the drive motor, the control circuit board, etc.) to eliminate the problem, failure or hidden danger, the control circuit board is powered again.

[0165] In some embodiments, the door control method further includes but is not limited to the following steps S400:

[0166] S400: If the timer circuit does not receive an active signal sent by the first controller of the robot within a preset time period, it is determined that an abnormality occurs in the first controller of the robot, and the first controller is restarted.

[0167] In some embodiments, the control circuit board includes a timer circuit, the first controller is communicatively connected to the timer circuit, and the timer circuit is used to detect whether there is an abnormality in the first controller of the robot.

[0168] Specifically, the first controller sends an active signal to the timer circuit within a preset time period, notifying the timer circuit that the first controller is in a normal working state. The timer circuit receives the active signal sent by the first controller within the preset time period, indicating that the first controller is in a normal working state, and determines that there is no abnormality in the first controller.

[0169] If the timer circuit does not receive an active signal sent by the first controller of the robot within a preset time period, indicating that the first controller is not in a normal working state, it is determined that an abnormality has occurred in the first controller and the first controller needs to be restarted. After determining that an abnormality has occurred in the first controller, the timer circuit triggers the generation of a reset signal and applies the reset signal to the first controller, thereby restarting the first controller and restoring the first controller to a normal operating state.

[0170] In some embodiments, the door control method further includes but is not limited to the following steps S500:

[0171] S500: During the operation of the drive motor, the reverse electromotive force generated by the drive motor is absorbed by the reverse electromotive force absorption circuit.

[0172] In some embodiments, the control circuit board includes a back electromotive force absorption circuit, also known as a surge absorption circuit, a back electromotive force protection circuit. The back electromotive force absorption circuit is arranged on an inductive load (such as a drive motor), and the back electromotive force absorption circuit is used to absorb the back electromotive force generated by the inductive load to protect the circuit from the back electromotive force (EMF) generated by the inductive load. For example, when the inductive load is a drive motor, the back electromotive force absorption circuit is used to absorb the back electromotive force generated during the rapid commutation operation of the drive motor to protect the circuit from the back electromotive force (EMF) generated by the drive motor.

[0173] It should be understood that reverse electromotive force refers to the magnetic field that is established around the inductive load when current passes through the inductive load (such as motors, solenoid valves, relays, etc.). When the power is suddenly disconnected, the magnetic field collapses rapidly, thereby generating a high voltage (i.e. reverse electromotive force) across the inductive load. Reverse electromotive force can damage other electronic components or cause circuit failure. Therefore, a reverse electromotive force absorption circuit is set up to absorb the reverse electromotive force generated by the inductive load to avoid potential interference or damage to other electronic components or circuits caused by the reverse electromotive force generated by the inductive load, thereby ensuring the stability and reliability of the entire system.

[0174] To summarize, the warehouse door control method provided in an embodiment of the present invention is applied to the first controller of the robot, and the method includes: obtaining the operating data of the target component, wherein the target component includes a warehouse door, a driving motor and a control circuit board, the input end of the driving motor is connected to the control circuit board, and the output end of the driving motor is connected to the warehouse door, and the operating data includes the switch state of the warehouse door, the temperature of the driving motor and the temperature of the control circuit board, and at least one of the power supply current and the power supply voltage; determining whether the target component has an abnormality based on the operating data; and performing an exception handling operation on the target component when an abnormality occurs.

[0175] In the present invention, the operating data of components such as the warehouse door, drive motor and control circuit board are obtained to determine whether the components such as the warehouse door, drive motor and control circuit board are normal, so as to accurately identify whether the drive motor drives the robot warehouse door normally, and when abnormalities occur in components such as the warehouse door, drive motor and control circuit board, corresponding exception handling operations are performed, so that the drive motor can drive the robot warehouse door normally, ensuring that the robot successfully performs the task and improving the success rate of task execution.

[0176] An embodiment of the present invention provides a computer-readable storage medium, on which computer program instructions executable by a processor are stored. When the computer program instructions are called by the processor, the processor executes any one of the warehouse door control methods provided by the embodiment of the present invention, or executes the steps in any one of the possible implementation methods of any one of the warehouse door control methods provided by the embodiment of the present invention.

[0177] In some embodiments, the storage medium may be a flash memory, a hard disk, an optical disk, a register, a magnetic surface storage, a removable disk, a CD-ROM, a random access memory (RAM), a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM or other memory, or any other form of storage medium known in the technical field, or various devices including one or any combination of the above storage media.

[0178] In some embodiments, computer program instructions may be in the form of a program, software, software module, script or code, written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and may be deployed in any form, including as a stand-alone program or as a module, component, subroutine or other unit suitable for use in a computing environment.

[0179] As an example, computer program instructions may, but do not necessarily, correspond to a file in a file system, may be stored as part of a file that stores other programs or data, for example, in one or more scripts in a HyperText Markup Language (HTML) document, in a single file dedicated to the program in question, or in multiple coordinated files (for example, files storing one or more modules, subroutines, or code portions).

[0180] As an example, the computer program instructions may be deployed to be executed on a computing device (including devices such as smart terminals and servers), or on multiple computing devices located at one location, or on multiple computing devices distributed at multiple locations and interconnected by a communication network. It is easy to understand that all or part of the steps of the method described in the embodiments of the present invention may be directly implemented using electronic hardware or processor executable computer program instructions, or a combination of the two.

[0181] The technicians can understand that the embodiments provided by the present invention are only illustrative, and the writing order of each step in the method of the embodiment does not mean a strict execution order and does not constitute any limitation on the implementation process. The order can be adjusted, merged and deleted according to actual needs. The modules or sub-modules, units or sub-units in the device or system of the embodiment can be merged, divided and deleted according to actual needs. For example, the division of units is only a logical function division, and there can be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed.

[0182] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a general hardware platform, and of course can also be implemented by hardware. Those skilled in the art can understand that all or part of the processes in the above embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above methods. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0183] It should be noted that the above embodiments are intended to illustrate the technical concept and features of the present invention, and their purpose is to enable people familiar with this technology to understand the content of the present invention and implement it accordingly, and cannot be used to limit the scope of protection of the present invention. Ordinary technicians in this field can understand that all or part of the processes of the above embodiments can be implemented according to the technical solutions recorded in the embodiments of the present invention, or some of the technical features can be equivalently replaced. It can be understood that these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and should be regarded as equal changes and modifications based on the embodiments of the present invention, and should all fall within the scope of the claims of the present invention.

Claims

1. A door control method, applied to a first controller of a robot, characterized in that: The method comprises: Acquiring operation data of a target component, wherein the target component includes the door, a drive motor and a control circuit board, an input end of the drive motor is connected to the control circuit board, an output end of the drive motor is connected to the door, and the operation data includes at least one of a switch state of the door, a temperature of the drive motor and a temperature of the control circuit board, a power supply current and a power supply voltage; Determining whether an abnormality occurs in the target component based on the operation data; When an exception occurs in the target component, an exception handling operation is performed on the target component.

2. The method according to claim 1, characterized in that The drive motor and the control circuit board are provided with temperature sensors, the control circuit board includes a detection circuit, and the door is provided with a switch sensor; The obtaining of the operation data of the target component includes: Acquiring the temperatures of the drive motor and the control circuit board respectively by means of temperature sensors disposed on the drive motor and the control circuit board; Obtaining the switch state of the door through the switch sensor provided on the door; The power supply current and / or power supply voltage of the control circuit board is obtained through the detection circuit.

3. The method according to claim 1 or 2, characterized in that: The determining whether the target component is abnormal based on the operation data includes: If one or more of the state of the door is non-compliant, the temperature of the drive motor exceeds the corresponding first temperature range, the temperature of the control circuit board exceeds the corresponding second temperature range, the power supply current of the control circuit board exceeds the preset current range, and the power supply voltage of the control circuit board exceeds the preset voltage range, it is determined that the target component is abnormal; If the state of the warehouse door is compliant, and the temperature of the drive motor does not exceed the corresponding first temperature range, and the temperature of the control circuit board does not exceed the corresponding second temperature range, and the power supply current of the control circuit board does not exceed the preset current range, and the power supply voltage of the control circuit board does not exceed the preset voltage range, it is determined that there is no abnormality in the target component.

4. The method according to claim 2, characterized in that: The warehouse door is installed on the storage structure of the robot, and the control circuit board also includes a drive circuit and a door lock switch circuit, the output end of the drive circuit is connected to the input end of the drive motor, and the door lock switch circuit is connected to the door lock of the warehouse door; The performing an exception handling operation on the target component includes: If the abnormality is that the state of the door is non-compliant, wherein the door is in an open state during the driving process of the robot, the door is controlled to be closed by the drive circuit; After the door is closed, the door is locked by the door lock switch circuit; and / or, If the abnormality is that the temperature of the drive motor is abnormal, stopping the drive motor through the drive circuit; Restarting the drive motor through the drive circuit, reacquiring the temperature of the drive motor through the temperature sensor, and reacquiring the power supply current and power supply voltage of the drive motor through the detection circuit; If, after the drive motor is restarted, the temperature of the drive motor does not exceed the corresponding first temperature range, the supply current does not exceed the preset current range, and the supply voltage does not exceed the preset voltage range, the drive motor is used normally; If the temperature anomaly of the drive motor does not disappear after the drive motor is restarted, continue to restart the drive motor until the restart times of the drive motor reaches a preset times threshold, and then stop restarting the drive motor; and / or, If the abnormality is that the temperature, power supply current and / or power supply voltage of the control circuit board are abnormal, power supply to the control circuit board is stopped.

5. The method according to claim 1, characterized in that: The control circuit board further comprises a timer circuit, and the timer circuit is used to detect whether an abnormality occurs in the first controller of the robot; The method further comprises: If the timer circuit does not receive an active signal sent by the first controller of the robot within a preset time period, it is determined that an abnormality occurs in the first controller of the robot, and the first controller is restarted.

6. The method according to claim 1, characterized in that The control circuit board further includes a reverse electromotive force absorption circuit, and the method further includes: During the operation of the drive motor, the reverse electromotive force generated by the drive motor is absorbed by the reverse electromotive force absorption circuit.

7. The method according to claim 1, characterized in that The method further comprises: Acquire a plurality of first current values ​​within a first preset time interval after starting the drive motor according to a first acquisition frequency; Determining whether the current of the drive motor exceeds a preset threshold value according to the multiple first current values; If the current of the drive motor exceeds a preset threshold, it is determined that the drive motor is abnormal; If the current of the drive motor does not exceed the preset threshold, it is determined that the drive motor has no abnormality.

8. The method according to claim 7, characterized in that The method further comprises: Acquire a plurality of second current values ​​of the drive motor after the first preset time interval according to a second acquisition frequency; Whether the driving motor is abnormal is determined according to the plurality of second current values.

9. A robot, characterized in that: include: Control system, used to control the operation of the robot; The first controller is communicatively connected to the control system and is used to execute the warehouse door control method as described in any one of claims 1-8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions executable by a processor, and when the computer program instructions are called by the processor, the processor executes the warehouse door control method as described in any one of claims 1-8.

Images