AMR robot control system and method

Abstract

The embodiment of the invention provides an AMR robot control system and method, and relates to the technical field of robots. The system comprises an AMR robot and a mobile terminal. An identification code is arranged on a machine body of the AMR robot; the identification code is used for indicating a communication address of the AMR robot; the mobile terminal carries an AMR robot operation program and is used for establishing communication connection with the AMR robot through the identification code when the AMR robot operates abnormally and sending a first control instruction to the AMR robot after the communication connection is established; the AMR robot is used for receiving the first control instruction and entering a manual intervention state in response to the first control instruction; wherein the running speed of the AMR robot in the manual intervention state is smaller than the running speed during normal work, and prompt information is continuously output; the prompt information is used for prompting that the AMR robot is in a manual intervention state. The method can be used for realizing manual intervention control of the AMR robot so as to improve the operation and maintenance efficiency and the field operation safety of the AMR robot.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to an AMR robot control system and method. Background Technology

[0002] In existing factory production logistics scenarios, autonomous mobile robots (AMRs) are mostly used for material handling, picking operations, and production line delivery. If an AMR robot malfunctions, it often directly affects the continuous operation of the production line and order delivery efficiency. In current technology, when an AMR robot malfunctions, maintenance personnel often need to rush to the site and manually match the target robot by physically contacting the equipment, checking the serial number, or operating a handheld terminal to further diagnose and maintain it. This process is time-consuming and easily affected by the on-site environment. Summary of the Invention

[0003] The purpose of this application is to provide an AMR robot control system and method, which aims to improve the operation and maintenance efficiency and on-site operation safety of AMR robots.

[0004] Firstly, this application provides an AMR robot control system, including an AMR robot and a mobile terminal. The AMR robot has an identification code on its body, which indicates the AMR robot's communication address. The mobile terminal is equipped with an AMR robot operating program, used to establish a communication connection with the AMR robot via the identification code when the AMR robot malfunctions, and to send a first control command to the AMR robot after the communication connection is established. The AMR robot receives the first control command and enters a manual intervention state in response to the first control command. In the manual intervention state, the AMR robot operates at a lower speed than its normal operating speed and continuously outputs a prompt message; the prompt message indicates that the AMR robot is in a manual intervention state.

[0005] This application provides an AMR robot control system. By setting an identification code on the AMR robot to indicate its communication address, a mobile terminal equipped with a dedicated program can quickly and accurately identify and locate the target AMR robot when its operation malfunctions. This establishes a direct point-to-point communication connection, eliminating the need for manual configuration or device searching in complex network environments and facilitating timely human intervention. Furthermore, the mobile terminal sends a first control command through this connection, putting the AMR robot into a human intervention state. This state limits the AMR robot's operating speed to below normal operating levels and continuously outputs prompts. This reduces the safety risks of close-range human operation and clearly alerts surrounding personnel to its controlled status. Ultimately, this mechanism allows users to safely and quickly take over and guide the malfunctioning AMR robot, minimizing downtime caused by AMR robot stagnation while ensuring on-site safety, thus improving AMR robot maintenance efficiency and on-site operational safety.

[0006] In conjunction with the first aspect mentioned above, in one possible implementation, the identification code is a graphic code or an RFID tag; the mobile terminal calls the image acquisition component or the RFID reading component through the AMR robot operating program to obtain the communication address information contained in the identification code, and establishes a communication connection with the AMR robot based on the communication address information.

[0007] In conjunction with the first aspect above, in one possible implementation, the mobile terminal is further used to: obtain authorization verification information through the AMR robot operating program to remove the restriction on the operating speed of the manually intervened state; after the restriction is removed, adjust the operating speed threshold of the AMR robot to a first preset speed value, so as to control the AMR robot to adjust its operating speed through the AMR robot operating program; the first preset speed value is greater than the operating speed of the manually intervened state.

[0008] In conjunction with the first aspect mentioned above, in one possible implementation, the prompting information includes voice prompts and light prompts; the output of the prompting information continues until the communication connection is disconnected; specifically, the AMR robot is used to: after the communication connection is established, continuously play prompting voice according to preset audio content as voice prompts; and after the communication connection is established, continuously emit light according to preset light emission patterns as light prompts.

[0009] In conjunction with the first aspect mentioned above, in one possible implementation, the light prompt information includes: emitting a red flashing light at a preset frequency through the top warning light of the AMR robot; and emitting a constant red light through the front lighting light of the AMR robot.

[0010] In conjunction with the first aspect mentioned above, in one possible implementation, the AMR robot operating program stores multiple laser protection schemes; each laser protection scheme is configured with different laser detection parameters and obstacle response sensitivity parameters according to the operating scenario; the mobile terminal is also used to: provide multiple laser protection schemes to the user through the AMR robot operating program after the communication connection is established; and send a second control command to the AMR robot according to the target laser protection scheme selected by the user; the second control command includes the laser detection parameters and obstacle response sensitivity parameters corresponding to the target laser protection scheme.

[0011] In conjunction with the first aspect above, in one possible implementation, the AMR robot is also used to: adjust the laser detection parameters and obstacle response sensitivity parameters in response to the received second control command; detect obstacles in the direction of travel based on the adjusted parameters; and generate and execute a braking command when an obstacle is detected to reduce the running speed or stop the movement; wherein the execution priority of the braking command is higher than that of the manual remote control command received through the mobile terminal.

[0012] In conjunction with the first aspect mentioned above, in one possible implementation, the multiple laser protection schemes include at least: in general operation scenarios, configuring a first detection range parameter and a first obstacle response sensitivity parameter as a first protection scheme; in confined space operation scenarios, configuring a second detection range parameter smaller than the first detection range parameter and a second obstacle response sensitivity parameter higher than the first obstacle response sensitivity parameter as a second protection scheme; and in hazardous materials handling operation scenarios, configuring a third detection range parameter larger than the first detection range parameter and a third obstacle response sensitivity parameter lower than the first obstacle response sensitivity parameter as a third protection scheme.

[0013] Secondly, this application provides an AMR robot control method applied to a mobile terminal. The method includes: displaying a first interface. The first interface includes a barcode scanning frame for identifying an identification code on the AMR robot's body. In response to a user's scanning operation based on the barcode scanning frame, a communication connection is established with the AMR robot experiencing an operational malfunction. After the communication connection is established, a first control command is sent to the AMR robot to cause it to enter a manual intervention state. The AMR robot in the manual intervention state operates at a slower speed than during normal operation and continuously outputs a prompt message. The prompt message indicates that the AMR robot is in a manual intervention state.

[0014] This application provides an AMR robot control method. By displaying a first interface including a barcode scanning frame on a mobile terminal, it provides users with an intuitive and convenient barcode recognition entry point, enabling users to quickly locate and select the target AMR robot, thereby simplifying the initial operation of establishing an association with a specific AMR robot. Furthermore, in response to the user's scanning operation based on the barcode scanning frame, the mobile terminal directly establishes a communication connection with the AMR robot experiencing operational abnormalities. This process avoids the cumbersome steps of manually inputting device information or searching via the network in traditional methods, shortening the response time from detecting an anomaly to establishing a control connection, and improving the efficiency of anomaly handling. After the communication connection is established, a first control command is sent to the AMR robot to put it into a manual intervention state. This state forces the robot to reduce its operating speed and continuously outputs prompts. On the one hand, low-speed operation reduces the safety risks that may occur when the AMR robot moves too fast during manual intervention; on the other hand, the continuously output prompts (such as lights and sounds) clearly warn surrounding personnel that the AMR robot is currently under control, enhancing the safety of on-site operations. Ultimately, this method, through a combination of rapid connection via QR code scanning and automated state switching, enables efficient and safe human intervention in abnormal AMR robots, improving the maintainability and operational reliability of AMR robots.

[0015] In conjunction with the second aspect above, in one possible implementation, the method further includes: after the communication connection is established, displaying multiple laser protection schemes to the user through a second interface; wherein each laser protection scheme is configured with different laser detection parameters and obstacle response sensitivity parameters according to the operation scenario; in response to the user's instruction to select a target laser protection scheme from the multiple laser protection schemes, confirming the target laser protection scheme; and sending the target laser protection scheme to the AMR robot so that the AMR robot adjusts the laser detection parameters and obstacle response sensitivity parameters according to the target laser protection scheme.

[0016] In conjunction with the second aspect above, in one possible implementation, the multiple laser protection schemes include at least: in general operation scenarios, configuring a first detection range parameter and a first obstacle response sensitivity parameter as a first protection scheme; in confined space operation scenarios, configuring a second detection range parameter smaller than the first detection range parameter and a second obstacle response sensitivity parameter higher than the first obstacle response sensitivity parameter as a second protection scheme; and in hazardous materials handling operation scenarios, configuring a third detection range parameter larger than the first detection range parameter and a third obstacle response sensitivity parameter lower than the first obstacle response sensitivity parameter as a third protection scheme.

[0017] In conjunction with the second aspect above, in one possible implementation, the method further includes: after the communication connection is established, obtaining authorization verification information through a third interface; in response to the authorization verification information input by the user, removing the restriction on the operating speed of the manually intervened state; after the restriction is removed, adjusting the operating speed threshold of the AMR robot to a first preset speed value to control the AMR robot to adjust its operating speed; the first preset speed value is greater than the operating speed of the manually intervened state.

[0018] Thirdly, this application provides an electronic device comprising: a processor and a memory; the memory storing processor-executable instructions; when the processor is configured to execute the instructions, causing the electronic device to implement the method of the second aspect described above.

[0019] Fourthly, this application provides a computer-readable storage medium comprising: computer software instructions; when the computer software instructions are executed in an electronic device, they cause the electronic device to implement the method described in the second aspect.

[0020] Fifthly, this application provides a computer program product that, when run on a computer, causes the computer to perform the functions of the related system described in the first aspect above, so as to implement the method of the second aspect above.

[0021] The descriptions of the third to fifth aspects in this application can be referenced to the detailed descriptions of the first and second aspects; and the beneficial effects of the descriptions of the third to fifth aspects can be referenced to the analysis of the beneficial effects of the first and second aspects, which will not be repeated here. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the structure of an AMR robot control system provided in an embodiment of this application; Figure 2 A flowchart illustrating an AMR robot control method provided in this application embodiment; Figure 3 This is a schematic diagram of the structure of an AMR robot control system provided in an embodiment of this application. Detailed Implementation

[0024] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0025] It should be noted that in the embodiments of this application, the words "exemplarily" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design scheme described as "exemplarily" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of the words "exemplarily" or "for example" is intended to present the relevant concepts in a specific manner.

[0026] In the embodiments of this application, the terms "first," "second," "third," "fourth," "fifth," and "sixth" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," "third," "fourth," "fifth," and "sixth" may explicitly or implicitly include one or more of that feature.

[0027] In embodiments of this application, 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 limitation, 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.

[0028] "A and / or B" includes the following three combinations: A only, B only, and a combination of A and B.

[0029] This application provides an AMR robot control system. By setting an identification code on the AMR robot to indicate its communication address, a mobile terminal equipped with a dedicated program can quickly and accurately identify and locate the target AMR robot when its operation malfunctions. This establishes a direct point-to-point communication connection, eliminating the need for manual configuration or device searching in complex network environments and facilitating timely human intervention. Furthermore, the mobile terminal sends a first control command through this connection, putting the AMR robot into a human intervention state. This state limits the AMR robot's operating speed to below normal operating levels and continuously outputs prompts. This reduces the safety risks of close-range human operation and clearly alerts surrounding personnel to its controlled status. Ultimately, this mechanism allows users to safely and quickly take over and guide the malfunctioning AMR robot, minimizing downtime caused by AMR robot stagnation while ensuring on-site safety, thus improving AMR robot maintenance efficiency and on-site operational safety.

[0030] The AMR robot control system provided in this application embodiment can be applied to various scenarios of automated handling, sorting, delivery and collaborative operation using autonomous mobile robots. This application embodiment does not impose any restrictions on the industry field, operation scale, environmental complexity and robot deployment density of the specific application scenario.

[0031] For example, the embodiments of this application can be applied to scenarios where AMR robots perform intensive sorting tasks in large e-commerce warehousing centers. When faced with abnormal robot stagnation caused by path conflicts, goods slipping, or battery warnings, the AMR robot control system can quickly scan and identify the target robot through a mobile terminal and establish a direct connection, remotely switching it to a low-speed, safe, human-intervention state, thereby avoiding blockage of critical operation channels and ensuring the continuous operation of the overall sorting workflow.

[0032] For example, the embodiments of this application can be applied to scenarios where AMR robots are used for precise material delivery in factory manufacturing production lines. When the robot stops in a dynamically changing production line environment due to positioning deviation or sensor malfunction, on-site maintenance personnel can quickly take over control with the AMR robot control system, guiding it to the maintenance point or restoring it to the correct path in low-speed safety mode, minimizing the impact on the rhythmic production.

[0033] For example, the embodiments of this application can be applied to scenarios where AMR robots perform delivery tasks in indoor service settings such as hospitals and hotels. In such human-robot mixed and environmentally sensitive areas, if the robot malfunctions, the AMR robot control system can immediately put it into a low-speed state and continuously issue visual / auditory prompts, allowing users to safely and quickly intervene and guide it, effectively avoiding any impact on traffic order and environmental safety.

[0034] This application specification describes the functions of an AMR robot control system by taking its application in a factory production line as an example.

[0035] The following detailed description of an AMR robot control system provided in this application, with reference to specific embodiments and accompanying drawings, provides an example of such a system.

[0036] Figure 1 This is a schematic diagram of the structure of an AMR robot control system provided in an embodiment of this application. Figure 1 As shown, the AMR robot control system 100 includes a mobile terminal 101 and an AMR robot 102. The AMR robot 102 has an identification code on its body, which indicates the communication address of the AMR robot 102. The functions of each module are as follows: The mobile terminal 101 is equipped with an AMR robot operating program, which is used to establish a communication connection with the AMR robot 102 through an identification code when the AMR robot 102 is malfunctioning, and to send a first control command to the AMR robot 102 after the communication connection is established.

[0037] In this embodiment, the mobile terminal 101 is a handheld terminal device equipped with an AMR robot operating program and possessing data acquisition and wireless communication functions. It is used to perform scanning, connection, and command transmission operations when the AMR robot 102 experiences operational abnormalities. The AMR robot operating program is a dedicated application designed specifically for manual intervention control of the AMR robot 102, providing functional support for establishing communication connections and sending control commands. The identification code is a carrier that pre-stores the unique communication address information of the AMR robot 102, fixed to the body of the AMR robot 102, and used for identity matching and address acquisition. The communication connection is a bidirectional data transmission link established between the mobile terminal 101 and the AMR robot 102 via wireless communication technology, ensuring real-time interaction of commands and data. The first control command is a control signal sent by the mobile terminal 101 to the AMR robot 102 after the communication connection is established; its core function is to trigger the AMR robot 102 to enter a manual intervention state.

[0038] In some embodiments, the mobile terminal 101 may include: a PDA, smartphone or tablet computer with image acquisition function, which has built-in wireless communication components such as Wi-Fi module and Bluetooth module, a camera component that supports autofocus and light compensation, and a touch screen for displaying operation interface and feedback status information, and is equipped with an authentication module to ensure the legitimacy of operation permissions.

[0039] In some embodiments, the AMR robot operating procedure may include: an interactive interface module for providing an operation entry point, a barcode scanning and recognition module for driving the camera to scan the identification code, a connection management module for establishing a wireless communication link, an instruction processing module for generating and sending control instructions, and a local cache module for storing background device library information. The modules work together to realize the entire process operation from barcode scanning to instruction sending.

[0040] In some embodiments, the identification code may include: a QR code or barcode printed or pasted on the body of the AMR robot 102, or a near field communication (NFC) radio frequency tag with a built-in communication address chip. These identification codes are pre-stored with the unique IP address (communication address) of the corresponding AMR robot and have physical characteristics of being resistant to dirt and easy to identify, making them suitable for the complex environment of factory production and logistics.

[0041] In some embodiments, the communication connection may include: a local area network connection based on Wi-Fi technology and a short-range wireless connection based on Bluetooth technology. Both connection methods support low-latency data transmission, which can ensure the real-time delivery of control commands and can automatically switch and adapt according to the network coverage of the factory environment.

[0042] In some embodiments, the first control command may include: a human intervention state activation signal, a fixed low-speed mode activation command, and an audio-visual prompt activation signal. These signals are integrated into a structured command to ensure that the AMR robot 102 can simultaneously activate multiple human intervention-related functions after receiving the command.

[0043] In some embodiments, the mobile terminal 101 can scan the graphic identification code on the body of the AMR robot 102 by activating the built-in camera or sense the NFC radio frequency tag through the radio frequency reading component. In the scenario where the AMR robot 102 stops abnormally due to malfunction, jamming or other reasons, and the user arrives at the site with the mobile terminal 101, the unique communication address information of the AMR robot 102 pre-stored in the identification code can be obtained.

[0044] In some embodiments, before establishing a communication connection with the AMR robot 102 via the identification code, the mobile terminal 101 may also: first detect the working status of its own wireless communication module, automatically enable Wi-Fi or Bluetooth and connect to the factory's dedicated local area network, and simultaneously verify the operation permissions of the currently logged-in user. Only after the permission verification is successful will access to the QR code direct connection interface be allowed, thus preventing unauthorized personnel from operating the interface by mistake. Simultaneously, the mobile terminal 101 may also compare the read communication address with the locally cached background device database information to confirm whether the AMR robot 102 number, work area, and other information corresponding to the communication address matches the currently abnormal device. If the match fails, a prompt message will pop up and guide the user to rescan.

[0045] In one possible implementation, the mobile terminal 101 can: after the user confirms that the AMR robot 102 is malfunctioning and has stopped, open the pre-installed AMR robot operation program, enter the user's personal operation account to complete the permission verification, enter the "Abnormal Device Connection" function page, and then use the "Scan Code Direct Connection" function to automatically start the camera and enable the light compensation function to adapt to the complex lighting environment of the factory. The user points the camera at the QR code in a conspicuous position on the body of the AMR robot 102. After the camera automatically focuses, it quickly identifies the IP address (communication address) in the QR code. The mobile terminal 101 then sends a connection request to the IP address through the Wi-Fi module. After receiving the connection confirmation response from the AMR robot 102, it confirms that the communication connection is established. Subsequently, it generates a first control command containing a manual intervention state start instruction and sends it to the AMR robot 102 through the established Wi-Fi link. At the same time, it displays the status prompt "Connection successful, manual intervention instruction sent" on the touch screen.

[0046] In this embodiment, the mobile terminal 101 quickly obtains the communication address of the AMR robot 102 and establishes a communication connection through the identification code, eliminating the need for manual address input. This effectively reduces the probability of address input errors and shortens the preparation time for intervention of the abnormal AMR robot 102. At the same time, relying on dedicated operating procedures and standardized connection processes, the accuracy and stability of the communication connection are ensured. The timely transmission of the first control command can quickly trigger the AMR robot 102 to enter the manual intervention state, providing an efficient and reliable pre-emptive guarantee for subsequent safe operation.

[0047] AMR robot 102 is used to receive a first control command and enter a human intervention state in response to the first control command.

[0048] In this scenario, the AMR robot 102, when in manual intervention mode, operates at a slower speed than during normal operation and continuously outputs a prompt message. This prompt message indicates that the AMR robot 102 is in manual intervention mode.

[0049] In this embodiment, the manual intervention state is the working state switched by the AMR robot 102 after responding to the first control command. It is a working state where a person remotely operates the robot via a mobile terminal 101. In this state, a speed limit mechanism and a continuous prompting mechanism are automatically activated to ensure operational safety. The prompting information is a multi-dimensional warning signal output by the AMR robot 102 in the manual intervention state, used to intuitively inform the user and surrounding personnel of the current working status of the equipment, avoiding misoperation or unintentional interference. The normal operating speed is the preset travel speed of the AMR robot 102 when autonomously performing material handling and path planning tasks, typically 1.2 meters per second, which is higher than the operating speed in the manual intervention state.

[0050] In some embodiments, the manual intervention state may include a speed control sub-state and a prompt information output sub-state. The speed control sub-state is used to lock the operating speed and restrict speed adjustment permissions, while the prompt information output sub-state is used to drive the voice and lighting components to work continuously. Both are activated synchronously and continue until the communication connection is disconnected or the manual intervention ends.

[0051] In some embodiments, the prompts may include: voice prompts and light prompts. The voice prompts are preset audio that plays in a loop, such as "Manual remote control mode has been entered, please be aware of your surroundings" or "Manual intervention in progress, please do not approach." The volume can be automatically adjusted according to ambient noise and is clearly audible within a 3-meter range. The light prompts include a red flashing light from the top warning light at a frequency of 1 time per second and a constant red light from the front lighting. The two light signals are output synchronously to improve visual visibility.

[0052] In some embodiments, the operating speed of the AMR robot 102 may include a preset fixed speed and an allowable fine-tuning speed range under manual intervention, wherein the preset fixed speed is 0.3 m / s, the fine-tuning speed range is limited to 0.1-0.3 m / s, and the operating speed during normal operation is 1.2 m / s, ensuring that the speed under manual intervention is always lower than the autonomous operation speed.

[0053] In some embodiments, the AMR robot 102 can receive the first control command sent by the mobile terminal 101 after establishing a stable bidirectional data transmission link with the mobile terminal 101 through the built-in Wi-Fi communication module or Bluetooth communication module. Specifically, this scenario is when the AMR robot 102 stops due to abnormal operation caused by fault, jamming or task interruption, and the mobile terminal 101 has completed communication address matching and established connection through the identification code.

[0054] In some embodiments, before receiving the first control command sent by the mobile terminal 101, the AMR robot 102 may further: first check whether its own fault state has stabilized; after confirming that the device has no sudden mechanical failure or circuit abnormality, activate the communication module to enter the receiving state, and simultaneously clear the previous invalid command cache to avoid interfering with the reception of the current control command. When receiving the first control command sent by the mobile terminal 101, the AMR robot 102 may also verify the integrity and legality of the first control command by verifying whether the authorization identifier in the command matches the device number of the mobile terminal 101, ensuring that the command comes from an authorized terminal and preventing illegal commands from triggering state switching. After receiving the first control command sent by the mobile terminal 101, the AMR robot 102 may also automatically record the reception time of the first control command, the command content summary, and the start time of the manual intervention state, and store this record in the local log module, supporting subsequent export to the factory management system for traceability and query.

[0055] In one possible implementation, the AMR robot 102 can: monitor the data stream sent by the mobile terminal 101 in real time via a Wi-Fi communication module. Upon detecting a data packet containing the first control command, it first parses and verifies the integrity of the data packet. After confirming that the command is complete and the authorization identifier is valid, it immediately triggers a state switching process. First, it switches its own running speed control module to a fixed low-speed mode, locking the driving speed at 0.3 m / s, while disabling the function of manually increasing the speed, retaining only the fine-tuning permission of 0.1-0.3 m / s. Then, it activates the built-in speaker to play preset voice prompts in a loop, drives the top 360° visual warning light to flash red at a frequency of 1 time / second, and turns on the front red lighting to keep it constantly lit. Simultaneously, it feeds back a confirmation signal of "entering human intervention state" to the mobile terminal 101. The total delay of the entire response process does not exceed 1 second, ensuring the timeliness of the state switching.

[0056] In this embodiment, the AMR robot 102 can quickly and accurately receive the first control command and respond to enter the human intervention state. By automatically locking to a fixed low speed below the normal working speed, the collision risk of manual remote control operation is reduced in a mechanism. At the same time, the continuous output of multi-dimensional prompt information allows users and surrounding personnel to intuitively perceive the status of the equipment, avoiding unintentional interference or misoperation. The high response speed of state switching and the legality verification mechanism also ensure the safety and reliability of operation, providing a stable prerequisite for subsequent manual remote control to handle abnormalities.

[0057] In this embodiment, the mobile terminal 101 can also be used to: obtain authorization verification information through the AMR robot operating program to remove the restriction on the operating speed of the robot in the human intervention state. Furthermore, after the restriction is removed, the operating speed threshold of the AMR robot 101 is adjusted to a first preset speed value, so as to control the AMR robot 101 to adjust its operating speed through the AMR robot operating program.

[0058] The first preset speed value is greater than the operating speed under manual intervention.

[0059] In this embodiment, the authorization verification information is verification data used to confirm that the user has the authority to lift the speed limit in the manual intervention state. Its core function is to increase the speed of the AMR robot 102 through user authorization, ensuring that the AMR robot 102 needs to be accelerated to ensure operational safety in extreme scenarios. The speed limit is the speed control mechanism of the AMR robot 102 in the manual intervention state, specifically by locking a preset fixed speed, prohibiting unauthorized manual speed increases, and allowing only fine adjustments within a limited low-speed range. The first preset speed value is the maximum allowable operating speed of the AMR robot 102 after the speed limit is lifted. This value is greater than the preset fixed speed in the manual intervention state, but does not exceed the safety threshold, ensuring that risks can still be controlled after speed increase.

[0060] In some embodiments, the authorization verification information may include: a static password preset by the administrator, a dynamic verification code generated by the factory's internal management system, permission level verification information based on the user's operating account, or verification data binding between the mobile terminal and the management backend. This information must be submitted via encrypted transmission, and the number of retries will be limited if verification fails to prevent unauthorized cracking.

[0061] In some embodiments, the limitation on operating speed may include: numerical locking of the operating speed of the AMR robot 102, disabling the manual speed adjustment function, permission interception of speed adjustment operations, and a verification mechanism for speed adjustment commands. The numerical locking fixes the speed at 0.3 m / s, and the manual speed adjustment function only retains fine-tuning permissions of 0.1-0.3 m / s. Speed ​​adjustment commands exceeding this range will be directly intercepted, and authorization verification is required to remove the above restrictions.

[0062] In some embodiments, the first preset speed value may include a single fixed value or multiple selectable values ​​preset according to the risk level of the factory operation scenario. The single fixed value is 0.5 m / s, and the multiple selectable values ​​can be set to two levels: 0.4 m / s and 0.5 m / s. Regardless of the form, the value is greater than 0.3 m / s in the manual intervention state and does not exceed the safety limit of 0.5 m / s.

[0063] In some embodiments, the mobile terminal 101 can obtain authorization verification information input or submitted by the user through the authorization verification entry built into the AMR robot operating program, when the AMR robot 102 is in a state of manual intervention and there are extreme operational requirements on site (such as needing to quickly avoid obstacles or shorten the time for handling abnormalities).

[0064] In some embodiments, before obtaining authorization verification information, the mobile terminal 101 may also: pop up a speed increase risk warning window, informing the user of safety precautions and speed limits after lifting the speed limit, and displaying a risk level assessment of the current work scenario to guide the user to confirm whether a speed increase is indeed necessary. When obtaining authorization verification information, the mobile terminal 101 may also compare the user-submitted authorization verification information with the legitimate data stored in the backend management system in real time to verify the validity and timeliness of the information. If verification fails, a prompt will pop up explaining the reason, and a verification failure log will be recorded. After lifting the speed limit, the mobile terminal 101 may also automatically record the authorization verification time, verification method, user identity information, and the triggering scenario for lifting the speed limit, and synchronize this record to the factory production management system for subsequent traceability.

[0065] In one possible implementation, the mobile terminal 101 can: when the AMR robot 102 is in a manually intervened state, the user clicks the "Emergency Speed-Up" button through the remote control interface of the AMR robot operation program. At this time, the program pops up an authorization verification window. The user selects the verification method of entering the administrator's static password, enters the preset 6-digit password, and clicks "Submit Verification". The mobile terminal 101 encrypts the password and sends it to the factory production management backend for verification. After the verification is successful, the backend returns a command to remove the restriction. After receiving the command, the mobile terminal automatically adjusts the AMR robot's running speed threshold to 0.5 m / s. At the same time, it displays the prompt "Speed ​​restriction removed, current maximum speed 0.5 m / s" on the operation interface and enables the real-time speed monitoring function. If the speed exceeds the threshold, it will automatically trigger deceleration. Throughout the process, the operation log will be stored in real time and synchronized to the backend.

[0066] In this embodiment, the mobile terminal 101 removes the speed limit and adjusts to the first preset speed value by obtaining authorization verification information. This not only meets the flexible operation requirements in extreme scenarios, but also prevents the security risks caused by unauthorized speed-up through the authorization verification mechanism. At the same time, the speed threshold is strictly limited within a safe range, balancing operation efficiency and operational safety. The recording of operation logs also provides support for subsequent safety traceability, further improving the speed control system under manual intervention.

[0067] In this embodiment, the AMR robot operating program stores multiple laser protection schemes. The mobile terminal 101 can also be used to: after a communication connection is established, provide multiple laser protection schemes to the user through the AMR robot operating program; and then, based on the target laser protection scheme selected by the user, send a second control command to the AMR robot 102.

[0068] Each laser protection scheme is configured with different laser detection parameters and obstacle response sensitivity parameters according to the operational scenario. The second control command includes the laser detection parameters and obstacle response sensitivity parameters corresponding to the target laser protection scheme.

[0069] In this embodiment, the laser protection scheme is a set of obstacle protection strategies pre-stored in the AMR robot's operating program, designed for different operating scenarios. Its core functionality involves configuring differentiated parameters to achieve precise protection. Laser detection parameters are a core component of the laser protection scheme, used to define the basic operating attributes of the laser sensor, such as its detection range and angle. Obstacle response sensitivity parameters are used in the laser protection scheme to adjust the laser sensor's response threshold and response speed to obstacles. The second control command is a parameter configuration command generated by the mobile terminal 101 based on the target laser protection scheme selected by the user, used to drive the AMR robot 102 to adjust the relevant laser protection parameters.

[0070] In some embodiments, the laser protection scheme may include: a general operation scenario protection scheme, a confined space operation scenario protection scheme, and a hazardous materials handling operation scenario protection scheme. The general scenario scheme is suitable for open environments such as conventional workshops and warehouses; the confined space scheme is suitable for space-constrained environments such as dense shelving and narrow aisles; and the hazardous materials handling scheme is suitable for special environments involving the transportation of flammable, explosive, or valuable materials. Each scheme corresponds to a unique combination of laser detection parameters and obstacle response sensitivity parameters, and the scheme name is strongly associated with the operation scenario, facilitating quick user identification.

[0071] In some embodiments, laser detection parameters may include: the upper limit of the detection distance of the laser sensor, the detection angle range, and the detection frequency. The upper limit of the detection distance can be adjusted between 1.5 meters and 5 meters depending on the scenario; the detection angle range is a wide-angle coverage of 120° to 180°; and the detection frequency is fixed at 50Hz to ensure real-time performance. These parameters collectively determine the detection coverage and data acquisition efficiency of the laser sensor.

[0072] In some embodiments, obstacle response sensitivity parameters may include: obstacle recognition threshold, response delay time, and trigger action level. The obstacle recognition threshold is used to determine whether an obstacle is identified as requiring a response. The response delay time controls the interval between detecting the obstacle and executing a protective action. The trigger action level corresponds to different protective measures such as deceleration and emergency stop. Higher sensitivity results in a lower obstacle recognition threshold, a shorter response delay time, and a greater likelihood of triggering a protective action.

[0073] In some embodiments, the mobile terminal 101 can preload multiple laser protection schemes through the local storage module of the AMR robot operating program, or synchronously obtain the latest set of laser protection schemes from the background equipment management system through the factory local area network after the communication connection is established.

[0074] In some embodiments, before acquiring a laser protection solution, the mobile terminal 101 can also: verify whether the version of the laser protection solution stored locally is consistent with the latest version of the backend management system; if there is a version difference, it will automatically synchronize and update to ensure the timeliness of the solution parameters. When acquiring a laser protection solution, the mobile terminal 101 can also verify the completeness of the parameters of each laser protection solution, and only after confirming that the laser detection parameters and obstacle response sensitivity parameters are complete and without logical conflicts will it provide the user with a selection entry. After acquiring a laser protection solution, the mobile terminal 101 can also simultaneously display the corresponding work scenario description, parameter summary, and applicable environment diagram for each solution when displaying the solution, helping the user quickly match the current site environment with the protection solution.

[0075] In one possible implementation, the mobile terminal 101, after establishing a communication connection with the AMR robot 102 and entering the remote control operation interface, can automatically pop up a laser protection scheme selection window in a prominent position on the interface. The window displays three options in a list format: "General Scenario Scheme," "Narrow Space Scheme," and "Hazardous Materials Handling Scheme," with the corresponding detection range and sensitivity level indicated below each option. After the user selects the target option based on the actual working environment (e.g., selecting the narrow space scheme in a densely stocked area), the mobile terminal 101 immediately reads the corresponding laser detection parameters (e.g., 1.5-meter detection distance, 120° detection angle) and obstacle response sensitivity parameters (e.g., low recognition threshold, 0.1-second response delay) for that scheme. These parameters are then encapsulated into a structured second control command and sent to the AMR robot 102 via the established wireless communication link. Simultaneously, a confirmation prompt indicating successful laser scheme switching is displayed on the operation interface.

[0076] In this embodiment, the mobile terminal 101 pre-stores or synchronously acquires multiple laser protection schemes and provides them to the user for selection, allowing the user to accurately match the protection strategy according to the on-site operation scenario, avoiding the problem of poor adaptability of a single protection scheme. The accurate transmission of the second control command ensures that the parameters of the target scheme can be quickly synchronized to the AMR robot 102, realizing real-time adjustment of laser protection parameters. This not only improves the adaptability of the AMR robot 102 to different environments under human intervention, but also reduces the risk of obstacle misjudgment or omission through differentiated parameter configuration, ensuring operational safety.

[0077] In this embodiment, after the mobile terminal 101 sends a second control command to the AMR robot 102, the AMR robot 102 is further configured to: adjust the laser detection parameters and obstacle response sensitivity parameters in response to the received second control command; then, detect obstacles in the direction of travel based on the adjusted parameters; and when an obstacle is detected, generate and execute a braking command to reduce the running speed or stop the movement.

[0078] Among them, the execution priority of braking commands is higher than that of manual remote control commands received through mobile terminals.

[0079] In this embodiment, the braking command is a safety control signal generated by the AMR robot 102 after detecting an obstacle in its direction of travel. Its core function is to avoid collision risks by reducing its operating speed or stopping its movement directly. The manual remote control command is initiated by the user through the mobile terminal 101 and is used to control the AMR robot 102's travel direction, low-speed fine-tuning, and other operations. The adjusted laser detection parameters and obstacle response sensitivity parameters are the parameter combinations updated by the AMR robot 102 after responding to the second control command, corresponding to the target laser protection scheme. This is the core configuration of laser protection adapted to the current operating scenario.

[0080] In some embodiments, the braking command may include a deceleration command and an emergency stop command. The deceleration command is used to reduce the operating speed of the AMR robot 102 to an extremely low speed of 0.1 m / s, suitable for scenarios involving the detection of small, distant obstacles. The emergency stop command is used to immediately stop all movement of the AMR robot 102, suitable for scenarios involving the detection of large, close-range or high-risk obstacles. The generation of both commands is determined jointly by the adjusted obstacle response sensitivity parameters and the actual situation of the obstacle.

[0081] In some embodiments, the adjusted laser detection parameters may include an upper limit for the detection distance, detection angle, and detection frequency adapted to the target scenario. For example, for general scenarios (such as conventional workshops and warehouses), the AMR robot 102 has a laser detection range of 3 meters, a detection angle of 150°, and a detection frequency of 50Hz. For confined space scenarios, the adjusted parameters are a detection distance of 1.5 meters, a detection angle of 120°, and a detection frequency of 50Hz. For hazardous materials handling scenarios, the parameters are a detection distance of 5 meters, a detection angle of 180°, and a detection frequency of 50Hz. These parameters directly determine the detection coverage and data acquisition efficiency of the laser sensor.

[0082] In some embodiments, the adjusted obstacle response sensitivity parameters may include an obstacle recognition threshold and response latency time adapted to the target scenario. For example, a general scenario corresponds to a medium recognition threshold (the obstacle determination threshold under normal circumstances) and a 0.2-second response latency. A narrow space scenario corresponds to a low recognition threshold (slight occlusion is considered an obstacle) and a 0.1-second response latency. A hazardous materials handling scenario corresponds to a high recognition threshold (to avoid false triggering due to slight interference) and a 0.3-second response latency. These parameters determine the sensitivity of the laser sensor to obstacles.

[0083] In some embodiments, the AMR robot 102 can obtain a second control command containing laser detection parameters and obstacle response sensitivity parameters corresponding to the target laser protection scheme through a Wi-Fi or Bluetooth wireless communication link established with the mobile terminal 101, in a scenario where there is manual intervention and the mobile terminal 101 has sent a second control command according to the user's selection.

[0084] In some embodiments, before acquiring the second control command, the AMR robot 102 can also: detect the stability of the current communication link with the mobile terminal 101, ensure that the signal strength meets the parameter transmission requirements, and if the signal is weak, send a prompt to the mobile terminal 101 saying "Please move closer to the device to ensure parameter synchronization". When acquiring the second control command, the AMR robot 102 can also verify the parameter format and numerical range of the second control command, confirming the logical rationality of the detection distance being between 1.5 and 5 meters and the response delay being between 0.1 and 0.5 seconds. If the parameters are abnormal, it will refuse to adjust and send an error message. After acquiring the second control command, the AMR robot 102 can also automatically record a parameter adjustment log, including the adjustment time, parameters before adjustment, parameters after adjustment, and the corresponding laser protection scheme name, and synchronize the log to the mobile terminal 101 to facilitate user confirmation of parameter configuration.

[0085] In one possible implementation, the AMR robot 102 can: receive a second control command from the mobile terminal 101 via its built-in communication module, immediately parse the command, and extract the laser detection parameters (such as a 3-meter detection distance and a 150° detection angle for general scenarios) and obstacle response sensitivity parameters (such as a medium recognition threshold and a 0.2-second response delay). It then drives the laser sensor module to update its operating parameters and, after completing the parameter adjustment, sends a confirmation signal to the mobile terminal 101 that "laser protection parameters have taken effect." During manual remote control operation, the laser sensor scans and detects the direction of travel in real time according to the adjusted parameters. When an obstacle meeting the recognition threshold is detected, it immediately generates a corresponding braking command based on the obstacle distance (such as a deceleration command at 1 meter and an emergency stop command at 0.5 meters). At this time, regardless of whether the mobile terminal 101 sends manual remote control commands such as turning or moving forward, the AMR robot 102 will prioritize executing the braking command. After the obstacle is removed or the user adjusts the direction to avoid the obstacle, the braking state is automatically released, and it resumes receiving manual remote control commands.

[0086] In this embodiment, the AMR robot 102 responds to the second control command to precisely adjust the laser protection-related parameters, adapting laser detection and obstacle response to the current operating scenario, thus improving the accuracy and adaptability of obstacle detection. Simultaneously, by assigning braking commands a higher execution priority than manual remote control commands, it ensures that safety protection actions are initiated immediately upon obstacle detection, effectively preventing collisions caused by delayed or misoperated manual actions, further enhancing the operational safety of the AMR robot 102 under manual intervention.

[0087] The AMR robot control system provided in this application embodiment, by setting an identification code on the AMR robot body indicating its communication address, enables a mobile terminal equipped with a dedicated program to quickly and accurately identify and locate the target AMR robot when its operation malfunctions. This establishes a direct point-to-point communication connection, eliminating the need for manual configuration or device searching in complex network environments and facilitating timely human intervention. Furthermore, the mobile terminal sends a first control command through this connection, putting the AMR robot into a human intervention state. This state limits the AMR robot's operating speed to below normal operating levels and continuously outputs prompts, reducing the safety risks of close-range human operation and clearly alerting surrounding personnel to its controlled status. Ultimately, this entire mechanism allows users to safely and quickly take over and guide the malfunctioning AMR robot, minimizing downtime caused by AMR robot stagnation while ensuring on-site safety, thus improving AMR robot maintenance efficiency and on-site operational safety.

[0088] In an exemplary embodiment, Figure 2 This is a flowchart illustrating an AMR robot control method provided in an embodiment of this application. For example, the method is applied to a mobile terminal 101, such as... Figure 2 As shown, the method includes the following: S201, Display the first interface.

[0089] The first interface includes a barcode scanning frame, which is used to identify the identification code on the body of the AMR robot.

[0090] S202. In response to the user's scanning operation based on the barcode scanning frame, establish a communication connection with the AMR robot that has encountered an operational abnormality.

[0091] S203. After the communication connection is established, send the first control command to the AMR robot to make the AMR robot enter the human intervention state.

[0092] In this scenario, the AMR robot in manual intervention mode operates at a slower speed than during normal operation and continuously outputs a prompt message. This prompt message indicates that the AMR robot is in manual intervention mode.

[0093] In this embodiment, the method further includes: after the communication connection is established, displaying multiple laser protection schemes to the user through a second interface. Each laser protection scheme is configured with different laser detection parameters and obstacle response sensitivity parameters according to the operational scenario. Then, in response to the user's instruction to select a target laser protection scheme from the multiple schemes, the target laser protection scheme is confirmed. Finally, the target laser protection scheme is sent to the AMR robot, so that the AMR robot adjusts the laser detection parameters and obstacle response sensitivity parameters according to the target laser protection scheme.

[0094] In this application embodiment, the multiple laser protection schemes include at least: In general operation scenarios, configuring a first detection range parameter and a first obstacle response sensitivity parameter as a first protection scheme; in confined space operation scenarios, configuring a second detection range parameter smaller than the first detection range parameter and a second obstacle response sensitivity parameter higher than the first obstacle response sensitivity parameter as a second protection scheme; and in hazardous materials handling operation scenarios, configuring a third detection range parameter larger than the first detection range parameter and a third obstacle response sensitivity parameter lower than the first obstacle response sensitivity parameter as a third protection scheme.

[0095] In this embodiment, the method further includes: after the communication connection is established, obtaining authorization verification information through a third interface. Then, in response to the authorization verification information input by the user, the restriction on the operating speed in the manually intervened state is lifted. Finally, after the restriction is lifted, the operating speed threshold of the AMR robot is adjusted to a first preset speed value to control the AMR robot to adjust its operating speed. The first preset speed value is greater than the operating speed in the manually intervened state.

[0096] The description of the above method corresponds to the functional description of the mobile terminal 101 in the AMR robot control system 100 provided in the embodiments of this application.

[0097] In an exemplary embodiment, this application also provides an electronic device, which may be the AMR robot control system in the above method embodiments. Figure 3 This is a schematic diagram of the structure of an AMR robot control system provided in an embodiment of this application. Figure 3 As shown, the AMR robot control system may include a processor 301 and a memory 302. The memory 302 stores instructions executable by the processor 301. When the processor 301 is configured to execute instructions, it causes electronic devices, network devices, or managers to perform the functions described in the foregoing method embodiments.

[0098] Through the above description of the embodiments, those skilled in the art can clearly understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0099] In the embodiments provided in this application, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the system embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between devices or units through some interfaces, and may be electrical, mechanical, or other forms.

[0100] The units described as separate components may or may not be physically separate. A component shown as a unit can be one or more physical units; that is, it can be located in one place or distributed in multiple different locations. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0101] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0102] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solutions of the embodiments of this application, in essence, or the parts that contribute to the prior art, or all or part of the technical solutions, can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0103] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An AMR robot control system, characterized in that, The system includes: an AMR robot and a mobile terminal; the AMR robot has an identification code on its body; the identification code is used to indicate the communication address of the AMR robot; The mobile terminal is equipped with an AMR robot operating program, which is used to establish a communication connection with the AMR robot through the identification code when the AMR robot is malfunctioning, and to send a first control command to the AMR robot after the communication connection is established. The AMR robot is configured to receive the first control command and enter a human intervention state in response to the first control command; wherein, the operating speed of the AMR robot in the human intervention state is lower than the operating speed during normal operation, and it continuously outputs prompt information; the prompt information is used to indicate that the AMR robot is in the human intervention state.

2. The system according to claim 1, characterized in that, The identification code is a graphic code or an RFID tag; The mobile terminal calls the image acquisition component or radio frequency reading component through the AMR robot operation program to obtain the communication address information contained in the identification code, and establishes a communication connection with the AMR robot based on the communication address information.

3. The system according to claim 1, characterized in that, The mobile terminal is also used for: The authorization verification information is obtained through the AMR robot operating procedure to remove the restriction on the operating speed in the human intervention state; After the restriction is lifted, the operating speed threshold of the AMR robot is adjusted to a first preset speed value, so that the AMR robot operating program can control the AMR robot to adjust its operating speed; the first preset speed value is greater than the operating speed in the manual intervention state.

4. The system according to claim 1, characterized in that, The prompt information includes voice prompts and light prompts; the output of the prompt information continues until the communication connection is disconnected. The AMR robot is specifically used for: After the communication connection is established, a prompt voice is continuously played according to the preset audio content as the voice prompt information; After the communication connection is established, the light will continuously emit light according to the preset light emission mode as the light prompt information.

5. The system according to claim 4, characterized in that, The light prompt information includes: The AMR robot emits a red flashing light at a preset frequency through the warning light on its top. The front light of the AMR robot emits a constant red light.

6. The system according to claim 1, characterized in that, The AMR robot operating program stores multiple laser protection schemes; each laser protection scheme is configured with different laser detection parameters and obstacle response sensitivity parameters according to the operation scenario. The mobile terminal is also used for: After the communication connection is established, the multiple laser protection solutions are provided to the user through the AMR robot operating program; Based on the target laser protection scheme selected by the user, a second control command is sent to the AMR robot; the second control command includes the laser detection parameters and the obstacle response sensitivity parameters corresponding to the target laser protection scheme.

7. The system according to claim 6, characterized in that, The AMR robot is also used for: In response to the received second control command, the laser detection parameters and the obstacle response sensitivity parameters are adjusted; Obstacles in the direction of travel are detected based on the adjusted parameters; When an obstacle is detected, a braking command is generated and executed to reduce the running speed or stop the movement; wherein, the execution priority of the braking command is higher than the manual remote control command received through the mobile terminal.

8. The system according to claim 6 or 7, characterized in that, The plurality of laser protection solutions include at least: In general operation scenarios, the first detection range parameter and the first obstacle response sensitivity parameter are configured as the first protection scheme; In confined space operation scenarios, a second detection range parameter smaller than the first detection range parameter and a second obstacle response sensitivity parameter higher than the first obstacle response sensitivity parameter are configured as a second protection scheme. In hazardous materials handling operations, a third detection range parameter that is greater than the first detection range parameter and a third obstacle response sensitivity parameter that is lower than the first obstacle response sensitivity parameter are configured as a third protection scheme.

9. An AMR robot control method, applied to a mobile terminal, characterized in that, The method includes: The first interface is displayed; the first interface includes a barcode scanning frame; the barcode scanning frame is used to identify the identification code on the body of the AMR robot; In response to the user's scanning operation based on the scanning frame, a communication connection is established with the AMR robot that has experienced an operational abnormality; After the communication connection is established, a first control command is sent to the AMR robot to cause the AMR robot to enter a human intervention state; wherein, the operating speed of the AMR robot in the human intervention state is lower than the operating speed during normal operation, and a prompt message is continuously output; the prompt message is used to indicate that the AMR robot is in the human intervention state.

10. The method according to claim 9, characterized in that, The method further includes: After the communication connection is established, multiple laser protection schemes are displayed to the user through the second interface; each laser protection scheme is configured with different laser detection parameters and obstacle response sensitivity parameters according to the operation scenario. In response to the user's instruction to select a target laser protection scheme from the plurality of laser protection schemes, the target laser protection scheme is confirmed; The target laser protection scheme is sent to the AMR robot so that the AMR robot can adjust the laser detection parameters and the obstacle response sensitivity parameters according to the target laser protection scheme.

Images