Logistics robot control method and device, electronic equipment and storage medium

Abstract

The invention provides a logistics robot control method and device, electronic equipment and a storage medium, and the method comprises the steps: responding to a robot management system RMS, sending an emergency stop instruction to a logistics robot associated with the RMS, and starting first timing; sending a dormancy instruction to the logistics robot in response to the fact that the duration of the first timing reaches a first preset duration; the dormancy instruction is used for enabling the logistics robot to be converted into a dormancy state from a sudden stop state.

Description

Technical Field

[0001] The present disclosure relates to the field of logistics robot control, and in particular to a logistics robot control method, device, electronic equipment and storage medium. Background Art

[0002] In the related art, if the emergency stop of the Robot Management System (RMS) is triggered, the logistics robots in the field will enter the emergency stop state. At this time, the logistics robots are still consuming a lot of electricity. If the staff does not handle it in time, the logistics robots may shut down due to low power after the system stops for a period of time. Therefore, when the system emergency stop is triggered, it will not only cause energy waste, but also reduce the working efficiency of the logistics robots. Summary of the invention

[0003] The present disclosure provides a logistics robot control method, device, electronic device and storage medium to solve the problem in the related art that when the system emergency stop is mistakenly triggered, energy waste and reduced work efficiency of the logistics robot are caused.

[0004] A first aspect of the present disclosure provides a logistics robot control method, the method comprising:

[0005] In response to the robot management system RMS sending an emergency stop command to the logistics robot associated with the RMS, starting a first timing;

[0006] In response to the first timing duration reaching a first preset duration, a sleep instruction is sent to the logistics robot; the sleep instruction is used to convert the logistics robot from an emergency stop state to a sleep state.

[0007] In an embodiment of the present disclosure, after sending a sleep instruction to the logistics robot, the first aspect of the present disclosure proposes that the logistics robot control method further includes:

[0008] In response to the RMS sending a cancel emergency stop instruction to the logistics robot, a first wake-up instruction is sent to the logistics robot, where the first wake-up instruction is used to convert the logistics robot from a sleep state to a wake-up state.

[0009] In an embodiment of the present disclosure, after sending a sleep instruction to the logistics robot, the first aspect of the present disclosure proposes that the logistics robot control method further includes:

[0010] In response to receiving the second wake-up instruction, determining whether the RMS has sent a cancel emergency stop instruction;

[0011] If the judgment result is no, start the second timing;

[0012] In response to the second timing duration reaching a second preset duration, a sleep instruction is sent to the logistics robot.

[0013] In an embodiment of the present disclosure, after sending the first wake-up instruction to the logistics robot, the first aspect of the present disclosure proposes that the logistics robot control method further includes:

[0014] Obtaining the status of the logistics robot;

[0015] If there are still logistics robots that have not been converted to the awakened state, the awakening instructions are continuously sent to the logistics robots that have not been converted to the awakened state within the third preset time length until all the logistics robots are converted to the awakened state.

[0016] In an embodiment of the present disclosure, if there is still a logistics robot that has not been converted to the awakening state after the third preset time period, abnormal information reported by the logistics robot that has not been converted to the awakening state is received, and a first prompt is issued through the control interface of the RMS, and the first prompt is used to prompt the abnormal state of the logistics robot that has not been converted to the awakening state.

[0017] In an embodiment of the present disclosure, after sending the first wake-up instruction to the logistics robot, the first aspect of the present disclosure proposes that the logistics robot control method further includes:

[0018] Determining whether the location information of all the logistics robots can be obtained;

[0019] If the judgment result is no, a second prompt is issued; the second prompt is used to prompt the staff to move the logistics robot that is not on the identification code to the identification code and restart it manually, so that the logistics robot that is not on the identification code can report the location information to the RMS by scanning the identification code.

[0020] In an embodiment of the present disclosure, in response to the first timing duration reaching a first preset duration, sending a sleep instruction to the logistics robot includes:

[0021] In response to the first timing duration reaching a first preset duration, obtaining the state of the logistics robot;

[0022] If the logistics robot is a logistics robot in a charging state, a sleep instruction is sent to the logistics robot in a charging state; the sleep instruction is used to stop charging the logistics robot in a charging state and convert it to a sleep state.

[0023] A second aspect of the present disclosure provides a logistics robot control device, comprising:

[0024] A first timing unit, configured to start a first timing in response to the robot management system RMS sending an emergency stop command to the logistics robot associated with the RMS;

[0025] A sleep instruction sending unit is used to send a sleep instruction to the logistics robot in response to the first timing duration reaching a first preset duration; the sleep instruction is used to convert the logistics robot from an emergency stop state to a sleep state.

[0026] A third aspect of the present disclosure provides an electronic device, characterized in that it includes:

[0027] at least one processor; and

[0028] a memory communicatively connected to the at least one processor; wherein,

[0029] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the logistics robot control method proposed in the embodiment of the first aspect of the present disclosure.

[0030] The fourth aspect embodiment of the present disclosure proposes a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable the computer to execute the logistics robot control method proposed in the first aspect embodiment of the present disclosure.

[0031] In summary, the present disclosure proposes a logistics robot control method, device, electronic device and storage medium, the method comprising: in response to RMS, sending an emergency stop command to a logistics robot associated with the RMS, and starting a first timing; in response to the duration of the first timing reaching a first preset duration, sending a sleep command to the logistics robot; the sleep command is used to convert the logistics robot from an emergency stop state to a sleep state.

[0032] Through the solution provided by the present invention, after the RMS issues an emergency stop command, it can send a sleep command to the logistics robot after a first preset time period, so that the logistics robot is converted from an emergency stop state to a sleep state, effectively saving the energy of the logistics robot; and when the logistics robot needs to resume normal operation, it only needs to send a wake-up command to all logistics robots converted to a sleep state after the system emergency stop state is released, effectively improving the work efficiency of the robot.

[0033] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The drawings herein are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the description are used to explain the principles of the present disclosure, and do not constitute improper limitations on the present disclosure.

[0035] Figure 1 A flow chart of a logistics robot control method provided by an embodiment of the present disclosure;

[0036] Figure 2 A flowchart of a sleep instruction sending method provided by an embodiment of the present disclosure;

[0037] Figure 3 A flowchart of a method for sending a wake-up instruction provided in an embodiment of the present disclosure;

[0038] Figure 4 A flowchart of a second prompt sending method provided by an embodiment of the present disclosure;

[0039] Figure 5 A schematic diagram of the structure of a logistics robot control device provided in an embodiment of the present disclosure;

[0040] Figure 6 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0041] Embodiments of the present disclosure are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present disclosure, and should not be construed as limiting the present disclosure.

[0042] In the related technology, for example, when a staff member passes by a safety grating or accidentally touches the emergency stop contact on the RMS control interface, the RMS will mistakenly trigger an emergency stop, which will cause the logistics robot associated with the RMS to switch to an emergency stop state. At this time, the logistics robot in the emergency stop state is still consuming a lot of electricity. If the staff does not handle it in time, the logistics robot may shut down due to low power after the system stops for a period of time. Therefore, when the emergency stop of the RMS system is mistakenly triggered, it will not only cause energy waste, but also reduce the work efficiency of the logistics robot because it needs to be manually restarted when restoring the state of the logistics robot.

[0043] In order to solve the defects in the related technology, after the RMS in the present invention issues an emergency stop command, it can send a sleep command to the logistics robot after a first preset time period, so that the logistics robot is converted from an emergency stop state to a sleep state, effectively saving the energy of the logistics robot; and when the logistics robot needs to resume normal operation, it only needs to send a wake-up command to all logistics robots converted to the sleep state after the system emergency stop state is released, thereby effectively improving the work efficiency of the robot.

[0044] The first logistics robot control method provided by the embodiment of the present disclosure can be executed by the RMS of the warehousing system.

[0045] like Figure 1 As shown, Figure 1 The following is a flow chart of a logistics robot control method provided by an embodiment of the present disclosure. The logistics robot control method provided by an embodiment of the present disclosure comprises the following steps:

[0046] Step 101, in response to the RMS sending an emergency stop command to the logistics robot associated with the RMS, starting a first timing;

[0047] In one embodiment, the emergency stop command issued by the RMS may be triggered by a staff member manually pressing an emergency stop button after encountering an emergency; it may also be triggered by a staff member through an emergency stop contact on the RMS control interface due to actual needs; it may also be triggered by a staff member passing through a safety light grid or accidentally touching an emergency stop contact on the RMS control interface.

[0048] In one embodiment, after the RMS issues an emergency stop command, the logistics robot associated with the RMS receives the emergency stop command and switches to an emergency stop state. The emergency stop state refers to the logistics robot being in the current position and remaining motionless; for example, if the first logistics robot is performing the task of moving shelves and advancing before the emergency stop, the first logistics robot will remain in the original position after receiving the emergency stop command sent by the RMS, that is, the first logistics robot will keep lifting the shelves but stop moving; for another example, when the second logistics robot is performing the task of lifting shelves or putting down shelves before the emergency stop, the second logistics robot will remain in the original position after receiving the emergency stop command sent by the RMS, that is, stop lifting shelves or putting down shelves; for another example, when the third logistics robot is performing the charging task in the rest area or the charging area before the emergency stop, the third logistics robot will remain in the original position after receiving the emergency stop command sent by the RMS, and the logistics robot that is performing the charging task will continue to charge.

[0049] Step 102: In response to the first timing duration reaching a first preset duration, a sleep instruction is sent to the logistics robot.

[0050] In one embodiment, the sleep instruction is used to convert the logistics robot from an emergency stop state to a sleep state.

[0051] In one embodiment, the first timing duration can be set according to historical experience or actual needs. For example, the first timing duration can be one hour, two hours, half an hour, or other durations, which are not limited in the present disclosure.

[0052] In one embodiment, the logistics robot can be remotely controlled by the RMS or manually controlled by the staff. In this case, the logistics robot only needs to be bound to the RMS, so that the logistics robot is associated with the RMS, and the RMS can control each robot associated with it by issuing instructions.

[0053] In one embodiment, for example, the RMS sends a task instruction to enable the logistics robot to move, thereby completing the task corresponding to the task instruction, such as transportation. For another example, the RMS sends a sleep instruction to each logistics robot associated with the RMS, so that the logistics robot associated with the RMS enters a sleep state.

[0054] In one embodiment, taking the example of RMS sending a sleep instruction to each logistics robot associated with the RMS: RMS can send a sleep instruction to each logistics robot associated with the RMS through a custom port. Among them, a monitoring instance of the monitoring port can also be created in the RMS, and whether the logistics robot enters the sleep state is determined by whether there is a heartbeat packet transmission between the logistics robot and the RMS port. If the port has a heartbeat packet transmission, it indicates that the logistics robot has not entered the sleep state. Otherwise, it indicates that the logistics robot has entered the sleep state.

[0055] In summary, the present disclosure proposes a logistics robot control method, including: in response to RMS, an emergency stop command is sent to a logistics robot associated with the RMS, and a first timing is started; in response to the duration of the first timing reaching a first preset duration, a sleep command is sent to the logistics robot; the sleep command is used to convert the logistics robot from an emergency stop state to a sleep state.

[0056] Through the solution provided by the present invention, after the RMS issues an emergency stop command, it can send a sleep command to the logistics robot after a first preset time period, so that the logistics robot is converted from an emergency stop state to a sleep state, effectively saving the energy of the logistics robot; and when the logistics robot needs to resume normal operation, it only needs to send a wake-up command to all logistics robots converted to a sleep state after the system emergency stop state is released, effectively improving the work efficiency of the robot.

[0057] In one embodiment, after step 101, the logistics robot control method provided by the embodiment of the present disclosure further includes:

[0058] In response to the cancel emergency stop instruction sent by the RMS to the logistics robot, a first wake-up instruction is sent to the logistics robot, where the first wake-up instruction is used to convert the logistics robot from a sleep state to a wake-up state.

[0059] In one embodiment, when the RMS sends a cancel emergency stop command to the logistics robot, it indicates that the emergency situation that caused the system to stop has been properly handled. At this time, the RMS can automatically issue a first wake-up command to convert the logistics robot from a dormant state to an awake state; the logistics robot that has been converted to an awake state can then receive tasks issued by the RMS, thereby effectively improving the work efficiency of the logistics robot.

[0060] In one embodiment, the emergency stop command can be canceled by the staff by clicking the cancel emergency stop contact on the RMS control interface, and can also be manually issued by the staff by pressing the emergency stop button to reset the emergency stop button.

[0061] In one embodiment, if Figure 2 As shown, after step 101, the logistics robot control method provided by the embodiment of the present disclosure further includes:

[0062] Step 201, in response to receiving a second wake-up instruction, determining whether the RMS has sent a cancel emergency stop instruction;

[0063] In one embodiment, the second wake-up instruction refers to a wake-up instruction manually issued by a staff member by clicking a wake-up contact on the RMS control interface.

[0064] In one embodiment, after the system stops suddenly, the RMS control interface does not display the sleep contact, but only displays the wake-up contact. The sleep command is automatically issued when the RMS sends an emergency stop command.

[0065] In one embodiment, when the emergency situation that caused the system to stop suddenly has been properly handled, the RMS will automatically or manually send a cancel emergency stop command to the logistics robot to release the logistics robot from the emergency stop state.

[0066] In one embodiment, if the RMS has sent a cancel emergency stop command, it means that the emergency situation that caused the system to stop has been properly handled. At this time, the logistics robot can be awakened normally. If the logistics robot is located at the identification point that determines the position of the logistics robot after normal awakening, the logistics robot can automatically scan the identification code on the identification point after being awakened, and report its own location information to the RMS; if the logistics robot is not located at the identification point that determines the position of the logistics robot after normal awakening, the staff is required to move the logistics robot to the nearest identification point and manually restart the logistics robot. After the restarted logistics robot is awakened, it can automatically scan the identification code on the identification point and report its own location information to the RMS;

[0067] Step 202, if the judgment result is no, start the second timing;

[0068] Step 203: In response to the second timing duration reaching a second preset duration, sending a sleep instruction to the logistics robot.

[0069] In one embodiment, if the RMS does not send a cancel emergency stop command, it means that the emergency situation that caused the system to stop has not been properly handled, that is, the logistics robot needs to continue to sleep. However, since the staff has manually issued a second wake-up command by clicking the wake-up contact on the RMS control interface, the logistics robot has been awakened. Therefore, after the second preset time, the RMS needs to send a sleep command to the logistics robot to make the logistics robot continue to sleep.

[0070] In one embodiment, the second preset time length is the same as or different from the first preset time length; preferably, the second preset time length is shorter than the first preset time length, so that the RMS can issue a sleep command faster and the logistics robot can enter a sleep state faster.

[0071] In one embodiment, if Figure 3 As shown, after sending the first wake-up instruction to the logistics robot, the logistics robot control method provided by the embodiment of the present disclosure further includes:

[0072] Step 301, obtaining the status of the logistics robot;

[0073] In one embodiment, after sending the first wake-up instruction to the logistics robot, the state of the logistics robot is divided into an awakened state and an unawakened state. The awakened state includes a shutdown state due to low power and a state in which the logistics robot cannot communicate normally with the RMS because the logistics robot is not at the identification point; further, the unawakened state also includes a dormant state. In special cases, such as when the logistics robot has a communication failure and cannot receive the first wake-up instruction sent by the RMS in time, the logistics robot may remain in the dormant state; at this time, it is necessary to continue to send wake-up instructions to the logistics robot until the logistics robot is converted from the dormant state to the awakened state.

[0074] In one embodiment, the status of the logistics robot can be determined by whether there is heartbeat packet transmission between the logistics robot and the 8899 port of the RMS; if there is heartbeat packet transmission between the logistics robot and the 8899 port of the RMS, it indicates that the logistics robot is in an awakened state and can communicate normally with the RMS; conversely, if there is no heartbeat packet transmission between the logistics robot and the 8899 port of the RMS, it indicates that the logistics robot is in an unawakened state and cannot communicate normally with the RMS.

[0075] Step 302: If there are still logistics robots that have not been converted to the awakened state, wake-up instructions are continuously sent to the logistics robots that have not been converted to the awakened state within a third preset time period until all the logistics robots are converted to the awakened state.

[0076] In one embodiment, as shown in step 301, when the logistics robot receives the first wake-up instruction sent by the RMS, the main control device of the logistics robot may be performing other tasks and cannot execute the wake-up instruction in time to wake up the logistics robot; at this time, it is necessary to continue to send wake-up instructions to the logistics robot until the logistics robot is switched from a sleep state to a wake-up state.

[0077] In one embodiment, the third preset duration may be one minute, or two minutes, three minutes, etc., which is not limited in the present disclosure.

[0078] In one embodiment, if the logistics robot has not been awakened after the third preset time period, the logistics robot needs to report abnormal information to the RMS; after receiving the abnormal information, the RMS can issue a first prompt through the control interface to enable the staff to quickly obtain the abnormal state of the logistics robot that has been converted to the awakening state, and then manually awaken the logistics robot in the abnormal state.

[0079] Based on this, in one embodiment, if there are still logistics robots that have not been converted to the awakening state after the third preset time period, the abnormal information reported by the logistics robot that has not been converted to the awakening state is received, and a first prompt is issued through the control interface of the RMS, and the first prompt is used to prompt the abnormal state of the logistics robot that has not been converted to the awakening state.

[0080] In one embodiment, if Figure 4 As shown, after step 101, the logistics robot control method provided by the embodiment of the present disclosure further includes:

[0081] Step 401, determining whether the location information of all the logistics robots can be obtained;

[0082] In one embodiment, after the logistics robot is awakened, if it is located at the identification point, it will automatically scan the identification code of the identification point and report its own location information to the RMS, so that the RMS can schedule tasks for the corresponding logistics robot based on the location information. However, when the logistics robot is awakened during an emergency stop and is not located at the identification point, it cannot report its own location information to the RMS by scanning the identification code.

[0083] In one embodiment, a list of logistics robots that have reported their location information to the RMS can be automatically generated and displayed on the control interface of the RMS. Specifically, after the wake-up command is issued, when the timing duration reaches the third preset duration, the RMS can display the list of logistics robots that have reported their location information on the control interface; the RMS can also display the list of logistics robots that have been awakened but have not reported their location information on the control interface of the RMS.

[0084] Step 402, if the judgment result is no, a second prompt is issued; the second prompt is used to prompt the staff to move the logistics robot that is not on the identification code to the identification code and restart it manually, so that the logistics robot that is not on the identification code can report the location information to the RMS by scanning the identification code.

[0085] In one embodiment, the second prompt may be displayed on the control interface of the RMS in the form of a list of logistics robots that have been awakened but have not reported their location information, as shown in step 401 .

[0086] In one embodiment, as shown in step 101, the logistics robots that are awakened but not joined to the RMS include logistics robots that have tasks before the emergency stop and are not at the identification point, and logistics robots that have no tasks and are not at the identification point; specifically, logistics robots that have tasks and are not at the identification point include logistics robots that are performing tasks of moving shelves and moving and are not at the identification point, logistics robots that are located in the charging area and are not at the identification point, and logistics robots that are traveling empty and are not at the identification point. Logistics robots that have no tasks and are not at the identification point include logistics robots that stay in the shelf area or rest area and are not at the identification point. If a logistics robot that is performing the task of moving shelves and moving forward and is not located at an identification point is awakened and is lifted but not lowered, it is necessary to manually or control the hand operator to move the logistics robot to the nearest identification point, and shut down and restart the logistics robot, so that the logistics robot can report its current location information to the RMS by scanning the identification code, and wait for new task assignments; after a logistics robot that is located in the charging area and is not located at an identification point is awakened, it is necessary to manually or control the hand operator to move the logistics robot to the nearest identification point, so that the logistics robot can join the RMS by scanning the identification code, and wait for new task assignments; after a logistics robot that is in the process of lifting shelves or lowering shelves and is not located at an identification point is awakened, it is necessary to manually or control the hand operator to move the logistics robot and the shelves to the nearest identification point together, so that the logistics robot can report its current location information to the RMS by scanning the identification code, and wait for new task assignments; after a logistics robot that is traveling empty and is not located at an identification point is awakened, it is necessary to manually or control the hand operator to move the logistics robot to the nearest identification point, so that the logistics robot can report its current location information to the RMS by scanning the identification code, and wait for new task assignments.

[0087] In one embodiment, after the logistics robot being charged receives the emergency stop command sent by the RMS, it will keep the charging position unchanged but continue charging. At this time, if the logistics robot does not stop charging, the logistics robot being charged cannot enter the dormant state, and thus the system safety cannot be guaranteed.

[0088] Based on this, in one embodiment, step 102 includes:

[0089] In response to the first timing duration reaching a first preset duration, obtaining the state of the logistics robot;

[0090] In one embodiment, the status of the logistics robot can be obtained using the method shown in step 301, which will not be described in detail here.

[0091] If there is a logistics robot in a charging state among the logistics robots, a sleep command is sent to the logistics robot in the charging state; the sleep command is used to stop charging the logistics robot in the charging state and switch to a sleep state.

[0092] In one embodiment, if a logistics robot in a charging state finishes charging when an emergency stop command is issued, the logistics robot in a charging state may shut down within a first preset time period due to low power. Therefore, by using a sleep command to make the logistics robot stop charging after the first preset time period when the emergency stop command is issued, it can ensure that the logistics robot has sufficient power when in sleep mode and will not shut down due to low power. It can also ensure the system safety after the emergency stop signal is issued.

[0093] In order to implement the logistics robot control method provided by the embodiment of the present disclosure, the embodiment of the present disclosure also provides a logistics robot control device. Figure 5 As shown, Figure 5 This is a schematic diagram of the structure of a logistics robot control device provided in an embodiment of the present disclosure. The logistics robot control device 500 includes:

[0094] The first timing unit 501 is used to start a first timing in response to the robot management system RMS sending an emergency stop command to the logistics robot associated with the RMS;

[0095] The sleep instruction sending unit 502 is used to send a sleep instruction to the logistics robot in response to the first timing duration reaching a first preset duration; the sleep instruction is used to convert the logistics robot from an emergency stop state to a sleep state.

[0096] In one embodiment, the logistics robot control device 500 provided by the present disclosure further includes a wake-up instruction sending unit, which is used to:

[0097] In response to the RMS sending a cancel emergency stop instruction to the logistics robot, a first wake-up instruction is sent to the logistics robot, where the first wake-up instruction is used to convert the logistics robot from a sleep state to a wake-up state.

[0098] In one embodiment, the logistics robot control device 500 provided by the present disclosure further includes a second timing unit, and the second timing unit is used to:

[0099] In response to receiving the second wake-up instruction, determining whether the RMS has sent a cancel emergency stop instruction;

[0100] If the judgment result is no, start the second timing;

[0101] In response to the second timing duration reaching a second preset duration, a sleep instruction is sent to the logistics robot.

[0102] In one embodiment, the logistics robot control device 500 provided by the present disclosure further includes a third timing unit, and the third timing unit is used to:

[0103] Get the status of the logistics robot;

[0104] If there are still logistics robots that have not been converted to the awakened state, the awakening instructions are continuously sent to the logistics robots that have not been converted to the awakened state within the third preset time length until all the logistics robots are converted to the awakened state.

[0105] In one embodiment, if after the third preset time period, there is still a logistics robot that has not been converted to the awakened state, the logistics robot control device 500 provided by the present disclosure further includes a first prompt sending unit, and the first prompt sending unit is used to:

[0106] Receive abnormal information reported by the logistics robot that has not been converted to the awakened state, and issue a first prompt through the control interface of the RMS, where the first prompt is used to prompt the abnormal state of the logistics robot that has not been converted to the awakened state.

[0107] In one embodiment, the logistics robot control device 500 provided by the present disclosure further includes a second prompt sending unit, and the second prompt sending unit is used to:

[0108] Determining whether the location information of all the logistics robots can be obtained;

[0109] If the judgment result is no, a second prompt is issued; the second prompt is used to prompt the staff to move the logistics robot that is not on the identification code to the identification code and restart it manually, so that the logistics robot that is not on the identification code can report the location information to the RMS by scanning the identification code.

[0110] In one embodiment, the sleep instruction sending unit 502 is specifically used for:

[0111] In response to the first timing duration reaching a first preset duration, obtaining a state of the logistics robot;

[0112] If there is a logistics robot in a charging state among the logistics robots, a sleep command is sent to the logistics robot in the charging state; the sleep command is used to stop charging the logistics robot in the charging state and switch to a sleep state.

[0113] It should be noted that: the logistics robot control device provided in the above embodiment only uses the division of the above program modules as an example when controlling the logistics robot. In actual applications, the above processing can be assigned to different program modules as needed, that is, the internal structure of the logistics robot control device is divided into different program modules to complete all or part of the processing described above. In addition, the logistics robot control device provided in the above embodiment and the logistics robot control method embodiment provided in the embodiment of the present disclosure belong to the same concept. The specific implementation process is detailed in the method embodiment and will not be repeated here.

[0114] The disclosed embodiment also provides a logistics robot control system, including an RMS and at least two logistics robots associated with the RMS;

[0115] After the robot management system RMS sends an emergency stop command to the logistics robot associated with the RMS, the first timing starts; in response to the first timing reaching a first preset duration, the RMS sends a sleep command to the logistics robot; the sleep command is used to convert the logistics robot from an emergency stop state to a sleep state;

[0116] The logistics machine robot is used to receive the sleep command sent by the RMS and switch from the emergency stop state to the sleep state.

[0117] An embodiment of the present disclosure provides an electronic device, including:

[0118] at least one processor; and

[0119] a memory communicatively connected to at least one processor; wherein,

[0120] The memory stores instructions that can be executed by at least one processor, and the instructions are executed by at least one processor so that the at least one processor can execute the logistics robot control method proposed in the embodiment of the present disclosure.

[0121] An embodiment of the present disclosure proposes a non-transitory computer-readable storage medium storing computer instructions, and the computer instructions are used to enable a computer to execute a logistics robot control method proposed in the embodiment of the present disclosure.

[0122] Figure 6A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present disclosure is shown in FIG. Figure 6 As shown, the electronic device 600 includes at least one processor 602; and a memory 601 communicatively connected to the at least one processor 602; wherein the memory 601 stores instructions that can be executed by the at least one processor 602, and the instructions are executed by the at least one processor 602 to implement the steps of the logistics robot control method of the embodiment of the present disclosure.

[0123] Optionally, the electronic device may specifically be a control device of an embodiment of the present application, and the electronic device may implement corresponding processes implemented by the control device in various methods of the embodiment of the present application, which will not be described in detail here for the sake of brevity.

[0124] Optionally, the electronic device may specifically be a network device in an embodiment of the present application, and the electronic device may implement corresponding processes implemented by the network device in each method in the embodiment of the present application, which will not be described in detail here for the sake of brevity.

[0125] It is understood that the electronic device also includes a communication interface 603. The various components in the electronic device are coupled together through a bus system 604. It is understood that the bus system 604 is used to realize the connection and communication between these components. In addition to the data bus, the bus system 604 also includes a power bus, a control bus, and a status signal bus. However, for the sake of clarity, Figure 6 Various buses are labeled as bus system 604 .

[0126] It can be understood that the memory 601 can be a volatile memory or a non-volatile memory, and can also include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic random access memory (FRAM), a flash memory, a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM); the magnetic surface memory can be a disk memory or a tape memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), synchronous static random access memory (SSRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM, SyncLinkDynamicRandomAccessMemory), and direct memory bus random access memory (DRRAM, DirectRandomAccessMemory).The memory 601 described in the embodiment of the present invention is intended to include but is not limited to these and any other suitable types of memories.

[0127] The method disclosed in the above embodiment of the present disclosure can be applied to the processor 602, or implemented by the processor 602. The processor 602 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit in the processor 602 or the instruction in the form of software. The above processor 602 may be a general-purpose processor, a DSP, or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The processor 602 can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiments of the present invention. The general-purpose processor may be a microprocessor or any conventional processor, etc. In combination with the steps of the method disclosed in the embodiment of the present invention, it can be directly embodied as a hardware decoding processor to execute, or it can be executed by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium, which is located in the memory 601, and the processor 602 reads the information in the memory 601 and completes the steps of the above method in combination with its hardware.

[0128] In an exemplary embodiment, the electronic device may be implemented by one or more application specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), FPGAs, general purpose processors, controllers, MCUs, microprocessors, or other electronic components to execute the aforementioned method.

[0129] The embodiments of the present disclosure also provide a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable the computer to implement the steps of the first logistics robot control method or the second logistics robot control method described in the embodiments of the present invention when executed.

[0130] Optionally, the computer-readable storage medium can be applied to the control device in the embodiments of the present application, and the computer instructions enable the computer to execute the corresponding processes implemented by the control device in the various methods of the embodiments of the present application. For the sake of brevity, they are not repeated here.

[0131] Optionally, the computer-readable storage medium can be applied to the network device in the embodiments of the present application, and the computer instructions enable the computer to execute the corresponding processes implemented by the network device in the various methods of the embodiments of the present application. For the sake of brevity, they are not repeated here.

[0132] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as: multiple units or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

[0133] The units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units; some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0134] In addition, all functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be separately used as a unit, or two or more units may be integrated into one unit; the above-mentioned integrated units may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0135] A person of ordinary skill in the art can understand that: all or part of the steps of implementing the above-mentioned method embodiment can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium, which, when executed, executes the steps of the above-mentioned method embodiment; and the aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROM, RAM, disks or optical disks.

[0136] Alternatively, if the above-mentioned integrated unit of the present invention is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present invention can be essentially or partly reflected in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROM, RAM, magnetic disks or optical disks.

[0137] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A logistics robot control method, characterized in that: include: In response to the robot management system RMS sending an emergency stop command to the logistics robot associated with the RMS, starting a first timing; In response to the first timing duration reaching a first preset duration, a sleep instruction is sent to the logistics robot; the sleep instruction is used to convert the logistics robot from an emergency stop state to a sleep state.

2. The method according to claim 1, characterized in that: After sending the sleep instruction to the logistics robot, the method further includes: In response to the RMS sending a cancel emergency stop instruction to the logistics robot, a first wake-up instruction is sent to the logistics robot, where the first wake-up instruction is used to convert the logistics robot from a sleep state to a wake-up state.

3. The method according to claim 1, characterized in that After sending the sleep instruction to the logistics robot, the method further includes: In response to receiving the second wake-up instruction, determining whether the RMS has sent a cancel emergency stop instruction; If the judgment result is no, start the second timing; In response to the second timing duration reaching a second preset duration, a sleep instruction is sent to the logistics robot.

4. The method according to claim 2, characterized in that: After sending the first wake-up instruction to the logistics robot, the method further includes: Obtaining the status of the logistics robot; If there are still logistics robots that have not been converted to the awakened state, the awakening instructions are continuously sent to the logistics robots that have not been converted to the awakened state within the third preset time length until all the logistics robots are converted to the awakened state.

5. The method according to claim 4, characterized in that If after the third preset time period, there are still logistics robots that have not been converted to the awakening state, the abnormal information reported by the logistics robots that have not been converted to the awakening state is received, and a first prompt is issued through the control interface of the RMS, wherein the first prompt is used to prompt the abnormal state of the logistics robot that has not been converted to the awakening state.

6. The method according to claim 2 or 3, characterized in that: After sending the first wake-up instruction to the logistics robot, the method further includes: Determining whether the location information of all the logistics robots can be obtained; If the judgment result is no, a second prompt is issued; the second prompt is used to prompt the staff to move the logistics robot that is not on the identification code to the identification code and restart it manually, so that the logistics robot that is not on the identification code can report the location information to the RMS by scanning the identification code.

7. The method according to claim 1, characterized in that In response to the first timing duration reaching a first preset duration, sending a sleep instruction to the logistics robot includes: In response to the first timing duration reaching a first preset duration, obtaining the state of the logistics robot; If the logistics robot is a logistics robot in a charging state, a sleep instruction is sent to the logistics robot in a charging state; the sleep instruction is used to stop charging the logistics robot in a charging state and convert it to a sleep state.

8. A logistics robot control device, characterized in that: include: A first timing unit, configured to start a first timing in response to the robot management system RMS sending an emergency stop command to a logistics robot associated with the RMS; A sleep instruction sending unit is used to send a sleep instruction to the logistics robot in response to the first timing duration reaching a first preset duration; the sleep instruction is used to convert the logistics robot from an emergency stop state to a sleep state.

9. An electronic device, characterized in that: include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium storing computer instructions, characterized in that: The computer instructions are used to cause the computer to execute the method according to any one of claims 1 to 7.

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