Upgrading method, system and device of intelligent carrying equipment and electronic equipment

Abstract

The embodiment of the invention provides an intelligent carrying equipment upgrading method, system and device and electronic equipment, and relates to the technical field of equipment control, and the method comprises the steps: determining to-be-upgraded intelligent carrying equipment in a scene; selecting the intelligent carrying equipment with the highest residual electric quantity from all the to-be-upgraded intelligent carrying equipment according to a preset proportion; the method comprises the following steps: upgrading currently selected intelligent carrying equipment, and in the process of upgrading the currently selected intelligent carrying equipment, when upgrading of each selected intelligent carrying equipment is completed, newly selecting one intelligent carrying equipment with the highest residual electric quantity from unselected to-be-upgraded intelligent carrying equipment; and all the to-be-upgraded intelligent carrying devices are upgraded. Through the scheme, the influence of the upgrading of the intelligent carrying equipment on the whole service can be reduced while the upgrading of the intelligent carrying equipment is completed.

Description

Technical Field

[0001] The present application relates to the field of equipment control technology, and in particular to an upgrade method, system, device and electronic equipment for intelligent handling equipment. Background Art

[0002] In the automated logistics scenario, intelligent handling equipment, such as AGV (Automated Guided Vehicle), AMR (Automated Mobile Robot), IGV (Intelligent Guided Vehicle), etc., can greatly improve transportation efficiency and reduce labor costs. The software of intelligent handling equipment needs to be continuously upgraded to optimize performance. Currently, OTA (Over-the-Air Technology) can enable intelligent handling equipment to be upgraded online.

[0003] However, when upgrading the intelligent handling equipment, it is usually necessary to stop the task currently being executed by the intelligent handling equipment, and the task cannot be continued for a period of time during the upgrade process. Therefore, upgrading the intelligent handling equipment will have an adverse impact on the overall business.

[0004] Therefore, how to reduce the impact of the upgrade of intelligent handling equipment on the overall business while completing the upgrade of intelligent handling equipment is an urgent problem to be solved. Summary of the invention

[0005] The purpose of the embodiments of the present application is to provide a method, system, device and electronic device for upgrading intelligent handling equipment, so as to achieve the goal of completing the upgrade of intelligent handling equipment while reducing the impact of the upgrade of intelligent handling equipment on the overall business. The specific technical solution is as follows:

[0006] In one aspect of an embodiment of the present application, a method for upgrading an intelligent handling device is provided, the method comprising:

[0007] Determine the intelligent handling equipment to be upgraded in the scenario;

[0008] Select the smart transport device with the highest remaining power from all the smart transport devices to be upgraded according to a preset ratio;

[0009] The currently selected intelligent transporting device is upgraded, and in the process of upgrading the currently selected intelligent transporting device, when the upgrade of each selected intelligent transporting device is completed, a new intelligent transporting device with the highest remaining power is selected from the unselected intelligent transporting devices to be upgraded, until all the intelligent transporting devices to be upgraded have completed the upgrade.

[0010] Optionally, before selecting the intelligent transport device with the highest remaining power from all the intelligent transport devices to be upgraded according to a preset ratio, the method further includes:

[0011] Determine whether all intelligent handling devices in the scenario are currently in a busy state;

[0012] The step of selecting the intelligent transport device with the highest remaining power from all the intelligent transport devices to be upgraded according to a preset ratio includes:

[0013] When the business is not busy, select the smart transport device with the highest remaining power from all the smart transport devices to be upgraded according to a preset ratio;

[0014] The method further comprises:

[0015] In the case where the business is currently in a busy state, after waiting for a specified period of time, the process returns to the step of determining whether all the intelligent transport devices in the scene are currently in a busy state.

[0016] Optionally, the method further comprises:

[0017] When the business is busy for a preset time period starting from the first determination, and the business is busy for the preset time period, the step of selecting the smart transport device with the highest remaining power from all the smart transport devices to be upgraded according to the preset ratio is executed.

[0018] Optionally, the determining whether all the intelligent transport devices in the scene are currently in a busy state includes:

[0019] Calculate the ratio of the total number of all unfinished tasks of the intelligent handling devices in the scenario to the total number of currently available intelligent handling devices in the scenario;

[0020] If the obtained ratio is greater than the preset value, it is determined that the current business is busy;

[0021] Otherwise, it is determined that the current service is not busy.

[0022] Optionally, the upgrading of the currently selected intelligent handling equipment includes:

[0023] For each currently selected intelligent transport device, when the intelligent transport device is not performing a task, the remaining power is not less than a preset power threshold, and it is located in a temporary residence area, the intelligent transport device is controlled to be upgraded; wherein the temporary residence area is an area that does not affect the execution of tasks by other intelligent transport devices.

[0024] Optionally, for each currently selected intelligent transport device, when the intelligent transport device is not performing a task, the remaining power is not less than a preset power threshold, and the intelligent transport device is located in a temporary residence area, controlling the intelligent transport device to upgrade includes:

[0025] Step A1, for each currently selected intelligent transport device, determine whether the intelligent transport device is not currently executing a task; if not executing a task, execute step A2; if executing a task, wait until the currently executed task is completed, and then execute step A2;

[0026] Step A2, determining whether the remaining power of the intelligent transport device is less than a preset power threshold; if not, executing step A3; if less, controlling the intelligent transport device to move to a charging area for charging, and executing step A3 after the remaining power of the intelligent transport device reaches the preset power threshold;

[0027] Step A3, determining whether the intelligent transport device is currently located in the temporary residence area; if so, executing step A4; if not, after controlling the intelligent transport device to move to the temporary residence area, executing step A4;

[0028] Step A4, controlling the intelligent transport device to upgrade.

[0029] Optionally, controlling the intelligent handling device to upgrade includes:

[0030] When no irrecoverable abnormality occurs to the intelligent transport device, controlling the intelligent transport device to upgrade;

[0031] The method further comprises:

[0032] When an unrecoverable exception occurs in the intelligent transport device, the upgrade result of the intelligent transport device is marked as upgrade failure.

[0033] Optionally, the method further comprises:

[0034] Mark the selected intelligent handling equipment that has not completed the upgrade as a task-unable status;

[0035] When the upgrade of each selected intelligent transport device is completed, the unexecutable task status of the intelligent transport device is cleared.

[0036] Optionally, selecting the intelligent transport device with the highest remaining power from all the intelligent transport devices to be upgraded according to a preset ratio includes:

[0037] When the upgrade mode is the first mode, selecting the smart transport device with the highest remaining power from all the smart transport devices to be upgraded according to a preset ratio;

[0038] The method further comprises:

[0039] When the upgrade mode is the second mode, for each intelligent transport device to be upgraded, when the remaining power of the intelligent transport device is not less than a preset power threshold and is located in a temporary residence area, the intelligent transport device is controlled to be upgraded; wherein the temporary residence area is an area that does not affect the execution of tasks by other intelligent transport devices.

[0040] Optionally, for each intelligent transport device to be upgraded, when the remaining power of the intelligent transport device is not less than a preset power threshold and the intelligent transport device is located in a temporary residence area, controlling the intelligent transport device to upgrade includes:

[0041] Step B1, for each intelligent transport device to be upgraded, determine whether the remaining power of the intelligent transport device is less than a preset power threshold; if not, execute step B2; if less, control the intelligent transport device to move to a charging area for charging, and execute step B2 after the remaining power of the intelligent transport device reaches the preset power threshold;

[0042] Step B2, determining whether the intelligent transport device is currently located in the temporary residence area; if so, executing step B3; if not, after controlling the intelligent transport device to move to the temporary residence area, executing step B3;

[0043] Step B3, controlling the intelligent transport device to upgrade.

[0044] Optionally, the method further comprises:

[0045] After all the intelligent handling devices to be upgraded have completed the upgrade, the upgrade results of each intelligent handling device are displayed.

[0046] The embodiment of the present application also provides an upgrade system for intelligent handling equipment, the system comprising a management device and a plurality of intelligent handling equipment, wherein:

[0047] The management device is used to execute any of the above-mentioned methods for upgrading the intelligent handling equipment;

[0048] Each intelligent transport device is used to upgrade under the control of the management device.

[0049] Optionally, the management device is specifically used to determine, for each intelligent handling device in the scene, whether the software version of the intelligent handling device is consistent with the latest software version; if inconsistent, send an upgrade request to the intelligent handling device; wherein the upgrade request carries an identifier of the latest software version;

[0050] Each intelligent transport device is specifically configured to determine whether it can be upgraded after receiving the upgrade request; if it is determined that it can be upgraded, it downloads the program package from the management device for upgrading.

[0051] The embodiment of the present application also provides an upgrade device for intelligent handling equipment, the device comprising:

[0052] The module for determining the equipment to be upgraded is used to determine the intelligent handling equipment to be upgraded in the scene;

[0053] A device selection module, used to select the smart transport device with the highest remaining power from all the smart transport devices to be upgraded according to a preset ratio;

[0054] The first upgrade execution module is used to upgrade the currently selected intelligent transporting equipment. During the process of upgrading the currently selected intelligent transporting equipment, when the upgrade of each selected intelligent transporting equipment is completed, a new intelligent transporting equipment with the highest remaining power is selected from the unselected intelligent transporting equipment to be upgraded, until all the intelligent transporting equipment to be upgraded have completed the upgrade.

[0055] The present application also provides an electronic device, including:

[0056] Memory, used to store computer programs;

[0057] The processor is used to implement any of the above-mentioned methods for upgrading the intelligent handling equipment when executing the program stored in the memory.

[0058] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the upgrade method of any of the above-mentioned intelligent handling equipment is implemented.

[0059] The embodiment of the present application also provides a computer program product including instructions, which, when executed on a computer, enables the computer to execute any of the above-described methods for upgrading the intelligent handling equipment.

[0060] Beneficial effects of the embodiments of the present application:

[0061] The method for upgrading smart handling equipment provided in the embodiment of the present application determines the smart handling equipment to be upgraded in the scene; selects the smart handling equipment with the highest remaining power from all the smart handling equipment to be upgraded according to a preset ratio; upgrades the currently selected smart handling equipment, and in the process of upgrading the currently selected smart handling equipment, when the upgrade of each selected smart handling equipment is completed, selects a new smart handling equipment with the highest remaining power from the unselected smart handling equipment to be upgraded, until all the smart handling equipment to be upgraded have completed the upgrade.

[0062] Since this solution selects the smart handling equipment with the highest remaining power from all the smart handling equipment to be upgraded according to a preset ratio, it can ensure that only some of the smart handling equipment are upgraded at the same time, and the other smart handling equipment can continue to perform tasks without being affected, thereby reducing the impact of the smart handling equipment upgrade on the overall business; by giving priority to the smart handling equipment with the highest remaining power, it can also ensure that the smart handling equipment has sufficient power for upgrading; and when the upgrade of each selected smart handling equipment is completed, a new smart handling equipment with the highest remaining power is selected from the smart handling equipment to be upgraded that has not been selected, so that all the smart handling equipment to be upgraded can be selected and upgraded eventually.

[0063] Therefore, this solution can reduce the impact of the upgrade of the intelligent handling equipment on the overall business while completing the upgrade of the intelligent handling equipment.

[0064] Of course, implementing any product or method of the present application does not necessarily require achieving all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0066] Figure 1 A schematic diagram of a first flow chart of the method for upgrading the intelligent handling equipment provided in an embodiment of the present application;

[0067] Figure 2 A second flow chart of the method for upgrading the intelligent handling equipment provided in the embodiment of the present application;

[0068] Figure 3 A third flow chart of the method for upgrading the intelligent handling equipment provided in the embodiment of the present application;

[0069] Figure 4 A fourth flow chart of the method for upgrading the intelligent handling equipment provided in the embodiment of the present application;

[0070] Figure 5 A schematic diagram of the structure of an upgrade system for intelligent handling equipment provided in an embodiment of the present application;

[0071] Figure 6 A schematic diagram of the structure of an upgrade device for intelligent handling equipment provided in an embodiment of the present application;

[0072] Figure 7A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0073] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field based on the present application belong to the scope of protection of the present application.

[0074] In order to complete the upgrade of intelligent handling equipment while reducing the impact of the upgrade of intelligent handling equipment on the overall business, the embodiment of the present application provides an upgrade method, system, device and electronic device for intelligent handling equipment. The intelligent handling equipment in this embodiment can be any one of AGV, AMR, IGV, etc. The method can be applied to the management device of the upgrade system of intelligent handling equipment, and the management device can be an electronic device with data processing capabilities, such as a personal computer, server, etc., and the upgrade method of the intelligent handling equipment provided in the embodiment of the present application can be implemented by software, hardware, or a combination of software and hardware. The upgrade method of the intelligent handling equipment may include the following steps:

[0075] Determine the intelligent handling equipment to be upgraded in the scenario;

[0076] Select the smart transport device with the highest remaining power from all the smart transport devices to be upgraded according to a preset ratio;

[0077] The currently selected intelligent transporting device is upgraded, and in the process of upgrading the currently selected intelligent transporting device, when the upgrade of each selected intelligent transporting device is completed, a new intelligent transporting device with the highest remaining power is selected from the unselected intelligent transporting devices to be upgraded, until all the intelligent transporting devices to be upgraded have completed the upgrade.

[0078] In this embodiment, by selecting the smart handling equipment with the highest remaining power from all the smart handling equipment to be upgraded according to a preset ratio, it can be ensured that only some of the smart handling equipment are upgraded at the same time, and the other parts of the smart handling equipment can continue to perform tasks without being affected, thereby reducing the impact of the upgrade of the smart handling equipment on the overall business; by giving priority to the smart handling equipment with the highest remaining power, it can also be ensured that the smart handling equipment has sufficient power to be upgraded; and when the upgrade of each selected smart handling equipment is completed, a new smart handling equipment with the highest remaining power is selected from the unselected smart handling equipment to be upgraded, and finally all the smart handling equipment to be upgraded can be selected and upgraded. Therefore, through this solution, while completing the upgrade of the smart handling equipment, the impact of the upgrade of the smart handling equipment on the overall business can be reduced.

[0079] The following is an introduction to the upgrade method of the intelligent handling equipment provided by the embodiment of the present application in conjunction with the accompanying drawings. Figure 1 As shown, the upgrading method of the intelligent handling equipment may include the following steps:

[0080] S101, determining the intelligent transport equipment to be upgraded in the scene;

[0081] The scenario in this embodiment can be any scenario that requires intelligent handling equipment to perform logistics handling operations, such as factories, logistics warehouses, etc. In the scenario of this embodiment, the intelligent handling equipment can be managed by a management device, and the intelligent handling equipment can be connected to the management device for communication. The management device can periodically detect the status of each managed intelligent handling device through heartbeat detection, including: remaining power, location, whether it is idle (that is, whether it is executing a task), the identifier of the current software version, etc. When any intelligent handling equipment is put into use, the current software version of the intelligent handling equipment can be registered in the management device, and after each upgrade of the intelligent handling equipment, the identifier of the current software version of the intelligent handling equipment is updated in the management device. Among them, the identifier of the current software version can be a version number, MD5 (Message-Digest Algorithm), etc.

[0082] The management device may be an electronic device including a display screen, and the management device may display a preset operation interface through the display screen. When the software of the intelligent handling device needs to be upgraded, the latest version of the software package may be uploaded to the management device in the operation interface through any human-computer interaction method, and it may be selected whether all intelligent handling devices need to be upgraded. If not all intelligent handling devices need to be upgraded, some intelligent handling devices may be selected for upgrading.

[0083] Afterwards, the management device can determine whether the software version of each intelligent handling device that needs to be upgraded in the scene is consistent with the latest software version; if inconsistent, an upgrade request is sent to the intelligent handling device, and the upgrade request carries the identifier of the latest software version.

[0084] After receiving the upgrade request, the intelligent handling device can determine whether it can be upgraded based on the identifier of the latest software version. For example, the intelligent handling device can determine whether it is compatible with the latest software version based on the identifier of the latest software version. If it is compatible, it is determined that it can be upgraded, otherwise it is determined that it cannot be upgraded. The intelligent handling device can then reply the judgment result to the management device. After receiving the judgment results replied by each intelligent handling device, the management device can treat the intelligent handling device that is determined to be upgraded as the intelligent handling device to be upgraded to execute the subsequent upgrade process.

[0085] S102, selecting the smart transport device with the highest remaining power from all the smart transport devices to be upgraded according to a preset ratio;

[0086] The preset ratio may be set based on experience and demand. In one implementation, the preset ratio may be 10%.

[0087] When the remaining power of the intelligent handling device is insufficient, it is not enough to support the completion of the upgrade process. At this time, it is necessary to control the intelligent handling device to move to the charging area for charging, and wait until the remaining power of the intelligent handling device reaches the preset power threshold before the subsequent upgrade process can be performed. By selecting the intelligent handling device with the highest remaining power, this step can more likely select an intelligent handling device with sufficient power to support the upgrade, reduce the waiting time for charging during the upgrade process, and improve the upgrade efficiency.

[0088] The intelligent handling equipment selected in this step can be regarded as the intelligent handling equipment that has entered the upgrade process. Since the intelligent handling equipment cannot continue to perform tasks when the software of the intelligent handling equipment is updated, the intelligent handling equipment that has not completed the upgrade among the selected intelligent handling equipment can be marked as an unexecutable task status to avoid assigning tasks to the intelligent handling equipment that is undergoing software updates, resulting in delayed execution of tasks and affecting overall work efficiency.

[0089] S103, upgrading the currently selected intelligent transporting device, and in the process of upgrading the currently selected intelligent transporting device, when the upgrade of each selected intelligent transporting device is completed, a new intelligent transporting device with the highest remaining power is selected from the unselected intelligent transporting devices to be upgraded, until all the intelligent transporting devices to be upgraded have completed the upgrade.

[0090] Since every time the selected intelligent transport equipment is upgraded, the management device can upgrade the intelligent transport equipment that has not been upgraded among the selected intelligent transport equipment, and select a new intelligent transport equipment with the highest remaining power from the unselected intelligent transport equipment to be upgraded, and then upgrade the newly selected intelligent transport equipment, it is possible to finally select and upgrade all the intelligent transport equipment to be upgraded, and ensure that the number of intelligent transport equipment in the upgrade process does not exceed the product of the total number of intelligent transport equipment to be upgraded and the preset ratio. It can be seen that this embodiment can coordinate the upgrade process of intelligent transport equipment from a global perspective.

[0091] In this step, for each currently selected intelligent transport device, when the intelligent transport device is not performing a task, the remaining power is not less than the preset power threshold, and it is located in a temporary residence area, the intelligent transport device can be controlled to upgrade; wherein the temporary residence area is an area that does not affect the execution of tasks by other intelligent transport devices. The temporary residence area can be planned according to the spatial layout of the scene and the operation route of each intelligent transport device, so that when the intelligent transport device is located in the temporary residence area, it will not block other intelligent transport devices from performing tasks.

[0092] That is to say, when the intelligent handling device currently has a task, it can wait until the current task is completed before upgrading the intelligent handling device; when the remaining power of the intelligent handling device is not less than the preset power threshold, the intelligent handling device can be controlled to move to the charging area for charging, and wait until the remaining power of the intelligent handling device reaches the preset power threshold before upgrading the intelligent handling device; when the intelligent handling device is not located in the temporary residence area, it can be controlled to move to the temporary residence area before upgrading the intelligent handling device. It can be understood that after the intelligent handling device completes the current task and moves to the temporary residence area, the impact of the upgrade of the intelligent handling device on the overall business on site can be reduced, and waiting for the remaining power of the intelligent handling device to reach the preset power threshold before upgrading the intelligent handling device can ensure that the intelligent handling device has sufficient power to support the entire upgrade process.

[0093] When the management device detects that the intelligent transporting device meets the upgrade conditions, that is, the intelligent transporting device is not performing a task, the remaining power is not less than the preset power threshold, and it is located in the temporary residence area, the management device can send an upgrade instruction to the intelligent transporting device. After receiving the upgrade instruction, the intelligent transporting device can automatically download the latest version of the program package from the management device based on OTA technology for upgrading.

[0094] When controlling the upgrade of the intelligent handling equipment, the management device may control only the one with the highest remaining power among the selected intelligent handling equipment to upgrade at a time. Of course, it may also control multiple intelligent handling equipment with the highest power among the selected intelligent handling equipment to upgrade at the same time according to the network bandwidth of the communication connection between the management device and each intelligent handling equipment. The management device may also first control one or more intelligent handling equipment that meet the upgrade conditions among the selected intelligent handling equipment to upgrade, and at the same time control other intelligent handling equipment that do not meet the upgrade conditions to eliminate upgrade obstacles, that is, control intelligent handling equipment with unfinished tasks to continue to perform tasks, control intelligent handling equipment with a remaining power less than a preset power threshold to move to the charging area for charging, and control intelligent handling equipment that is not located in the temporary residence area to move to the temporary residence area.

[0095] When each selected intelligent transport device is upgraded, the unexecutable task status of the intelligent transport device can be cleared, so that a new transport task can be assigned to the intelligent transport device later.

[0096] In one implementation, this embodiment may further include:

[0097] After all the intelligent handling devices to be upgraded have completed the upgrade, the upgrade results of each intelligent handling device are displayed.

[0098] The upgrade result can be used to indicate whether each intelligent handling device has been successfully upgraded or failed to be upgraded; the number of intelligent handling devices that have been successfully upgraded, the number of intelligent handling devices that have failed to be upgraded, the reasons for the failure of the intelligent handling devices that have failed to be upgraded, etc. The management device can be an electronic device including a display screen. After each intelligent handling device is upgraded, the management device can record the upgrade result of the intelligent handling device, so that after all the intelligent handling devices to be upgraded have completed the upgrade, the upgrade result can be displayed on a preset display interface on the display screen.

[0099] In one implementation, for each currently selected intelligent transport device, when the intelligent transport device is not performing a task, the remaining power is not less than a preset power threshold, and the intelligent transport device is located in a temporary residence area, controlling the intelligent transport device to upgrade may include:

[0100] Step A1, for each currently selected intelligent transport device, determine whether the intelligent transport device is not currently executing a task; if not executing a task, execute step A2; if executing a task, wait until the currently executed task is completed, and then execute step A2;

[0101] Step A2, determining whether the remaining power of the intelligent transport device is less than a preset power threshold; if not, executing step A3; if less, controlling the intelligent transport device to move to a charging area for charging, and executing step A3 after the remaining power of the intelligent transport device reaches the preset power threshold;

[0102] Step A3, determining whether the intelligent transport device is currently located in the temporary residence area; if so, executing step A4; if not, after controlling the intelligent transport device to move to the temporary residence area, executing step A4;

[0103] Step A4, controlling the intelligent transport device to upgrade.

[0104] The following is combined with Figure 2 The flowchart shown in the figure introduces the upgrade process. Figure 2 As shown:

[0105] S201, set P is the set of intelligent handling devices that have completed upgrading, and the set is empty at the time of initialization; set S is the set of intelligent handling devices that are in the upgrading process, that is, the currently selected intelligent handling devices, and the set is empty at the time of initialization; set M is the set of all intelligent handling devices to be upgraded, and the initial number is N.

[0106] S202, determine whether the set M is empty; if it is empty, execute S205; if it is not empty, it indicates that there are still intelligent transport devices to be upgraded, and S203 can be executed to select the intelligent transport device with the highest remaining power from all the intelligent transport devices to be upgraded according to the preset ratio and add it to the set S, ensuring that the number of intelligent transport devices in the set S is at least 1 (not exceeding the product of N and the preset ratio), and remove the selected intelligent transport devices from the set M; S204, mark the intelligent transport devices in the set S as unexecutable task status.

[0107] Afterwards, execute S205 to determine whether the set S is empty. If it is not empty, the following steps S206-S209 can be executed; if it is empty, it indicates that all the intelligent handling devices to be upgraded have been upgraded, and S210 can be executed to record and display the upgrade results of the intelligent handling devices in the set P.

[0108] S206, for each currently selected intelligent transport device (i.e., the intelligent transport devices in the set S), determine whether the intelligent transport device is currently executing a task. This step is the above step A1. If the task is not being executed, execute S207; if the task is being executed, execute S211 and wait for the currently executed task to be completed; S212, determine whether an unrecoverable exception is encountered. If the currently executed task is completed and no unrecoverable exception is encountered, execute S207;

[0109] S207, determine whether the remaining power of the intelligent handling device is less than the preset power threshold. This step is the above step A2. If not, execute S208; if less, execute S213, control the intelligent handling device to move to the charging area for charging; S214, determine whether an irreversible abnormality is encountered. After the remaining power of the intelligent handling device reaches the preset power threshold and no irreversible abnormality is encountered, execute S208;

[0110] S208, determine whether the intelligent transport device is currently located in the temporary residence area. This step is the above step A3. If it is located, execute S209; if it is not located, execute S215 to control the intelligent transport device to move to the temporary residence area; S216, determine whether an irrecoverable abnormality is encountered. Afterwards, if the intelligent transport device moves to the temporary residence area and does not encounter an irrecoverable abnormality, execute S209;

[0111] S209, controlling the intelligent transport device to upgrade. This step is the same as the above step A4.

[0112] The above-mentioned controlling the intelligent handling device to upgrade may include: controlling the intelligent handling device to upgrade when no irrecoverable abnormality occurs in the intelligent handling device, wherein the irrecoverable abnormality is an abnormality that cannot be automatically eliminated by the intelligent handling device, such as disconnection with the management device, hardware failure, etc.

[0113] That is to say, during the execution of the above steps S206-S209, the management device can detect in real time whether the intelligent handling device encounters an unrecoverable exception. If no unrecoverable exception is encountered, the subsequent steps can be executed normally. If an unrecoverable exception occurs in the intelligent handling device, it indicates that the upgrade of the intelligent handling device has failed, and S217 can be executed to mark the upgrade result as an upgrade failure. Before executing step S209, S218 can also be executed to determine whether the current state of the intelligent handling device is normal, that is, whether an unrecoverable exception is encountered. If normal, step S209 is executed; otherwise, the upgrade result is marked as an upgrade failure.

[0114] Through the above process, this embodiment can enable the intelligent handling equipment to complete the tasks that currently need to be processed before upgrading, ensuring that the intelligent handling equipment has sufficient power to support the upgrading process, and the intelligent handling equipment can be located in the temporary residence area during the upgrading without affecting the normal execution of handling tasks by other intelligent handling equipment.

[0115] The intelligent handling equipment can also execute S219 after the upgrade, that is, after step S209, to receive the upgrade result reported by the intelligent handling equipment to the scheduling system after the upgrade. If the report is not submitted within the time limit, it is determined that the upgrade has failed; S220, to add the upgraded intelligent handling equipment to the set P, to clear the status of the unexecutable tasks of the upgraded intelligent handling equipment, to delete the upgraded intelligent handling equipment from the set S, and to return to execute S202.

[0116] In this embodiment, by selecting the intelligent handling equipment with the highest remaining power from all the intelligent handling equipment to be upgraded according to a preset ratio, it can be ensured that only some of the intelligent handling equipment are upgraded at the same time, and the other parts of the intelligent handling equipment can continue to perform tasks without being affected, reducing the impact of the upgrade of the intelligent handling equipment on the overall business, and only upgrading some of the intelligent handling equipment will not occupy too much network bandwidth; by giving priority to the intelligent handling equipment with the highest remaining power, it can also ensure that the intelligent handling equipment has enough power to upgrade; and when the upgrade of each selected intelligent handling equipment is completed, a new intelligent handling equipment with the highest remaining power is selected from the unselected intelligent handling equipment to be upgraded, and finally all the intelligent handling equipment to be upgraded can be selected and upgraded. Therefore, through this solution, while completing the upgrade of the intelligent handling equipment, it is possible to reduce the impact of the upgrade of the intelligent handling equipment on the overall business and improve the production efficiency on site.

[0117] In one embodiment of the present application, Figure 3 As shown, the upgrade method of the intelligent handling equipment provided in the embodiment of the present application may include the following steps:

[0118] S101, determining the intelligent transport equipment to be upgraded in the scene;

[0119] S301, determining whether all intelligent handling devices in the scene are currently in a busy state;

[0120] The judgment condition of whether the business is busy can be set according to the business situation in the scene. For example, when the number of tasks currently required to be performed by the intelligent transport device is large, and when the goods currently required to be transported by the intelligent transport device are large, it can be considered that the business is busy. It can be understood that the execution order of step S101 and step S301 in this embodiment is not priority.

[0121] In one implementation, it can be determined whether all intelligent transport devices in the scene are currently in a busy state by:

[0122] Calculate the ratio of the total number of all unfinished tasks of the intelligent handling equipment in the scene to the total number of intelligent handling equipment currently available in the scene; if the obtained ratio is greater than a preset value, it is determined that the current business is in a busy state; otherwise, it is determined that the current business is not in a busy state.

[0123] The preset value may be set according to experience and requirements, for example, the preset value may be 70%. The currently available intelligent handling equipment may refer to the intelligent handling equipment that has not failed in the scene.

[0124] If the service is not currently busy, execute step S102 ; if the service is currently busy, execute step S302 .

[0125] S102, selecting the smart transport device with the highest remaining power from all the smart transport devices to be upgraded according to a preset ratio;

[0126] S302, after waiting for a specified period of time, returns to step S301 to determine whether all the intelligent transport devices in the scene are currently in a busy state.

[0127] That is to say, the management device can periodically determine that the business is currently busy, and until it determines that the business is not currently busy, it can execute the subsequent upgrade process, thereby avoiding the situation where the smart handling equipment is in a busy state when upgrading, and reducing the impact of the upgrade on the overall business.

[0128] In order to complete the upgrade, the embodiment of the present application may further include:

[0129] S303, when the business is busy for a preset period of time since the first determination, and the business is busy for the preset period of time, step S102 is executed to select the smart transport device with the highest remaining power from all the smart transport devices to be upgraded according to a preset ratio.

[0130] That is, when the management device is still busy after waiting for a long time, it can directly enter the normal upgrade process, that is, execute step S103, to ensure that the upgrade can be completed in time. The preset time can be set as needed, for example, it can be set to 1 day, or 2 days.

[0131] S103, upgrading the currently selected intelligent transporting device, and in the process of upgrading the currently selected intelligent transporting device, when the upgrade of each selected intelligent transporting device is completed, a new intelligent transporting device with the highest remaining power is selected from the unselected intelligent transporting devices to be upgraded, until all the intelligent transporting devices to be upgraded have completed the upgrade.

[0132] In this embodiment, when the business is busy for a preset period of time starting from the first determination that the business is busy, and the business is busy for the preset period of time, the step of selecting the smart transport device with the highest remaining power from all the smart transport devices to be upgraded according to a preset ratio is executed. This can avoid the smart transport device being in a business busy state when upgrading, thereby reducing the impact of the upgrade on the overall business.

[0133] In an embodiment of the present application, the above-mentioned selecting the smart transport device with the highest remaining power from all the smart transport devices to be upgraded according to a preset ratio may include:

[0134] When the upgrade mode is the first mode (i.e., the above-mentioned ordinary upgrade), the intelligent transport device with the highest remaining power is selected from all the intelligent transport devices to be upgraded according to a preset ratio;

[0135] In this embodiment, when the upgrade mode is the second mode (also called instant upgrade), for each intelligent transport device to be upgraded, when the remaining power of the intelligent transport device is not less than a preset power threshold and the intelligent transport device is located in a temporary residence area, the intelligent transport device can be controlled to be upgraded; wherein the temporary residence area is an area that does not affect the execution of tasks by other intelligent transport devices.

[0136] In one implementation, when it is necessary to upgrade the intelligent handling equipment in the scene, the management device can display a preset mode selection interface, and then select the upgrade mode in the mode selection interface through human-computer interaction. The upgrade mode can be selected according to the urgency of the upgrade. The upgrade mode may include a first mode and a second mode, wherein the second mode is more urgent for upgrading than the first mode. For example, if there are security issues with the intelligent handling equipment and an emergency update is required, the second mode can be selected; if only the conventional functions of the intelligent handling equipment are to be optimized and updated, the first mode can be selected. After selecting the first mode, the preset duration (i.e., the maximum waiting time for executing the update of the intelligent handling equipment when the business is busy) can also be set through the operation interface displayed by the mode management device.

[0137] In this embodiment, when the upgrade mode is the second mode, it does not consider whether the business is currently busy, nor does it consider whether the intelligent transport equipment to be upgraded currently has unfinished tasks. Instead, the intelligent transport equipment whose remaining power is not less than the preset power threshold and is located in the temporary residence area is directly upgraded.

[0138] The above-mentioned smart transport devices to be upgraded, whose remaining power is not less than the preset power threshold and are located in the temporary residence area, are upgraded, including:

[0139] Step B1, for each intelligent transport device to be upgraded, determine whether the remaining power of the intelligent transport device is less than a preset power threshold; if not, execute step B2; if less, control the intelligent transport device to move to a charging area for charging, and execute step B2 after the remaining power of the intelligent transport device reaches the preset power threshold;

[0140] Step B2, determining whether the intelligent transport device is currently located in the temporary residence area; if so, executing step B3; if not, after controlling the intelligent transport device to move to the temporary residence area, executing step B3;

[0141] Step B3, controlling the intelligent transport device to upgrade.

[0142] The following is an exemplary introduction to the upgrade process in conjunction with the specific execution flow of the second mode. Figure 4 As shown:

[0143] First, S401, set P is recorded as the set of upgraded intelligent handling devices, which is empty at the time of initialization; set M is recorded as the set of all intelligent handling devices to be upgraded, and the initial number is recorded as N. The above set S does not exist in this mode.

[0144] The management device can execute S402 to determine whether the set M is empty. If it is not empty, it indicates that there are still intelligent handling devices to be upgraded. S403 can be executed to mark all intelligent handling devices in the set M as unexecutable task status. Then, the following steps S404-S406 are executed. If it is empty, it indicates that all intelligent handling devices to be upgraded have been upgraded. S407 can be executed to record and display the upgrade results of the intelligent handling devices in the set P.

[0145] S404, for each intelligent transport device to be upgraded (i.e., the intelligent transport devices in the set M), determine whether the remaining power of the intelligent transport device is less than the preset power threshold. This step is the above step B1. If not, execute S405; if less, execute S408, control the intelligent transport device to move to the charging area for charging; S409, determine whether an unrecoverable abnormality is encountered; if no unrecoverable abnormality is encountered, and the remaining power of the intelligent transport device reaches the preset power threshold, execute S405;

[0146] S405, determine whether the intelligent transport device is currently located in the temporary residence area. This step is the above step B2. If it is located, execute S406; if it is not located, execute S410 to control the intelligent transport device to move to the temporary residence area; S411, determine whether an unrecoverable abnormality is encountered; if no unrecoverable abnormality is encountered, and the intelligent transport device is moved to the temporary residence area, execute S406.

[0147] S406, sending an upgrade request to the intelligent transport device so that the intelligent transport device performs an upgrade operation. This step is the above step B3.

[0148] In this embodiment, controlling the intelligent transport device to upgrade may also include: controlling the intelligent transport device to upgrade when no irrecoverable abnormality occurs in the intelligent transport device.

[0149] That is to say, during the execution of the above steps S404-S405, the management device can also detect in real time whether the intelligent handling device encounters an unrecoverable exception. If no unrecoverable exception is encountered, the subsequent steps can be executed normally. If an unrecoverable exception occurs in the intelligent handling device, it indicates that the upgrade of the intelligent handling device has failed, and S412 can be executed to mark the upgrade result as an upgrade failure. Before executing step S406, S413 can also be executed to determine whether the current status of the intelligent handling device in the set M is normal, that is, whether an unrecoverable exception is encountered; if normal, S406 is executed; otherwise, S412 is executed to mark the upgrade result as an upgrade failure.

[0150] After step S406, S414 can be executed to receive the upgrade result reported by the intelligent handling equipment to the scheduling system after the upgrade. If the report is not submitted within the time limit, it is determined that the upgrade has failed. S415 adds the upgraded intelligent handling equipment to the set P, clears the status of the unexecutable business tasks of the upgraded intelligent handling equipment, deletes the upgraded intelligent handling equipment from the set S, and returns to execute S402.

[0151] In this embodiment, the upgrade of the intelligent handling equipment can be completed while reducing the impact of the upgrade of the intelligent handling equipment on the overall business. Furthermore, the upgrade mode can be selected according to the on-site conditions of the scene, and in different upgrade modes, the upgrade of the intelligent handling equipment is completed with the minimum impact on the on-site business.

[0152] In addition, this embodiment can realize seamless upgrade based on OTA technology, which can reduce the manual workload of upgrading intelligent handling equipment and reduce labor costs.

[0153] The present application also provides an upgrade system for intelligent handling equipment, such as Figure 5 As shown, the system includes a management device 501 and a plurality of intelligent handling devices 502, wherein:

[0154] Management device 501, used to execute any of the above-mentioned methods for upgrading the intelligent handling equipment;

[0155] Each intelligent transport device 502 is used to upgrade under the control of the management device 501 .

[0156] Optionally, the management device 501 is specifically used to determine, for each intelligent handling device 502 in the scene, whether the software version of the intelligent handling device 502 is consistent with the latest software version; if inconsistent, send an upgrade request to the intelligent handling device 502; wherein the upgrade request carries an identifier of the latest software version;

[0157] Each intelligent transport device 502 is specifically configured to determine whether it can be upgraded after receiving the upgrade request; if it is determined that it can be upgraded, it downloads the program package from the management device 501 for upgrading.

[0158] The present application also provides an upgrade device for intelligent handling equipment, such as Figure 6 As shown, the device comprises:

[0159] The device to be upgraded determining module 601 is used to determine the intelligent transport device to be upgraded in the scene;

[0160] The device selection module 602 is used to select the smart transport device with the highest remaining power from all the smart transport devices to be upgraded according to a preset ratio;

[0161] The first upgrade execution module 603 is used to upgrade the currently selected intelligent transporting device, and in the process of upgrading the currently selected intelligent transporting device, when the upgrade of each selected intelligent transporting device is completed, a new intelligent transporting device with the highest remaining power is selected from the unselected intelligent transporting devices to be upgraded, until all the intelligent transporting devices to be upgraded have completed the upgrade.

[0162] Optionally, the device further comprises:

[0163] A busy judgment module, used to judge whether all the intelligent transport devices in the scene are currently in a busy state before the device selection module 602 selects the intelligent transport device with the highest remaining power from all the intelligent transport devices to be upgraded according to a preset ratio;

[0164] The device selection module 602 is specifically used for:

[0165] When the business is not busy, select the smart transport device with the highest remaining power from all the smart transport devices to be upgraded according to a preset ratio;

[0166] The device also includes:

[0167] The waiting module is used to trigger the busy judgment module to execute the step of judging whether all the intelligent handling devices in the scene are currently in a busy business state after waiting for a specified period of time when the business is currently in a busy business state.

[0168] Optionally, the wait module is also used to:

[0169] When the business is busy for a preset period of time starting from the first determination, and the business is busy for the preset period of time, the busy determination module is triggered to execute the step of selecting the smart transport device with the highest remaining power from all the smart transport devices to be upgraded according to the preset ratio.

[0170] Optionally, the busy determination module is specifically used to:

[0171] Calculate the ratio of the total number of all unfinished tasks of the intelligent handling equipment in the scenario to the total number of intelligent handling equipment currently available in the scenario; if the obtained ratio is greater than a preset value, determine that the current business is in a busy state; otherwise, determine that the current business is not in a busy state.

[0172] Optionally, the first upgrade execution module 603 is specifically configured to:

[0173] For each currently selected intelligent transport device, when the intelligent transport device is not performing a task, the remaining power is not less than a preset power threshold, and it is located in a temporary residence area, the intelligent transport device is controlled to be upgraded; wherein the temporary residence area is an area that does not affect the execution of tasks by other intelligent transport devices.

[0174] Optionally, the first upgrade execution module 603 includes: a first task judgment submodule, a first power judgment submodule, and a first temporary residence area judgment submodule.

[0175] The first task judgment submodule is used to judge, for each currently selected intelligent transport device, whether the intelligent transport device is not currently executing a task; if the task is not being executed, trigger the first power judgment submodule; if the task is being executed, wait until the currently executed task is completed, and then trigger the first power judgment submodule;

[0176] The first power judgment submodule is used to judge whether the remaining power of the intelligent transport device is less than a preset power threshold; if not, the first temporary residence area judgment submodule is triggered; if less, the intelligent transport device is controlled to move to the charging area for charging, and the first temporary residence area judgment submodule is triggered after the remaining power of the intelligent transport device reaches the preset power threshold;

[0177] A first temporary residence area determination submodule, used to determine whether the intelligent transport device is currently located in the temporary residence area; if so, triggering the first upgrade control submodule; if not, after controlling the intelligent transport device to move to the temporary residence area, triggering the first upgrade instruction sending submodule;

[0178] The first upgrade control submodule is used to control the intelligent transport device to upgrade.

[0179] Optionally, the first upgrade control submodule is specifically used to control the intelligent transport device to upgrade when no irrecoverable abnormality occurs in the intelligent transport device;

[0180] The first upgrade execution module also includes:

[0181] The first marking submodule is used to mark the upgrade result of the intelligent transport device as upgrade failure when an unrecoverable exception occurs in the intelligent transport device.

[0182] Optionally, the device further comprises:

[0183] A status marking module is used to mark the selected intelligent handling equipment that has not completed the upgrade as a task-unable state;

[0184] When the upgrade of each selected intelligent transport device is completed, the unexecutable task status of the intelligent transport device is cleared.

[0185] Optionally, the device selection module 602 is specifically configured to:

[0186] When the upgrade mode is the first mode, selecting the smart transport device with the highest remaining power from all the smart transport devices to be upgraded according to a preset ratio;

[0187] The device also includes:

[0188] The second upgrade execution module is used to control the intelligent transport device to be upgraded when the upgrade mode is the second mode and the remaining power of each intelligent transport device to be upgraded is not less than a preset power threshold and is located in a temporary residence area; wherein the temporary residence area is an area that does not affect the execution of tasks by other intelligent transport devices.

[0189] Optionally, the second upgrade execution module includes: a second power level determination submodule, a second temporary residence area determination submodule, and a second upgrade control submodule;

[0190] The second power judgment submodule is used to judge, for each intelligent transport device to be upgraded, whether the remaining power of the intelligent transport device is less than a preset power threshold; if not, trigger the second temporary residence area judgment submodule; if less, control the intelligent transport device to move to the charging area for charging, and trigger the second temporary residence area judgment submodule after the remaining power of the intelligent transport device reaches the preset power threshold;

[0191] The second temporary residence area determination submodule is used to determine whether the intelligent transport device is currently located in the temporary residence area; if so, the second upgrade control submodule is triggered; if not, the second upgrade control submodule is triggered after the intelligent transport device is controlled to move to the temporary residence area;

[0192] The second upgrade control submodule is used to control the intelligent transport device to upgrade.

[0193] Optionally, the second upgrade control submodule is specifically used to control the intelligent transport device to upgrade when no irrecoverable abnormality occurs in the intelligent transport device;

[0194] The second upgrade execution module also includes:

[0195] The second marking submodule is used to mark the upgrade result of the intelligent transport device as upgrade failure when an unrecoverable exception occurs in the intelligent transport device.

[0196] Optionally, the device further comprises:

[0197] The display module is used to display the upgrade result of each intelligent handling device after all the intelligent handling devices to be upgraded have completed the upgrade.

[0198] In this embodiment, by selecting the smart handling equipment with the highest remaining power from all the smart handling equipment to be upgraded according to a preset ratio, it can be ensured that only some of the smart handling equipment are upgraded at the same time, and the other parts of the smart handling equipment can continue to perform tasks without being affected, thereby reducing the impact of the upgrade of the smart handling equipment on the overall business; by giving priority to the smart handling equipment with the highest remaining power, it can also be ensured that the smart handling equipment has sufficient power to be upgraded; and when the upgrade of each selected smart handling equipment is completed, a new smart handling equipment with the highest remaining power is selected from the unselected smart handling equipment to be upgraded, and finally all the smart handling equipment to be upgraded can be selected and upgraded. Therefore, through this solution, while completing the upgrade of the smart handling equipment, the impact of the upgrade of the smart handling equipment on the overall business can be reduced.

[0199] The present application also provides an electronic device, such as Figure 7 As shown, including:

[0200] Memory 701, used for storing computer programs;

[0201] The processor 702 is used to implement any of the above-mentioned methods for upgrading the intelligent handling equipment when executing the program stored in the memory 701.

[0202] Furthermore, the electronic device may further include a communication bus and / or a communication interface, and the processor 702, the communication interface, and the memory 701 communicate with each other via the communication bus.

[0203] The communication bus mentioned in the above electronic device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0204] The communication interface is used for communication between the above electronic device and other devices.

[0205] The memory may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0206] The above-mentioned processor 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 gate or transistor logic devices, discrete hardware components.

[0207] In another embodiment provided in the present application, a computer-readable storage medium is provided, in which a computer program is stored. When the computer program is executed by a processor, the steps of the upgrade method of any of the above-mentioned intelligent handling equipment are implemented.

[0208] In another embodiment provided in the present application, a computer program product including instructions is also provided, which, when executed on a computer, enables the computer to execute the method for upgrading the intelligent handling equipment described in any one of the above embodiments.

[0209] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a solid-state hard disk (SSD), etc.

[0210] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0211] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system, device, electronic device, and computer-readable storage medium embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0212] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. A method for upgrading intelligent handling equipment, characterized in that: The method comprises: Determine the intelligent handling equipment to be upgraded in the scenario; Select the smart transport device with the highest remaining power from all the smart transport devices to be upgraded according to a preset ratio; The currently selected intelligent transporting device is upgraded, and in the process of upgrading the currently selected intelligent transporting device, when the upgrade of each selected intelligent transporting device is completed, a new intelligent transporting device with the highest remaining power is selected from the unselected intelligent transporting devices to be upgraded, until all the intelligent transporting devices to be upgraded have completed the upgrade.

2. The method according to claim 1, characterized in that Before selecting the intelligent transport device with the highest remaining power from all the intelligent transport devices to be upgraded according to a preset ratio, the method further includes: Determine whether all intelligent handling devices in the scenario are currently in a busy state; The step of selecting the intelligent transport device with the highest remaining power from all the intelligent transport devices to be upgraded according to a preset ratio includes: When the business is not busy, select the smart transport device with the highest remaining power from all the smart transport devices to be upgraded according to a preset ratio; The method further comprises: In the case where the business is currently in a busy state, after waiting for a specified period of time, the process returns to the step of determining whether all the intelligent transport devices in the scene are currently in a busy state.

3. The method according to claim 2, characterized in that The method further comprises: When the business is busy for a preset time period starting from the first determination, and the business is busy for the preset time period, the step of selecting the smart transport device with the highest remaining power from all the smart transport devices to be upgraded according to the preset ratio is executed.

4. The method according to claim 2, characterized in that: The determining whether all the intelligent transport devices in the scene are currently in a busy state includes: Calculate the ratio of the total number of all unfinished tasks of the intelligent handling devices in the scenario to the total number of currently available intelligent handling devices in the scenario; If the obtained ratio is greater than the preset value, it is determined that the current business is busy; Otherwise, it is determined that the current service is not busy.

5. The method according to claim 1, characterized in that The upgrade of the currently selected intelligent handling equipment includes: For each currently selected intelligent transport device, when the intelligent transport device is not performing a task, the remaining power is not less than a preset power threshold, and it is located in a temporary residence area, the intelligent transport device is controlled to be upgraded; wherein the temporary residence area is an area that does not affect the execution of tasks by other intelligent transport devices.

6. The method according to claim 5, characterized in that For each currently selected intelligent transport device, when the intelligent transport device is not performing a task, the remaining power is not less than a preset power threshold, and the intelligent transport device is located in a temporary residence area, controlling the intelligent transport device to upgrade includes: Step A1, for each currently selected intelligent transport device, determine whether the intelligent transport device is not currently executing a task; if not executing a task, execute step A2; if executing a task, wait until the currently executed task is completed, and then execute step A2; Step A2, determining whether the remaining power of the intelligent transport device is less than a preset power threshold; if not, executing step A3; if less, controlling the intelligent transport device to move to a charging area for charging, and executing step A3 after the remaining power of the intelligent transport device reaches the preset power threshold; Step A3, determining whether the intelligent transport device is currently located in the temporary residence area; if so, executing step A4; if not, after controlling the intelligent transport device to move to the temporary residence area, executing step A4; Step A4, controlling the intelligent transport device to upgrade.

7. The method according to claim 6, characterized in that The controlling the intelligent handling device to upgrade comprises: When no irrecoverable abnormality occurs to the intelligent transport device, controlling the intelligent transport device to upgrade; The method further comprises: When an unrecoverable exception occurs in the intelligent transport device, the upgrade result of the intelligent transport device is marked as upgrade failure.

8. The method according to claim 1, characterized in that The method further comprises: Mark the selected intelligent handling equipment that has not completed the upgrade as a task-unable status; When the upgrade of each selected intelligent transport device is completed, the unexecutable task status of the intelligent transport device is cleared.

9. The method according to claim 1, characterized in that: The step of selecting the intelligent transport device with the highest remaining power from all the intelligent transport devices to be upgraded according to a preset ratio includes: When the upgrade mode is the first mode, selecting the smart transport device with the highest remaining power from all the smart transport devices to be upgraded according to a preset ratio; The method further comprises: When the upgrade mode is the second mode, for each intelligent transport device to be upgraded, when the remaining power of the intelligent transport device is not less than a preset power threshold and is located in a temporary residence area, the intelligent transport device is controlled to be upgraded; wherein the temporary residence area is an area that does not affect the execution of tasks by other intelligent transport devices.

10. The method according to claim 9, characterized in that For each intelligent transport device to be upgraded, when the remaining power of the intelligent transport device is not less than a preset power threshold and the intelligent transport device is located in a temporary residence area, controlling the intelligent transport device to upgrade includes: Step B1, for each intelligent transport device to be upgraded, determine whether the remaining power of the intelligent transport device is less than a preset power threshold; if not, execute step B2; if less, control the intelligent transport device to move to a charging area for charging, and execute step B2 after the remaining power of the intelligent transport device reaches the preset power threshold; Step B2, determining whether the intelligent transport device is currently located in the temporary residence area; if so, executing step B3; if not, after controlling the intelligent transport device to move to the temporary residence area, executing step B3; Step B3, controlling the intelligent transport device to upgrade.

11. The method according to any one of claims 1 to 10, characterized in that: The method further comprises: After all the intelligent handling devices to be upgraded have completed the upgrade, the upgrade results of each intelligent handling device are displayed.

12. An upgrade system for intelligent handling equipment, characterized in that: The system includes a management device and a plurality of intelligent handling devices, wherein: The management device is used to execute the method according to any one of claims 1 to 11; Each intelligent transport device is used to upgrade under the control of the management device.

13. The system according to claim 12, characterized in that The management device is specifically used to determine, for each intelligent handling device in the scene, whether the software version of the intelligent handling device is consistent with the latest software version; if inconsistent, send an upgrade request to the intelligent handling device; wherein the upgrade request carries an identifier of the latest software version; Each intelligent transport device is specifically configured to determine whether it can be upgraded after receiving the upgrade request; if it is determined that it can be upgraded, it downloads the program package from the management device for upgrading.

14. An upgrade device for intelligent handling equipment, characterized in that: The device comprises: The module for determining the equipment to be upgraded is used to determine the intelligent handling equipment to be upgraded in the scene; A device selection module, used to select the smart transport device with the highest remaining power from all the smart transport devices to be upgraded according to a preset ratio; The first upgrade execution module is used to upgrade the currently selected intelligent transporting equipment. During the process of upgrading the currently selected intelligent transporting equipment, when the upgrade of each selected intelligent transporting equipment is completed, a new intelligent transporting equipment with the highest remaining power is selected from the unselected intelligent transporting equipment to be upgraded, until all the intelligent transporting equipment to be upgraded have completed the upgrade.

15. An electronic device, characterized in that: include: Memory, used to store computer programs; A processor, for implementing any of the methods described in claims 1-11 when executing a program stored in a memory.

16. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 11 is implemented.

17. A computer program product comprising instructions, characterized in that When the computer program product runs on a computer, the computer is enabled to implement the method according to any one of claims 1 to 11.

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