Bin gate fault detection method, robot and storage medium

Abstract

The embodiment of the invention relates to the technical field of robots, in particular to a bin gate fault detection method, a robot and a computer readable storage medium, by responding to a received task instruction, going to a destination according to the task instruction, responding to a received bin gate opening instruction, a bin gate is controlled to be opened, and if the bin gate fails to be opened, the bin gate state is detected; fault types are determined based on the bin gate state, the fault types comprise a door lock fault, an object jamming fault and a motor fault, and operation corresponding to the fault types is executed according to the fault types. According to the method, the fault type of the robot bin gate can be rapidly and accurately determined, fault processing is carried out, and the fault analysis processing efficiency and the robot working efficiency are effectively improved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of robots, and in particular, to a method for detecting a warehouse door failure, a robot, and a computer-readable storage medium. Background Art

[0002] Nowadays, with the continuous innovation and progress of technology, the field of artificial intelligence is gradually entering people's daily lives and playing an increasingly important role, quietly affecting people's lives. Many intelligent robots are replacing traditional manual labor and playing a huge role in many fields such as security, unmanned delivery, and driverless driving, greatly improving people's living and working efficiency.

[0003] As the usage frequency of robots is getting higher and higher, the warehouse door is frequently opened and closed every day to access goods. After long-term use, problems are likely to occur. The existing detection methods mainly rely on manual inspection, depending on the technology and experience of maintenance personnel. When encountering complex situations, it often takes a long time to disassemble and inspect the machine, seriously affecting the working efficiency of the robot. How to quickly and efficiently locate and solve the faults occurring in the robot is an urgent problem to be solved currently. Summary of the Invention

[0004] The embodiments of the present invention provide a method for detecting a warehouse door failure, which can quickly and efficiently locate the problem and determine the method to solve the problem when there is a problem with the opening and closing of the warehouse door of the robot.

[0005] In a first aspect, the embodiments of the present invention provide a method for detecting a warehouse door failure for a robot, including:

[0006] In response to receiving a task instruction, go to the destination according to the task instruction;

[0007] In response to receiving an instruction to open the warehouse door, control the warehouse door to open;

[0008] If the warehouse door fails to open, detect the state of the warehouse door, and determine the type of failure based on the state of the warehouse door. The type of failure includes door lock failure, stuck object failure, and motor failure;

[0009] Execute the operation corresponding to the type of failure according to the type of failure.

[0010] In some embodiments, the detecting the state of the warehouse door and determining the type of failure based on the state of the warehouse door includes:

[0011] Detect the door lock switch signal. If the door lock switch signal is abnormal, it is determined that there is the door lock failure; [[ID=�8]]

[0012] If the door lock switch signal is normal, it is determined that there is no door lock failure.

[0013] In some embodiments, detecting the state of the storage door and determining the type of fault based on the door state further includes:

[0014] If the door lock switch signal is normal, obtain a first image inside the storage door;

[0015] Compare the first image with the initial image inside the storage door and output a comparison report.

[0016] In some embodiments, before going to the destination according to the task instruction, the method further includes:

[0017] In response to receiving an instruction to open the storage door, control the storage door to open to receive the delivered items;

[0018] In response to receiving an instruction to close the storage door, control the storage door to close;

[0019] If the storage door is successfully closed, obtain a second image inside the storage door and store it as the initial image inside the storage door.

[0020] In some embodiments, detecting the state of the storage door and determining the type of fault based on the door state further includes:

[0021] Detect the motor communication signal, and if the motor communication signal is abnormal, determine that there is a motor fault.

[0022] In some embodiments, detecting the state of the storage door and determining the type of fault based on the door state further includes:

[0023] If the motor communication signal is normal, control the motor to start and detect the output current state;

[0024] If the output current continuously increases to the stall current, it is determined that the motor shaft connection is normal and there is no motor fault;

[0025] If the output current remains stable within a first time period, the motor shaft connection is abnormal and it is determined that there is a motor fault.

[0026] In some embodiments, performing the operation corresponding to the fault type according to the fault type includes:

[0027] Report the fault situation, where the fault situation includes the fault type.

[0028] In some embodiments, after the step of controlling the storage door to open in response to receiving an instruction to open the storage door, it further includes:

[0029] Detect the trigger signal of the position detection switch, and the position detection switch is arranged on the storage door;

[0030] If the trigger signal is not detected after the second time period, it is determined that the opening of the bin door fails.

[0031] In a second aspect, an embodiment of the present invention provides a robot, including:

[0032] At least one processor, and

[0033] A memory, the memory is communicatively connected to the at least one processor, the memory stores instructions executable 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 method described in the first aspect above.

[0034] In a third aspect, an embodiment of the present invention provides a non-volatile computer-readable storage medium, the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by at least one processor, the at least one processor is caused to execute the method described in the first aspect above.

[0035] The beneficial effects of the embodiments of the present invention: Different from the prior art, the bin door fault detection method provided by the embodiments of the present invention responds to receiving a task instruction, goes to the destination according to the task instruction, responds to receiving an instruction to open the bin door, controls the bin door to open, if the opening of the bin door fails, detects the state of the bin door, determines the fault type based on the state of the bin door, and executes an operation corresponding to the fault type according to the fault type. The present invention can quickly and accurately determine the fault type of the robot bin door and perform fault handling, effectively improving the fault analysis and handling efficiency and the working efficiency of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments of the present application will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0037] Figure 1 It is a schematic diagram of the application environment of the bin door fault detection method provided by an embodiment of the present invention;

[0038] Figure 2 It is a structural block diagram of a robot provided by an embodiment of the present invention;

[0039] Figure 3 It is a schematic flowchart of the bin door fault detection method provided by an embodiment of the present invention;

[0040] Figure 4 It is a schematic structural diagram of the bin door fault detection device provided by an embodiment of the present invention;

[0041] Figure 5 A structural schematic diagram of a warehouse door fault detection device provided by another embodiment of the present invention. Detailed implementation manners

[0042] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts shall fall within the protection scope of the present application.

[0043] It should be noted that if there is no conflict, the various features in the embodiments of the present application can be combined with each other and are all within the protection scope of the present application. In addition, although the functional modules are divided in the device schematic diagram and the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order from the module division in the device or the flowchart. Furthermore, the terms "first", "second", "third", etc. used in the present application do not limit the data and the execution order, but only distinguish the same items or similar items with basically the same functions and effects.

[0044] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by those skilled in the technical field to which the present invention belongs. The terms used in this specification in the description of the present invention are only for the purpose of describing specific implementation manners and are not used to limit the present invention. The term "and / or" used in this specification includes any and all combinations of one or more of the related listed items.

[0045] Figure 1 is an application environment schematic diagram of the warehouse door fault detection method provided by the embodiment of the present invention. Please refer to Figure 1 , the warehouse door fault detection method is used for the robot 10, and the robot 10 includes a warehouse door 20.

[0046] The warehouse door 20 is the door of the storage bin of the robot 10. Items such as packages and meals can be put in or taken out through the warehouse door, which can prevent the goods from falling or being stolen during transportation.

[0047] In some embodiments, the warehouse door 20 includes a door lock, and the warehouse door 20 locks or releases the closed state of the warehouse door through the door lock switch.

[0048] In some embodiments, the robot 10 includes a motor, and the warehouse door 20 is connected to the motor through a connecting member, and the motor rotation drives the warehouse door to open and close. For example, the connecting member can be a motor shaft.

[0049] In some embodiments, the bin door 20 is a side-sliding door / flipping door / drawer-type door.

[0050] In some embodiments, the robot 10 further includes a position detection switch disposed on the bin door 20 for detecting whether the bin door is fully closed and / or successfully opened. Exemplarily, the position detection switch is a contact sensor, which is disposed at a suitable position, such as on the edge of the bin door or other positions that can detect the full closure of the bin door and / or the successful opening of the bin door. During the closing process of the bin door, detection is performed through the contact sensor. If the contact sensor detects a signal, it is determined that the bin door is in place when closed; during the opening process of the bin door, detection is performed through the contact sensor. If the contact sensor detects a signal, it is determined that the bin door is in place when opened. In some embodiments, when the bin door is opened and closed by a motor, the motor stops working after the contact sensor detects a signal.

[0051] In some embodiments, the robot 10 further includes a weight sensor for detecting whether a cargo is taken out or put in.

[0052] In some embodiments, the door lock is an electromagnetic lock, which can remotely open and close the bin door 20.

[0053] An embodiment of the present invention provides a method for detecting a bin door failure. The method for detecting a bin door failure is executed by the robot 10, which can quickly and accurately determine the failure type of the robot's bin door and perform failure handling, effectively improving the failure analysis and handling efficiency and the working efficiency of the robot.

[0054] Before introducing the method for detecting a bin door failure in detail, the hardware structure of the robot provided by another embodiment of the present invention is described.

[0055] Another embodiment of the present invention provides a robot, as Figure 2 shown, the robot 10 includes at least one processor 11 and a memory 12 that are communicatively connected ( Figure 2 connected by a bus and taking one processor as an example). Those of ordinary skill in the art can understand that Figure 2 the structure shown is only schematic and does not limit the structure of the above electronic device. For example, the robot may further include more or fewer components than those shown in Figure 2 , or have a different configuration from that shown in Figure 2 .

[0056] Among them, the processor 11 is used to provide computing and control capabilities to control the robot 10 to perform corresponding tasks. For example, to control the robot 10 to execute any one of the methods for detecting a bin door failure provided by the following embodiments of the invention.

[0057] It can be understood that the processor 11 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.

[0058] The memory 12, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as the program instructions / modules corresponding to the warehouse door fault detection method in the embodiments of the present invention. By running the non-transitory software programs, instructions, and modules stored in the memory 12, the processor 11 can implement the warehouse door fault detection method in any of the following method embodiments. The memory 12 can include a high-speed random access memory, and can also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some embodiments, the memory 12 can also include a memory remotely set relative to the processor, and these remote memories can be connected to the processor through a network. Examples of the above network include but are not limited to the Internet, an enterprise intranet, a local area network, a mobile communication network, and their combinations.

[0059] Hereinafter, the warehouse door fault detection method provided by the embodiments of the present invention will be described in detail. Please refer to Figure 3 , the warehouse door fault detection method includes but is not limited to the following steps S301 - S304:

[0060] S301: In response to receiving a task instruction, go to the destination according to the task instruction.

[0061] In this step, the robot receives a task instruction, and the task instruction is used to instruct the robot to work. The task instruction contains destination-related information, and the robot goes to the destination according to the task instruction.

[0062] In some embodiments, the robot is a delivery robot, and the task instruction includes a delivery location, a delivery path, a delivery item type, a start delivery time, a delivery target, etc. After receiving the task instruction, the robot goes to the delivery location.

[0063] In some embodiments, the task instruction is issued by the user through a user device. For example, the user sends a delivery instruction to the robot through an app.

[0064] In some embodiments, the task instructions are issued by the robot system.

[0065] S302: In response to receiving the instruction to open the warehouse door, control the warehouse door to open.

[0066] In this step, after the robot receives the instruction to open the warehouse door, it controls the warehouse door to open. Among them, the instruction to open the warehouse door is used to instruct the robot to open the warehouse door of the storage bin.

[0067] In some embodiments, in step S302, after the step of controlling the warehouse door to open in response to receiving the instruction to open the warehouse door, the warehouse door fault detection method further includes but is not limited to the following steps S401 - S402:

[0068] S401: Detect the trigger signal of the position detection switch.

[0069] S402: If the trigger signal is not detected after the second time period, determine that the warehouse door opening fails.

[0070] Among them, the position detection switch is set on the warehouse door. The position detection switch is used to detect the opening and closing state of the warehouse door. The trigger signal is used to indicate that the warehouse door is successfully opened. The second time period is a preset time period for detecting whether the warehouse door is successfully opened. If the trigger signal of the position detection switch is detected, it is determined that the warehouse door is successfully opened. If the trigger signal is not detected after the second time period, it is determined that the warehouse door opening fails.

[0071] In some embodiments, the position detection switch is a contact sensor. Whether the warehouse door is successfully opened is detected by the contact sensor. The contact sensor is set at the position where the warehouse door will contact when it is opened. If the contact sensor detects contact, the warehouse door is successfully opened. If the contact sensor does not detect contact after the second time period, the warehouse door opening fails.

[0072] S303: If the warehouse door opening fails, detect the warehouse door state and determine the fault type based on the warehouse door state.

[0073] In this step, if the warehouse door opening fails, detect the warehouse door state and determine the fault type according to the warehouse door state. Among them, the warehouse door state is used to represent the state of the warehouse door of the robot's storage bin. The fault type is used to represent the type of the fault that causes the warehouse door opening to fail. The fault type includes door lock fault, stuck object fault, and motor fault. A door lock fault means that the door lock of the robot's warehouse door fails. A stuck object fault means that the robot's warehouse door is stuck by goods, resulting in the failure of the normal opening and closing of the warehouse door. A motor fault means that the motor fails. The motor is set on the robot and is connected to the warehouse door through a connecting piece. The warehouse door is opened and closed by the rotation of the motor. For example, the connecting piece can be a motor shaft.

[0074] In some embodiments, if the warehouse door is successfully opened, the status of the goods is detected, and in response to the goods being taken out, the delivery task is completed.

[0075] In some embodiments, in response to the goods being taken out, completing the delivery task includes: in response to the goods being taken out, receiving an instruction to close the warehouse door, controlling the warehouse door to close, and completing the delivery task.

[0076] In some embodiments, after controlling the warehouse door to close, the robot automatically goes to the standby location and waits to receive a new task instruction.

[0077] In some embodiments, in step S303, detecting the status of the warehouse door and determining the type of failure based on the status of the warehouse door includes but is not limited to the following steps S501 - S502:

[0078] S501: Detect the door lock switch signal. If the door lock switch signal is abnormal, it is determined that there is a door lock failure.

[0079] S502: If the door lock switch signal is normal, it is determined that there is no door lock failure.

[0080] In this step, it is determined whether there is a door lock failure by detecting the door lock switch signal. The door lock switch signal is used to indicate the status of the warehouse door lock. If the door lock switch signal is abnormal, it is determined that there is a door lock failure. If the door lock switch signal is normal, it is determined that there is no door lock failure.

[0081] In some embodiments, the door lock failure includes mechanical failures, such as the door lock tongue being stuck or damaged, the spring failing, mechanical parts being stuck due to dust and debris entering the lock, and the door lock rusting due to too high humidity.

[0082] In some embodiments, the door lock is an electromagnetic lock, and the door lock failure includes drive circuit failures, insufficient or interrupted power supply, control program errors, etc.

[0083] In some embodiments, after determining that there is a door lock failure, the failure situation is reported. The failure situation includes the type of failure. In some embodiments, after reporting the failure situation, it is convenient to arrange staff to handle the failure, manually open the door to pick up the goods, and handle the door lock failure, such as replacing the door lock, cleaning the lock, or repairing the door lock tongue.

[0084] In this embodiment, by detecting whether the door lock switch signal is normal to determine whether there is a door lock failure, it is possible to automatically and quickly check whether the abnormal failure of the warehouse door to open normally is caused by a door lock failure, reducing the failure troubleshooting time.

[0085] In some embodiments, in step S303, detecting the status of the warehouse door and determining the type of failure based on the status of the warehouse door includes but is not limited to the following steps S503 - S504:

[0086] S503: If the door lock switch signal is normal, obtain the first image inside the storage door.

[0087] In this step, if the door lock switch signal is normal and it is determined that there is no door lock failure, then obtain the first image inside the storage door. The first image is a real-time image inside the storage door.

[0088] S504: Compare the first image with the initial image inside the storage door and output a comparison report.

[0089] In this step, compare the obtained first image with the initial image inside the storage door and output a comparison report. Among them, the initial image is the image inside the storage door before going to the destination according to the task instruction, and this image can represent the situation inside the storage door before the robot executes the task.

[0090] In some embodiments, based on the first image and the initial image, perform analysis and comparison through an image analysis algorithm and output a comparison report.

[0091] In some embodiments, after outputting the comparison report, analyze abnormal situations through manual detection, determine the situation of the items inside the storage door according to the first image and the comparison report, and determine whether there is an obstacle to item jamming.

[0092] In some embodiments, use a machine learning method to determine whether there is an obstacle to item jamming, use an object detection algorithm to identify the position of the items, train a classification model, and judge whether the inside of the storage door shown in the first image is in a state of item jamming to determine whether there is an obstacle to item jamming.

[0093] In some embodiments, use a deep learning method to determine whether there is an obstacle to item jamming, use a semantic segmentation algorithm to segment the area inside the storage, accurately identify the positional relationship between the items and the storage door, and automatically detect the item jamming situation by comparing the image features of the first image and the initial image to determine whether there is an obstacle to item jamming.

[0094] In some embodiments, the robot includes a cargo sorting device. After determining that there is an obstacle to item jamming, sort the items inside the storage door through the cargo sorting device and try to remove the obstacle to item jamming.

[0095] In some embodiments, the cargo sorting device includes a robotic arm. Sort the items inside the storage door through the robotic arm. For example, use the robotic arm to grab and move the item causing the obstacle to a position that does not affect the opening and closing of the storage door.

[0096] In some embodiments, the cargo sorting device includes a storage bin tilting device. Sort the items inside the storage door through the storage bin tilting device. For example, use the storage bin tilting device to tilt the storage bin in a specified direction, driving the item causing the obstacle to move to a position that does not affect the opening and closing of the storage door.

[0097] In some embodiments, after determining that there is an obstacle preventing the item from being retrieved, arrange for staff to manually open the door to retrieve the item and remove the items in the storage bin.

[0098] In this embodiment, after determining that it is not a door lock failure, by comparing the current image inside the bin door with the initial image, it can be determined whether the bin door cannot be opened normally because the items being delivered are stuck inside the bin door, and quickly determine whether there is an obstacle preventing the item from being retrieved.

[0099] In some embodiments, in step S301, before responding to the task instruction and traveling to the destination according to the task instruction, the bin door failure detection method further includes but is not limited to the following steps S601 - S603:

[0100] S601: Respond to the received instruction to open the bin door, and control the bin door to open to receive the delivered items.

[0101] In this step, before the robot travels to the destination according to the task instruction, it needs to first receive the delivered items. After the robot receives the instruction to open the bin door, it controls the bin door to open and receive the delivered items. Among them, the instruction to open the bin door is used to instruct the robot to open the bin door.

[0102] S602: Respond to the received instruction to close the bin door, and control the bin door to close.

[0103] In this step, after receiving the delivered items, receive the instruction to close the bin door and control the bin door to close.

[0104] S603: If the bin door is successfully closed, obtain the second image inside the bin door and store it as the initial image of the inside of the bin door.

[0105] In this step, if the bin door is successfully closed, obtain the second image inside the bin door and store the second image as the initial image of the inside of the bin door. Among them, the second image is the real - time image inside the bin door after the bin door is successfully closed. Storing the second image as the initial image facilitates subsequent comparison with the first image to confirm whether there is a failure preventing the item from being retrieved.

[0106] In this embodiment, by obtaining the second image inside the current bin door as the initial image after successfully receiving the delivered items and successfully closing the bin door during the stage of receiving the delivered items before performing the delivery task, it can provide a reference for subsequent determination of whether there is an obstacle preventing the item from being retrieved. Comparing with the initial image can quickly determine whether changes have occurred in the position status of the items inside the bin door, etc., and can more conveniently locate whether there is an obstacle preventing the item from being retrieved.

[0107] In some embodiments, in step S303, detect the status of the bin door and determine the type of failure based on the status of the bin door, including but not limited to the following step S701:

[0108] S701: Detect the motor communication signal. If the motor communication signal is abnormal, it is determined that there is a motor fault.

[0109] In this step, it is determined whether there is a motor fault by detecting whether the motor communication signal is normal. Among them, the motor communication signal is used to represent the motor communication state. If the motor communication signal is abnormal, it is determined that there is a motor fault.

[0110] In some embodiments, after it is determined that there is a motor fault, the fault situation is reported, and the fault situation includes an abnormal motor communication signal. This is convenient for subsequent staff to manually handle the fault.

[0111] In this embodiment, by detecting the motor communication signal, it can be quickly determined whether there is a motor fault, realizing rapid positioning of the motor fault and shortening the fault troubleshooting time.

[0112] In some embodiments, in step S303, the state of the warehouse door is detected, and based on the state of the warehouse door, the fault type is determined, including but not limited to the following steps S702 - S704:

[0113] S702: If the motor communication signal is normal, control the motor to start and detect the output current state.

[0114] In this step, after detecting the motor communication signal and determining that the motor communication signal is normal, control the motor to start rotating and detect the motor output current state.

[0115] S703: If the output current continuously increases to the stall current, it is determined that the motor shaft connection is normal and there is no motor fault.

[0116] In this step, if it is detected that the output current fluctuates significantly and continuously increases to the stall current, it is determined that the motor shaft connection is normal and there is no motor fault. Among them, the motor shaft is used to connect the warehouse door and the motor, and the stall current is the current when the motor is in the stalled state, that is, the state where the motor shaft is forced to be fixed and cannot rotate. It should be understood that the opening and closing of the warehouse door have a maximum angle. After the door is opened to the maximum angle, since the opening angle cannot be increased any further, the motor shaft is forced to be fixed and cannot rotate anymore, and the motor will increase the current to increase the torque. Therefore, the output current will continuously increase to the stall current, indicating that the motor shaft connection is normal, the door has reached the maximum opening angle, and there is no motor fault.

[0117] S704: If the output current remains stable within the first time period, the motor shaft connection is abnormal and it is determined that there is a motor fault.

[0118] In this step, if it is detected that the output current remains stable within the first duration, it indicates that the connection of the motor shaft is abnormal, and it is determined that there is a motor fault. Herein, the first duration is the duration for detecting the output current. It should be understood that if there is no motor fault, the output current should continuously increase within the first duration. Only when there is a motor fault and the connection of the motor shaft is abnormal, such as the motor shaft connection becoming loose, will the output current remain stable and the motor keep rotating continuously.

[0119] In some embodiments, after determining that there is a motor fault, report the fault situation, where the fault situation includes the abnormal connection of the motor shaft for the staff to handle.

[0120] In this embodiment, after determining that the motor communication signal is normal, control the motor to start, and determine whether the connection of the motor shaft is normal by detecting the output current status, so as to quickly and accurately determine whether the motor shaft connection is loose and quickly determine whether there is a motor fault.

[0121] S304: Perform the operation corresponding to the fault type according to the fault type.

[0122] In this step, after determining the fault type, perform the operation corresponding to the fault type according to the fault type.

[0123] In some embodiments, step S304, performing the operation corresponding to the fault type according to the fault type includes but is not limited to the following step S801:

[0124] S801: Report the fault situation, where the fault situation includes the fault type.

[0125] In this step, after determining the fault type, report the fault situation and issue a fault warning to facilitate the staff to determine the cause of the fault and perform relevant processing.

[0126] In summary, the method for detecting the fault of the warehouse door provided by the embodiment of the present invention, by responding to receiving a task instruction, going to the destination according to the task instruction, responding to receiving an instruction to open the warehouse door, controlling the warehouse door to open, if the opening of the warehouse door fails, detecting the status of the warehouse door, and determining the fault type based on the status of the warehouse door, and performing the operation corresponding to the fault type according to the fault type, the present invention can quickly and accurately determine the fault type of the robot warehouse door and perform fault handling, effectively improving the efficiency of fault analysis and handling and the working efficiency of the robot.

[0127] It should be noted that in the above various embodiments, there is not necessarily a certain sequence among the above steps. Those of ordinary skill in the art can understand according to the description of the embodiments of the present application that in different embodiments, the above steps can have different execution sequences, that is, they can be executed in parallel or exchanged, etc.

[0128] As another aspect of the embodiments of the present application, the embodiments of the present application provide a warehouse door fault detection device. Among them, the warehouse door fault detection device can be a software module, and the software module includes a number of instructions stored in a memory. The processor can access this memory and call the instructions for execution to complete the warehouse door fault detection method described in each of the above embodiments.

[0129] In some embodiments, the warehouse door fault detection device can also be built by hardware devices. For example, the warehouse door fault detection device can be built by one or more than two chips, and each chip can work in coordination to complete the warehouse door fault detection method described in each of the above embodiments. For another example, the warehouse door fault detection device can also be built by various logic devices, such as being built by a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), a single-chip microcomputer, an ARM (Acorn RISC Machine), or other programmable logic devices, discrete gate or transistor logic, discrete hardware components, or any combination of these components.

[0130] Please refer to Figure 4 , Figure 4 , which schematically shows the structural diagram of the warehouse door fault detection device 100 provided by some embodiments of the present application. It is easy to understand that the warehouse door fault detection device 100 can be configured in the robot 10.

[0131] Exemplarily, as Figure 4 shown, the warehouse door fault detection device 100 includes a first execution module 110, a control module 120, a first detection module 130, and a second execution module 140.

[0132] The first execution module 110 is used to go to the destination according to the task instruction in response to receiving the task instruction.

[0133] The control module 120 is used to control the opening of the warehouse door in response to receiving the warehouse door opening instruction.

[0134] The first detection module 130 is used to detect the state of the warehouse door when the opening of the warehouse door fails, and determine the fault type based on the state of the warehouse door. The fault type includes door lock fault, stuck object fault, and motor fault.

[0135] The second execution module 140 is used to perform the operation corresponding to the fault type according to the fault type.

[0136] In some embodiments, the detection module 130 is used to detect the door lock switch signal. If the door lock switch signal is abnormal, it is determined that there is a door lock fault; if the door lock switch signal is normal, it is determined that there is no door lock fault.

[0137] In some embodiments, the detection module 130 is further configured to obtain a first image inside the bin door if the door lock switch signal is normal; compare the first image with the initial image inside the bin door, and output a comparison report.

[0138] In some embodiments, the detection module 130 is further configured to detect the motor communication signal, and determine that there is a motor fault if the motor communication signal is abnormal.

[0139] In some embodiments, the detection module 130 is further configured to control the motor to start if the motor communication signal is normal, and detect the output current status; if the output current continuously increases to the stall current, it is determined that the motor shaft connection is normal and there is no motor fault; if the output current remains stable within the first time period, the motor shaft connection is abnormal and it is determined that there is a motor fault.

[0140] The second execution module 140 is configured to report the fault situation, and the fault situation includes the fault type.

[0141] In some embodiments, referring to Figure 5 , the bin door fault detection device 100 further includes an acquisition module 150. The acquisition module 150 is configured to control the bin door to open in response to receiving an instruction to open the bin door, so as to receive the delivered items; control the bin door to close in response to receiving an instruction to close the bin door; if the bin door is successfully closed, obtain a second image inside the bin door and store it as the initial image inside the bin door.

[0142] In some embodiments, referring to Figure 5 , the bin door fault detection device 100 further includes a second detection module 160. The second detection module 160 is configured to detect the trigger signal of the position detection switch, and the position detection switch is arranged on the bin door; if the trigger signal is not detected after the second time period, it is determined that the bin door fails to open.

[0143] It should be noted that the above bin door fault detection device can execute the bin door fault detection method provided by the embodiments of the present application, and has the corresponding functional modules and beneficial effects for executing the method. For the technical details not described in detail in the embodiments of the bin door fault detection device, reference can be made to the bin door fault detection method provided by the embodiments of the present application.

[0144] An embodiment of the present application further provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer is caused to execute the method as described in the foregoing embodiments.

[0145] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above various methods. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM), etc.

[0146] The above-disclosed are only the preferred embodiments of the present application. Of course, the scope of the rights of the present application cannot be limited thereby. Therefore, equivalent changes made according to the claims of the present application still fall within the scope covered by the present application.

Claims

1. A method for detecting a failure of a warehouse door, which is used for a robot, characterized in that, Including: In response to receiving a task instruction, travel to the destination according to the task instruction; In response to receiving an instruction to open the warehouse door, control the warehouse door to open; If the opening of the warehouse door fails, detect the state of the warehouse door and determine the type of failure based on the state of the warehouse door, where the type of failure includes door lock failure, stuck object failure, and motor failure; Perform an operation corresponding to the type of failure according to the type of failure.

2. The method according to claim 1, wherein The detecting the state of the warehouse door and determining the type of failure based on the state of the warehouse door includes: Detect the door lock switch signal, and if the door lock switch signal is abnormal, determine that there is the door lock failure; If the door lock switch signal is normal, determine that there is no door lock failure.

3. The method according to claim 2, wherein The detecting the state of the warehouse door and determining the type of failure based on the state of the warehouse door further includes: If the door lock switch signal is normal, obtain a first image inside the warehouse door; Compare the first image with an initial image inside the warehouse door and output a comparison report.

4. The method according to claim 3, wherein Before traveling to the destination according to the task instruction, the method further includes: In response to receiving an instruction to open the warehouse door, control the warehouse door to open to receive delivery items; In response to receiving an instruction to close the warehouse door, control the warehouse door to close; If the warehouse door is successfully closed, obtain a second image inside the warehouse door and store it as the initial image inside the warehouse door.

5. The method according to claim 1, wherein The detecting the state of the warehouse door and determining the type of failure based on the state of the warehouse door further includes: Detect the motor communication signal, and if the motor communication signal is abnormal, determine that there is the motor failure.

6. The method according to claim 5, characterized in that The detecting the state of the warehouse door and determining the type of failure based on the state of the warehouse door further includes: If the motor communication signal is normal, control the motor to start and detect the output current state; If the output current continuously increases to the stall current, determine that the motor shaft connection is normal and there is no motor failure; If the output current remains stable within a first time period, the motor shaft connection is abnormal and it is determined that there is a motor failure.

7. The method according to any one of claims 1-6, wherein performing an operation corresponding to the type of failure according to the type of failure includes: Report the failure situation, where the failure situation includes the type of failure.

8. The method according to any one of claims 1-6, after the step of in response to receiving an instruction to open the warehouse door, controlling the warehouse door to open, further includes: Detect the trigger signal of a position detection switch, where the position detection switch is disposed on the warehouse door; If the trigger signal is not detected after a second time period, determine that the opening of the warehouse door fails.

9. A robot, characterized in that, Including: At least one processor, and A memory, the memory is communicatively connected to the at least one processor, the memory stores instructions executable 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 method according to any one of claims 1-8.

10. A non-volatile computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by at least one processor, the at least one processor executes the method according to any one of claims 1-8.

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