Automatic mobile device emergency stop method, automatic mobile device, electronic device and medium

Abstract

The invention discloses an automatic mobile device emergency stop method, an automatic mobile device, an electronic device and a medium, and belongs to the technical field of automatic mobile devices. The method is applied to an emergency stop control system. The emergency stop control system comprises a target servo wheel, a first control unit and a second control unit. The method comprises the steps that a target sudden stop instruction is acquired, and the target sudden stop instruction is used for indicating a first control unit to issue a first control signal and indicating a second control unit to issue a second control signal; and the target servo wheel reduces the rotating speed to zero based on at least one of the first control signal and the second control signal, so that the target automatic moving equipment stops moving. According to the emergency stop method of the automatic mobile device, the problem that the emergency stop success rate of the automatic mobile device is low is solved.

Description

Technical Field

[0001] This application belongs to the field of automatic mobile equipment technology, and particularly relates to an emergency stop method for automatic mobile equipment, automatic mobile equipment, electronic equipment, and medium. Background Technology

[0002] For automated mobile equipment equipped with Autonomous Mobile Robot (AMB) or Automated Guided Vehicle (AGV) systems, the emergency stop of the automated mobile equipment is usually controlled by issuing commands from the embedded program in the microcontroller unit.

[0003] However, when the embedded program in the microcontroller crashes, the issued instructions become chaotic, making it impossible for the instructions to be executed accurately. This leads to the failure of the automatic mobile device to stop, resulting in a low success rate for the automatic mobile device to stop. Summary of the Invention

[0004] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes an emergency stop method for automatic mobile devices, an automatic mobile device, an electronic device, and a medium to solve the problem of low success rate in emergency stopping of automatic mobile devices.

[0005] In a first aspect, this application provides an emergency stop method for an automatic mobile device, applied to an emergency stop control system, the emergency stop control system including a target servo wheel, a first control unit, and a second control unit; the method includes: Obtain the target emergency stop command, which is used to instruct the first control unit to issue a first control signal and to instruct the second control unit to issue a second control signal; The target servo wheel reduces its rotational speed to zero based on at least one of the first and second control signals, causing the target automated mobile device to stop moving.

[0006] According to the emergency stop method for automatic mobile equipment of this application, a target emergency stop command is obtained. The target emergency stop command is used to instruct the first control unit to issue a first control signal and to instruct the second control unit to issue a second control signal. At the same time that the first control unit issues the first control signal to control the target servo wheel to reduce its speed to zero, the second control unit also issues the second control signal to control the target servo wheel to reduce its speed to zero. In this way, even if the first control unit fails and the first control signal fails, the second control signal issued by the second control unit can still complete the control of the target servo wheel, thereby achieving the purpose of stopping the target automatic mobile equipment. The first control unit and the second control unit work together to perform emergency stop control on the target automatic mobile equipment, which improves the success rate of emergency stop of the target automatic mobile equipment.

[0007] According to one embodiment of this application, the first control unit includes a microcontroller, and the emergency stop control system further includes a first control switch and a second control switch, with the microcontroller connected to both the first and second control switches; the first control unit sends a first control signal, including: Upon receiving an emergency stop command from the target, at least one of the first control switch and the second control switch switches changes from a closed state to an open state, causing the first trigger signal received by the microcontroller to change from a first voltage state to a second voltage state; the voltage of the first voltage state is less than the voltage of the second voltage state. The microcontroller sends a first control signal based on the first trigger signal of the second voltage state.

[0008] According to one embodiment of this application, a first control switch includes a first contact, a second control switch includes a second contact, and a microcontroller is connected to the first contact and the second contact respectively; upon receiving a target emergency stop command, at least one of the first control switch and the second control switch switches changes from a closed state to an open state, causing the first trigger signal received by the microcontroller to change from a first voltage state to a second voltage state, including: Upon receiving a target emergency stop command, at least one of the first and second contacts switches from a closed state to an open state, causing the first trigger signal acquired by the microcontroller to change from a first voltage state to a second voltage state.

[0009] According to one embodiment of this application, the second control unit includes a server, which is connected to both the first control switch and the second control switch; the second control unit sends a second control signal, including: Upon receiving a target emergency stop command, at least one of the first and second control switches switches from a closed state to an open state, causing the second trigger signal acquired by the server to change from a third voltage state to a fourth voltage state; the voltage of the third voltage state is greater than the voltage of the fourth voltage state. The server sends a second control signal based on the second trigger signal of the fourth voltage state.

[0010] According to one embodiment of this application, a first control switch includes a third contact, a second control switch includes a fourth contact, and a server is connected to the third contact and the fourth contact respectively; upon receiving a target emergency stop command, at least one of the first and second control switches switches from a closed state to an open state, causing the second trigger signal received by the server to change from a third voltage state to a fourth voltage state, including: Upon receiving a target emergency stop command, at least one of the third and fourth contacts switches from a closed state to an open state, causing the second trigger signal received by the server to change from a third voltage state to a fourth voltage state.

[0011] According to one embodiment of this application, the target servo wheel reduces its rotational speed to zero based on at least one of a first control signal and a second control signal, thereby stopping the target automated mobile device from moving, including: The target motor corresponding to the target servo wheel acquires a first control signal and / or a second control signal, and based on at least one of the first control signal and the second control signal, reduces the rotation speed to zero, causing the target automated mobile device to stop moving.

[0012] According to one embodiment of this application, after the target servo wheel reduces its rotational speed to zero based on at least one of a first control signal and a second control signal, causing the target automated mobile device to stop moving, the method includes: Upon receiving an emergency stop release command, the first control unit issues a third control signal to restore the target automated mobile device to its moving state.

[0013] Secondly, this application provides an automatic mobile device for performing the steps of the automatic mobile device emergency stop method described in the first aspect.

[0014] Thirdly, this application provides an electronic device including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the automatic mobile device emergency stop method described in the first aspect.

[0015] Fourthly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the first aspect of the automatic mobile device emergency stop method.

[0016] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0017] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is one of the flowcharts illustrating the emergency stop method for an automatic mobile device provided in this application embodiment; Figure 2 This is a schematic diagram of the structure of the first control unit provided in an embodiment of this application; Figure 3 This is a schematic diagram of the structure of the second control unit provided in the embodiments of this application; Figure 4 This is a schematic diagram of the emergency stop control system provided in an embodiment of this application; Figure 5This is a second schematic flowchart of the automatic mobile device emergency stop method provided in the embodiments of this application; Figure 6 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0018] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0019] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0020] The following description, in conjunction with the accompanying drawings, details the automatic mobile device emergency stop method, automatic mobile device, electronic device, storage medium, and computer program product provided in this application through specific embodiments and application scenarios.

[0021] The automatic mobile device emergency stop method can be applied to a terminal, and can be executed by the hardware or software in the terminal.

[0022] The terminal includes, but is not limited to, portable communication devices such as mobile phones or tablets with touch-sensitive surfaces (e.g., touchscreen displays and / or touchpads). It should also be understood that, in some embodiments, the terminal may not be a portable communication device, but rather a desktop computer with touch-sensitive surfaces (e.g., touchscreen displays and / or touchpads).

[0023] The following embodiments describe a terminal including a display and a touch-sensitive surface. However, it should be understood that the terminal may include one or more other physical user interface devices such as a physical keyboard, mouse, and joystick.

[0024] The automatic mobile device emergency stop method provided in this application embodiment can be executed by an electronic device or a functional module or functional entity in an electronic device that can implement the automatic mobile device emergency stop method. The electronic devices mentioned in this application embodiment include, but are not limited to, mobile phones, tablets, computers, cameras and wearable devices. The automatic mobile device emergency stop method provided in this application embodiment is described below using an electronic device as the execution subject.

[0025] like Figure 1 As shown, the emergency stop method for automatic mobile equipment can be applied to an emergency stop control system, which includes a target servo wheel, a first control unit, and a second control unit. The emergency stop method for automatic mobile equipment includes steps 110 and 120.

[0026] Step 110: Obtain the target emergency stop command. The target emergency stop command is used to instruct the first control unit to issue a first control signal and to instruct the second control unit to issue a second control signal.

[0027] In some embodiments, the automatic mobile device emergency stop method can be applied to an automatic mobile device, which may be an automatic mobile device equipped with an Autonomous Mobile Robot (AMB) system or an Automated Guided Vehicle (AGV) system.

[0028] In some embodiments, a target emergency stop command can be obtained upon triggering the target emergency stop button. The number of target emergency stop buttons is at least one. The target emergency stop button can be a button-type, knob-type, sensor-type, or any theoretically feasible type of button.

[0029] In some embodiments, the emergency stop control system may include control switches, and the number of control switches is at least one. Each control switch may be connected to a target emergency stop button, and when the target emergency stop button is triggered, the control switch connected to the target emergency stop button receives the target emergency stop command.

[0030] In some embodiments, the first control unit may be connected to at least one control switch. When at least one control switch receives a target emergency stop command and triggers the emergency stop control process of the first control unit, the first control unit may generate a first control signal and send the first control signal to the target servo wheel.

[0031] In some embodiments, the second control unit may be connected to at least one control switch. When at least one control switch receives a target emergency stop command and triggers the emergency stop control process of the second control unit, the second control unit may generate a second control signal and send the second control signal to the target servo wheel.

[0032] Step 120: The target servo wheel reduces its rotational speed to zero based on at least one of the first control signal and the second control signal, causing the target automated mobile device to stop moving.

[0033] In some embodiments, the target servo wheel can reduce its rotational speed to zero upon receiving at least one of a first control signal and a second control signal, thereby stopping the target automated mobile device from moving.

[0034] In some embodiments, when the target servo wheel receives a first control signal and a second control signal, it can reduce its rotational speed to zero based on either the first control signal or the second control signal, thereby stopping the target automated mobile device from moving.

[0035] In some embodiments, after the target automated mobile device stops moving, upon receiving an emergency stop release command, a control command to release the emergency stop state can be generated to allow the target automated mobile device to resume its moving state.

[0036] According to the emergency stop method for an automated mobile device according to the embodiments of this application, when a target emergency stop command is obtained, a first control signal is issued by a first control unit and a second control signal is issued by a second control unit. Both the first and second control signals are used to reduce the rotational speed of the target servo wheel to zero. In this way, while the first control unit issues the first control signal to control the target servo wheel to reduce its rotational speed to zero, the second control unit also issues the second control signal to control the target servo wheel to reduce its rotational speed to zero. Thus, even if the first control unit fails and the first control signal fails, the second control signal issued by the second control unit can still control the target servo wheel, thereby achieving the purpose of stopping the target automated mobile device. The first control unit and the second control unit work together to perform emergency stop control on the target automated mobile device, improving the success rate of emergency stop of the target automated mobile device.

[0037] In some embodiments, the first control unit includes a microcontroller, and the emergency stop control system further includes a first control switch and a second control switch. The microcontroller is connected to the first control switch and the second control switch respectively. When a target emergency stop command is received, at least one of the first control switch and the second control switch switches from a closed state to an open state, causing the microcontroller to obtain a first trigger signal that changes from a first voltage state to a second voltage state. The voltage of the first voltage state is less than the voltage of the second voltage state. Based on the first trigger signal of the second voltage state, the microcontroller issues a first control signal.

[0038] In actual implementation, both the first control switch and the second control switch can be normally closed switches, both of which can be two-contact switches, or three-contact, normally open, or any theoretically feasible type of switch. This application does not impose any specific restrictions on this.

[0039] In actual implementation, the microcontroller can be connected to the general purpose input / output (GPIO) and the ground terminal via the first control switch and the second control switch, respectively.

[0040] In some embodiments, before a target emergency stop command is received, both the first control switch and the second control switch are closed, and the microcontroller obtains the first trigger signal of the first voltage state through GPIO. The voltage value of the first voltage state can be 0 volts.

[0041] In some embodiments, when a target emergency stop command is received, at least one of the first control switch and the second control switch is switched from a closed state to an open state, and the microcontroller obtains a first trigger signal of the second voltage state through GPIO. The voltage value of the second voltage state can be 3.3 volts.

[0042] In some embodiments, the microcontroller can send a first control signal to the target servo wheel based on a first trigger signal of a second voltage state. For example, the microcontroller can send the first control signal to the target servo wheel via a target communication line based on a target communication protocol. The target communication protocol can be RS232, RS485, or any theoretically feasible communication protocol, and the target communication line can be a communication line that matches the target communication protocol.

[0043] According to the automatic mobile device emergency stop method of this application embodiment, when a target emergency stop command is obtained, at least one of the first control switch and the second control switch switches is switched from a closed state to an open state, causing the microcontroller to obtain a first trigger signal that changes from a first voltage state to a second voltage state; the voltage of the first voltage state is less than the voltage of the second voltage state; based on the first trigger signal of the second voltage state, the microcontroller sends a first control signal, and the second control unit sends a second control signal. Both the first control signal and the second control signal are used to reduce the rotational speed of the target servo wheel to zero. So that while the first control unit sends the first control signal to control the target servo wheel to reduce its rotational speed to zero, the second control unit also sends the second control signal to control the target servo wheel to reduce its rotational speed to zero. In this way, even if the first control unit fails and the first control signal fails, the second control signal sent by the second control unit can still complete the control of the target servo wheel, thereby achieving the purpose of stopping the target automatic mobile device. The first control unit and the second control unit work together to perform emergency stop control on the target automatic mobile device, improving the success rate of emergency stop of the target automatic mobile device.

[0044] In some embodiments, the first control switch includes a first contact, the second control switch includes a second contact, and the microcontroller is connected to the first contact and the second contact respectively; when a target emergency stop command is received, at least one of the first contact and the second contact switches from a closed state to an open state, so that the first trigger signal received by the microcontroller changes from a first voltage state to a second voltage state.

[0045] In some embodiments, such as Figure 2 As shown, the microcontroller 210 is connected to the first contact 221 of the first control switch 220 and the second contact 231 of the second control switch 230. When a target emergency stop command is received, at least one of the first contact 221 and the second contact 231 switches from a closed state to an open state, so that the first trigger signal obtained by the microcontroller 210 changes from a first voltage state to a second voltage state.

[0046] In some embodiments, before a target emergency stop command is received, a closed loop is formed between the first control switch, the second control switch, and the microcontroller. The microcontroller acquires a first trigger signal of a first voltage state via GPIO. Upon receiving a target emergency stop command, the first contact and / or the second contact switch change from a closed state to an open state, thereby breaking the closed loop between the microcontroller and the first and second control switches. At this time, the first trigger signal acquired by the microcontroller changes from a first voltage state to a second voltage state.

[0047] In some embodiments, such as Figure 2As shown, after acquiring the first trigger signal of the second voltage state, the microcontroller 210 can send the first control signal to the target servo wheel 240 and the target servo wheel 250 through the target communication line 260.

[0048] According to the automatic mobile device emergency stop method of this application embodiment, when a target emergency stop command is obtained, at least one of the first control switch and the second control switch switches is switched from a closed state to an open state, causing the microcontroller to obtain a first trigger signal that changes from a first voltage state to a second voltage state; the voltage of the first voltage state is less than the voltage of the second voltage state; based on the first trigger signal of the second voltage state, the microcontroller sends a first control signal, and the second control unit sends a second control signal. Both the first control signal and the second control signal are used to reduce the rotational speed of the target servo wheel to zero. So that while the first control unit sends the first control signal to control the target servo wheel to reduce its rotational speed to zero, the second control unit also sends the second control signal to control the target servo wheel to reduce its rotational speed to zero. In this way, even if the first control unit fails and the first control signal fails, the second control signal sent by the second control unit can still complete the control of the target servo wheel, thereby achieving the purpose of stopping the target automatic mobile device. The first control unit and the second control unit work together to perform emergency stop control on the target automatic mobile device, improving the success rate of emergency stop of the target automatic mobile device.

[0049] In some embodiments, the second control unit includes a server, which is connected to the first control switch and the second control switch respectively; when a target emergency stop command is received, at least one of the first control switch and the second control switch switches is switched from a closed state to an open state, so that the second trigger signal obtained by the server changes from a third voltage state to a fourth voltage state; the voltage of the third voltage state is greater than the voltage of the fourth voltage state; the server sends a second control signal based on the second trigger signal.

[0050] In actual operation, the server may include signal input ports and signal output ports, and the server can be connected to the first control switch and the second control switch through the signal input ports and signal output ports.

[0051] In some embodiments, before receiving a target emergency stop command, the server can obtain a second trigger signal of a third voltage state through the signal input port and the signal output port. The voltage of the third voltage state can be 24 volts.

[0052] In some embodiments, when a target emergency stop command is received, at least one of the first control switch and the second control switch is switched from a closed state to an open state, so that the server receives a second trigger signal of a fourth voltage state, wherein the voltage of the fourth voltage state can be any value less than the voltage of the third voltage state.

[0053] In some embodiments, after the server receives the second trigger signal of the fourth voltage state, it can send a second control signal to the target servo wheel through the connection with the target servo wheel to reduce the rotational speed of the target servo wheel to zero.

[0054] In some embodiments, the server and the target servo wheel can be connected via wired or wireless means, and this application does not impose any specific limitations on this.

[0055] According to the automatic mobile device emergency stop method of this application embodiment, when a target emergency stop command is obtained, a first control signal is issued by a first control unit. When the target emergency stop command is obtained, at least one of the first control switch and the second control switch is switched from a closed state to an open state, so that the second trigger signal obtained by the servo changes from a third voltage state to a fourth voltage state; the voltage of the third voltage state is greater than the voltage of the fourth voltage state; the servo issues a second control signal based on the second trigger signal. Both the first control signal and the second control signal are used to reduce the rotational speed of the target servo wheel to zero. So that while the first control unit issues the first control signal to control the target servo wheel to reduce its rotational speed to zero, the second control unit also issues the second control signal to control the target servo wheel to reduce its rotational speed to zero. In this way, even if the first control unit fails and the first control signal fails, the second control signal issued by the second control unit can still complete the control of the target servo wheel, so as to stop the target automatic mobile device from moving. The first control unit and the second control unit work together to perform emergency stop control on the target automatic mobile device, which improves the success rate of emergency stop of the target automatic mobile device.

[0056] In some embodiments, the first control switch includes a third contact, the second control switch includes a fourth contact, and the server is connected to the third contact and the fourth contact respectively; when a target emergency stop command is received, at least one of the third contact and the fourth contact switches from a closed state to an open state, so that the second trigger signal received by the server changes from a third voltage state to a fourth voltage state.

[0057] In some embodiments, such as Figure 3 As shown, the server 310 (e.g., server 310-1 and / or server 310-2) is connected to the third contact 321 of the first control switch 320 and the fourth contact 331 of the second control switch 330. Upon receiving a target emergency stop command, at least one of the third contact 321 and the fourth contact 331 switches from a closed state to an open state, causing the second trigger signal received by the server 310 to change from a third voltage state to a fourth voltage state.

[0058] In some embodiments, before a target emergency stop command is received, a closed loop is formed between the first control switch, the second control switch, and the servo, and the servo acquires a second trigger signal in a third voltage state. Upon receiving a target emergency stop command, the third contact and / or the fourth contact switch change from a closed state to an open state, thus breaking the closed loop between the servo and the first and second control switches. At this time, the second trigger signal acquired by the servo changes from the third voltage state to the fourth voltage state.

[0059] In some embodiments, such as Figure 3 As shown, after acquiring the second trigger signal of the fourth voltage state, the servo 310 can send a second control signal to the target servo wheel 340 and the target servo wheel 350 through the connection with the target servo wheel.

[0060] According to the automatic mobile device emergency stop method of this application embodiment, when a target emergency stop command is obtained, a first control signal is issued by a first control unit. When the target emergency stop command is obtained, at least one of the first control switch and the second control switch is switched from a closed state to an open state, so that the second trigger signal obtained by the servo changes from a third voltage state to a fourth voltage state; the voltage of the third voltage state is greater than the voltage of the fourth voltage state; the servo issues a second control signal based on the second trigger signal. Both the first control signal and the second control signal are used to reduce the rotational speed of the target servo wheel to zero. So that while the first control unit issues the first control signal to control the target servo wheel to reduce its rotational speed to zero, the second control unit also issues the second control signal to control the target servo wheel to reduce its rotational speed to zero. In this way, even if the first control unit fails and the first control signal fails, the second control signal issued by the second control unit can still complete the control of the target servo wheel, so as to stop the target automatic mobile device from moving. The first control unit and the second control unit work together to perform emergency stop control on the target automatic mobile device, which improves the success rate of emergency stop of the target automatic mobile device.

[0061] In some embodiments, the target motor corresponding to the target servo wheel acquires a first control signal and / or a second control signal, and reduces the rotational speed to zero based on at least one of the first control signal and the second control signal, thereby stopping the target automated mobile device from moving.

[0062] In some embodiments, when the target motor corresponding to the target servo wheel receives the first control signal, it can reduce its rotation speed to zero based on the first control signal, thereby stopping the target automated mobile device from moving.

[0063] In some embodiments, when the target motor corresponding to the target servo wheel receives the second control signal, it can reduce its rotation speed to zero based on the second control signal, thereby stopping the target automated mobile device from moving.

[0064] In some embodiments, when the target motor corresponding to the target servo wheel receives the first control signal and the second control signal, it can reduce its rotation speed to zero based on either the first control signal or the second control signal, thereby stopping the target automated mobile device from moving.

[0065] According to the emergency stop method for an automated mobile device according to the embodiments of this application, when a target emergency stop command is obtained, a first control signal is issued by a first control unit and a second control signal is issued by a second control unit. Both the first and second control signals are used to reduce the rotational speed of the target servo wheel to zero. In this way, while the first control unit issues the first control signal to control the target servo wheel to reduce its rotational speed to zero, the second control unit also issues the second control signal to control the target servo wheel to reduce its rotational speed to zero. Thus, even if the first control unit fails and the first control signal fails, the second control signal issued by the second control unit can still control the target servo wheel, thereby achieving the purpose of stopping the target automated mobile device. The first control unit and the second control unit work together to perform emergency stop control on the target automated mobile device, which improves the success rate of emergency stop of the target automated mobile device.

[0066] In some embodiments, after the target servo wheel reduces its rotational speed to zero based on at least one of the first and second control signals, causing the target automated mobile device to stop moving, the first control unit issues a third control signal upon receiving an emergency stop release command, so as to cause the target automated mobile device to resume its moving state.

[0067] In actual execution, the third control signal is used to release the target servo wheel from the stopped state, so that the target automatic mobile device can resume its moving state.

[0068] In some embodiments, the first control unit may obtain an emergency stop release command when the target emergency stop button changes from a triggered state to a non-triggered state.

[0069] In some embodiments, when the target emergency stop button changes from the triggered state to the untriggered state, the first control switch and the second control switch can be restored from the open state to the closed state (for example, the first contact of the first control switch is closed and the second contact of the second control switch is closed). The first trigger signal obtained by the microcontroller in the first control unit changes from the second voltage state to the first voltage state, and the microcontroller sends a third control signal to make the target automatic mobile device resume the moving state.

[0070] In some embodiments, the microcontroller in the first processing unit can send a third control signal to the target servo wheel, or send the third control signal to the servo of the second control unit, so that the servo controls the target servo wheel to release the stopped state, so that the target automatic mobile device can resume the moving state. For example, after the servo obtains the third control signal, it forwards the third control signal to the target servo wheel.

[0071] According to the automatic mobile device emergency stop method of the present application embodiment, when an emergency stop release command is obtained, the first control unit sends a third control signal to make the target automatic mobile device resume its moving state. By sending the third control signal, the emergency stop control of the target servo wheel by the first control unit and the second control unit is released in conjunction, thereby improving control efficiency.

[0072] To better understand the automatic mobile device emergency stop method provided in the embodiments of this application, further explanation is provided below. It should be understood that the following discussion is merely exemplary.

[0073] This application provides a method for emergency stopping an automatic mobile device, which can be applied to an emergency stop control system, such as... Figure 4 As shown, the emergency stop control system includes a first control unit 410, a second control unit 420, a first control switch 430, a second control switch 440, a target servo wheel 450, and a target servo wheel 460. The first control unit 410 includes a microcontroller 410, the second control unit 420 includes servo units 421-1 and 421-2, the first control switch includes a first contact 431 and a third contact 432, and the second control switch 440 includes a second contact 441 and a fourth contact 442. The specific steps of the emergency stop method for automatic mobile equipment can be as follows: Figure 5 As shown: Step 510: Upon receiving a target emergency stop command, at least one of the first contact and the second contact is switched from a closed state to an open state, causing the first trigger signal received by the microcontroller to change from a first voltage state to a second voltage state.

[0074] In some embodiments, a target emergency stop command can be obtained when the target emergency stop button is triggered. The number of target emergency stop buttons is at least one.

[0075] In actual implementation, both the first control switch and the second control switch can be normally closed switches, both the first control switch and the second control switch can be double-contact switches, or any theoretically feasible type of switch. This application does not impose any specific restrictions on this.

[0076] In some embodiments, both the first and second control switches are two-contact switches. Upon receiving a target emergency stop command, the first and third contacts simultaneously change from a closed state to an open state. Similarly, upon receiving a target emergency stop command, the second and fourth contacts simultaneously change from a closed state to an open state. By using the first and / or second control switches, upon receiving a target emergency stop command, the emergency stop control of the target servo wheel by the first and second control units is simultaneously initiated. Thus, even if the first control unit fails and the first control signal fails, the second control signal issued by the second control unit can still control the target servo wheel, achieving the purpose of stopping the target automated mobile device. The first and second control units work together to perform emergency stop control on the target automated mobile device, improving the success rate of emergency stop of the target automated mobile device.

[0077] In actual implementation, the microcontroller can be connected to the general purpose input / output (GPIO) and the ground terminal via the first control switch and the second control switch, respectively.

[0078] In some embodiments, before a target emergency stop command is received, both the first control switch and the second control switch are closed, and the microcontroller obtains the first trigger signal of the first voltage state through GPIO. The voltage value of the first voltage state can be 0 volts.

[0079] In some embodiments, when a target emergency stop command is received, at least one of the first control switch and the second control switch is switched from a closed state to an open state, and the microcontroller obtains a first trigger signal of the second voltage state through GPIO. The voltage value of the second voltage state can be 3.3 volts.

[0080] In some embodiments, when a target emergency stop command is received, the first contact and / or the second contact switch from a closed state to an open state, thereby breaking the closed circuit between the microcontroller and the first control switch and the second control switch. At this time, the first trigger signal received by the microcontroller changes from a first voltage state to a second voltage state.

[0081] Step 520: The microcontroller sends a first control signal based on the first trigger signal of the second voltage state.

[0082] In some embodiments, the microcontroller can send a first control signal to the target servo wheel based on a first trigger signal of a second voltage state. For example, the microcontroller can send the first control signal to the target servo wheel via a target communication line based on a target communication protocol. The target communication protocol can be RS232, RS485, or any theoretically feasible communication protocol, and the target communication line can be a communication line that matches the target communication protocol.

[0083] Step 530: Upon receiving a target emergency stop command, at least one of the third and fourth contacts switches from a closed state to an open state, causing the second trigger signal received by the server to change from a third voltage state to a fourth voltage state.

[0084] In actual operation, the server may include signal input ports and signal output ports, and the server can be connected to the first control switch and the second control switch through the signal input ports and signal output ports.

[0085] In some embodiments, before receiving a target emergency stop command, the server can obtain a second trigger signal of a third voltage state through the signal input port and the signal output port. The voltage of the third voltage state can be 24 volts.

[0086] In some embodiments, when a target emergency stop command is received, at least one of the first control switch and the second control switch is switched from a closed state to an open state, so that the server receives a second trigger signal of a fourth voltage state, wherein the voltage of the fourth voltage state can be any value less than the voltage of the third voltage state.

[0087] In some embodiments, before a target emergency stop command is received, a closed loop is formed between the first control switch, the second control switch, and the servo, and the servo acquires a second trigger signal in a third voltage state. Upon receiving a target emergency stop command, the third contact and / or the fourth contact switch change from a closed state to an open state, thus breaking the closed loop between the servo and the first and second control switches. At this time, the second trigger signal acquired by the servo changes from the third voltage state to the fourth voltage state.

[0088] Step 540: The server sends a second control signal based on the second trigger signal.

[0089] In some embodiments, after the server receives the second trigger signal of the fourth voltage state, it can send a second control signal to the target servo wheel through the connection with the target servo wheel to reduce the rotational speed of the target servo wheel to zero.

[0090] In some embodiments, the server and the target servo wheel can be connected via wired or wireless means, and this application does not impose any specific limitations on this.

[0091] Step 550: The target motor corresponding to the target servo wheel acquires the first control signal and / or the second control signal, and based on at least one of the first control signal and the second control signal, reduces the rotation speed to zero, so that the target automatic mobile device stops moving.

[0092] In some embodiments, when the target motor corresponding to the target servo wheel receives the first control signal, it can reduce its rotation speed to zero based on the first control signal, thereby stopping the target automated mobile device from moving.

[0093] In some embodiments, when the target motor corresponding to the target servo wheel receives the second control signal, it can reduce its rotation speed to zero based on the second control signal, thereby stopping the target automated mobile device from moving.

[0094] In some embodiments, when the target motor corresponding to the target servo wheel receives the first control signal and the second control signal, it can reduce its rotation speed to zero based on either the first control signal or the second control signal, thereby stopping the target automated mobile device from moving.

[0095] Step 560: Upon receiving an emergency stop release command, the first control unit issues a third control signal to restore the target automated mobile device to its moving state.

[0096] In actual execution, the third control signal is used to release the target servo wheel from the stopped state, so that the target automatic mobile device can resume its moving state.

[0097] In some embodiments, the first control unit may obtain an emergency stop release command when the target emergency stop button changes from a triggered state to a non-triggered state.

[0098] In some embodiments, when the target emergency stop button changes from the triggered state to the untriggered state, the first control switch and the second control switch can be restored from the open state to the closed state (for example, the first contact of the first control switch is closed and the second contact of the second control switch is closed). The first trigger signal obtained by the microcontroller in the first control unit changes from the second voltage state to the first voltage state, and the microcontroller sends a third control signal to make the target automatic mobile device resume the moving state.

[0099] In some embodiments, the microcontroller in the first processing unit can send a third control signal to the target servo wheel, or send the third control signal to the servo of the second control unit, so that the servo controls the target servo wheel to release the stopped state, so that the target automatic mobile device can resume the moving state. For example, after the servo obtains the third control signal, it forwards the third control signal to the target servo wheel.

[0100] According to the emergency stop method for automated mobile devices according to embodiments of this application, compared to the method of shutting off the power to the target automated mobile device in related technologies, this application, upon receiving a target emergency stop command, sends a first control signal and a second control signal to reduce the rotational speed of the target servo wheel to zero, thereby stopping the target automated mobile device from moving. This avoids the problem that the target automated mobile device cannot execute the task commands before the power outage after the power is restored due to the power being shut off. Furthermore, compared to the method of locking the target servo wheel with a brake in related technologies, this application uses the first and second control signals to reduce the rotational speed of the target servo wheel to zero, preventing the target automated mobile device from being manually unable to be pushed and also avoiding wear on the target servo wheel caused by the brake.

[0101] This application also provides an automated mobile device for performing the steps of the automated mobile device emergency stop method in any of the above embodiments.

[0102] In some embodiments, the automated mobile device may be an automated mobile device equipped with an Autonomous Mobile Robot (AMB) system or an Automated Guided Vehicle (AGV) system.

[0103] The simulation data synthesis method in this application embodiment can be executed by an electronic device or by a component in the electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal or other devices besides a terminal. For example, the electronic device can be a mobile phone, tablet computer, laptop computer, PDA, in-vehicle electronic device, mobile internet device (MID), augmented reality (AR) / virtual reality (VR) device, robot, wearable device, ultra-mobile personal computer (UMPC), netbook, or personal digital assistant (PDA), etc. It can also be a server, network attached storage (NAS), personal computer (PC), television (TV), ATM, or self-service machine, etc. This application embodiment does not specifically limit the scope of the electronic device.

[0104] In some embodiments, such as Figure 6As shown, this application embodiment also provides an electronic device 600, including a processor 601, a memory 602, and a computer program stored in the memory 602 and executable on the processor 601. When the program is executed by the processor 601, it implements the various processes of the above-described automatic mobile device emergency stop method embodiment and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0105] It should be noted that the computer equipment in this application embodiment includes the mobile electronic equipment and non-mobile electronic equipment described above.

[0106] This application also provides a non-transitory computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the various processes of the above-described automatic mobile device emergency stop method embodiments and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0107] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0108] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described automatic mobile device emergency stop method.

[0109] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0110] This application embodiment also provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement the various processes of the above-described automatic mobile device emergency stop method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0111] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0112] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0113] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a computer software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0114] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

[0115] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0116] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. An automatic mobile device emergency stop method, characterized by, The application is applied to an emergency stop control system, the emergency stop control system comprises a target servo wheel, a first control unit and a second control unit; the method comprises: obtaining a target emergency stop instruction, the target emergency stop instruction is used for instructing the first control unit to issue a first control signal and is used for instructing the second control unit to issue a second control signal; the target servo wheel reduces the rotating speed to zero based on at least one of the first control signal and the second control signal, so as to stop the target automatic moving device from moving.

2. The automatic mobile equipment emergency stop method of claim 1, wherein The first control unit comprises a microcontroller, the emergency stop control system further comprises a first control switch and a second control switch, and the microcontroller is connected with the first control switch and the second control switch respectively; the first control unit issuing the first control signal comprises: in the case of obtaining the target emergency stop instruction, at least one of the first control switch and the second control switch is switched from a closed state to an open state, so that the first trigger signal obtained by the microcontroller is changed from a first voltage state to a second voltage state; the voltage of the first voltage state is less than the voltage of the second voltage state; the microcontroller issues the first control signal based on the first trigger signal of the second voltage state.

3. The automatic mobile equipment emergency stop method of claim 2, wherein The first control switch comprises a first contact, the second control switch comprises a second contact, the microcontroller is connected with the first contact and the second contact respectively; in the case of obtaining the target emergency stop instruction, at least one of the first control switch and the second control switch is switched from a closed state to an open state, so that the first trigger signal obtained by the microcontroller is changed from a first voltage state to a second voltage state, which comprises: in the case of obtaining the target emergency stop instruction, at least one of the first contact and the second contact is switched from a closed state to an open state, so that the first trigger signal obtained by the microcontroller is changed from a first voltage state to a second voltage state.

4. The automatic mobile equipment emergency stop method of claim 1, wherein The second control unit comprises a servo, and the servo is connected with the first control switch and the second control switch respectively; the second control unit issuing the second control signal comprises: in the case of obtaining the target emergency stop instruction, at least one of the first control switch and the second control switch is switched from a closed state to an open state, so that the second trigger signal obtained by the servo is changed from a third voltage state to a fourth voltage state; the voltage of the third voltage state is greater than the voltage of the fourth voltage state; the servo issues the second control signal based on the second trigger signal of the fourth voltage state.

5. The automatic mobile device emergency stop method of claim 4, wherein, The first control switch comprises a third contact, the second control switch comprises a fourth contact, and the servo is connected with the third contact and the fourth contact respectively; in the case of obtaining the target emergency stop instruction, at least one of the first control switch and the second control switch is switched from a closed state to an open state, so that the second trigger signal obtained by the servo is changed from a third voltage state to a fourth voltage state, which comprises: In the case of obtaining the target emergency stop instruction, at least one of the third contact and the fourth contact is switched from the closed state to the open state, so that the second trigger signal obtained by the servo is changed from the third voltage state to the fourth voltage state.

6. The automatic mobile device emergency stop method of claim 1, wherein The target servo wheel reduces the rotation speed to zero based on at least one of the first control signal and the second control signal, so that the target automatic mobile device stops moving, comprising: The target motor corresponding to the target servo wheel obtains the first control signal and / or the second control signal, and reduces the rotation speed to zero based on at least one of the first control signal and the second control signal, so that the target automatic mobile device stops moving.

7. The automatic mobile device emergency stop method according to any one of claims 1-6, wherein, After the target servo wheel reduces the rotation speed to zero based on at least one of the first control signal and the second control signal, so that the target automatic mobile device stops moving, the method comprises: In the case of obtaining the emergency stop release instruction, the first control unit issues a third control signal to make the target automatic mobile device resume the moving state.

8. An automated mobile device, comprising: The automatic mobile device is used to execute the automatic mobile device emergency stop method of any one of claims 1-7.

9. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the program to implement the automatic mobile device emergency stop method of any one of claims 1-7.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the automatic mobile device emergency stop method of any one of claims 1-7.

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