Alarm methods for braking abnormalities, handling robots, servers and media

Abstract

This application relates to the field of intelligent warehousing technology, and discloses a braking anomaly alarm method, a handling robot, a server, and a computer-readable storage medium. The method is applied to the controller of a handling robot and includes: determining the number of rotations of the drive wheels of the handling robot after triggering a safety torque shutdown command; determining a first sliding distance of the handling robot based on the number of rotations; determining a second sliding distance of the handling robot based on an inertial measurement unit; determining whether a braking anomaly alarm is triggered based on the first and second sliding distances; and if a braking anomaly alarm is triggered, sending the alarm parameters corresponding to the braking anomaly alarm to the server. Through the above method, this application can detect braking anomalies of the handling robot in a timely and accurate manner.

Description

Technical Field

[0001] This application relates to the field of intelligent warehousing technology, specifically to an alarm method for braking abnormalities, a handling robot, a server, and a computer-readable storage medium. Background Technology

[0002] Automated Guided Vehicles (AGVs) are core equipment in intelligent warehousing and logistics systems. During AGV operations, it is necessary to monitor road slippage and brake wear in real time to promptly detect risks of reduced braking performance and ensure the AGV can brake safely and stop precisely.

[0003] In traditional solutions, periodic anomaly checks on roads and brakes are conducted manually, which has the limitation of failing to detect AGV braking anomalies in a timely and accurate manner.

[0004] Therefore, there is an urgent need for an alarm method that can accurately and promptly detect whether there is a braking abnormality in AGVs. Summary of the Invention

[0005] In view of the above problems, this application provides an alarm method for braking abnormality, a handling robot, a server, and a computer-readable storage medium to solve the problem that the prior art cannot detect braking abnormalities of handling robots in a timely and accurate manner.

[0006] According to a first aspect of the embodiments of this application, a braking abnormality alarm method is provided, the method comprising: A controller for a handling robot, the method comprising: After triggering the safety torque shutdown command, the number of rotations of the drive wheel of the handling robot is determined, and the first sliding distance of the handling robot is determined based on the number of rotations, and the second sliding distance of the handling robot is determined based on the inertial measurement unit. Based on the first and second coasting distances, determine whether to trigger a braking anomaly alarm; If a braking anomaly alarm is triggered, the alarm parameters corresponding to the braking anomaly alarm will be sent to the server.

[0007] In one alternative approach, determining whether to trigger a braking anomaly alarm based on a first coasting distance and a second coasting distance includes: Calculate the difference between the second sliding distance and the first sliding distance; The difference is used to determine whether to trigger a braking anomaly alarm.

[0008] In one alternative approach, the braking anomaly alarm includes an environmental interference alarm, and whether to trigger the braking anomaly alarm is determined based on the difference, including: If the absolute value of the difference is greater than the coasting threshold, an environmental interference alarm will be triggered.

[0009] In one alternative approach, the braking anomaly alarm includes a machine wear alarm, and determining whether to trigger the braking anomaly alarm based on the difference includes: If the absolute value of the difference is greater than the sliding threshold, then the determination of whether to trigger the instrument wear alarm is based on the second sliding distance. If the absolute value of the difference is less than or equal to the sliding threshold, then it is determined whether to trigger the instrument wear alarm based on the first sliding distance.

[0010] In one alternative approach, determining whether to trigger a machine wear alarm based on a second sliding distance includes: If the second sliding distance is greater than the safety threshold, then the device wear alarm is triggered. Whether to trigger a device wear alarm is determined based on the first sliding distance, including: If the first sliding distance is greater than the safety threshold, then the device wear alarm is triggered.

[0011] In one optional approach, the alarm parameters corresponding to the braking anomaly alarm are sent to the server, including: If it is determined that an instrument wear alarm has been triggered, the first alarm parameter is sent to the server. The first alarm parameter includes the wear trend of the instrument that triggered the instrument wear alarm.

[0012] In one optional approach, the alarm parameters corresponding to the braking anomaly alarm are sent to the server, including: If an environmental interference alarm is determined to be triggered, a second alarm parameter is sent to the server. The second alarm parameter includes the location information at the time the environmental interference alarm was triggered.

[0013] In one alternative approach, the handling robot includes an encoder that determines the number of rotations of the robot's drive wheels, including: Obtain the number of pulses acquired by the encoder; The number of rotations of the drive wheels of the handling robot is determined based on the encoder's resolution and pulse count; The first sliding distance of the handling robot is determined based on the number of rotations, including: The first sliding distance of the transport robot is determined based on the number of rotations and the circumference of the drive wheel.

[0014] In one alternative approach, determining the second sliding distance of the transport robot based on an inertial measurement unit includes: Based on the acceleration and angular velocity components collected by the inertial measurement unit, the linear acceleration of the handling robot is determined; Integrating the linear acceleration yields the second gliding distance.

[0015] In an alternative embodiment, the transport robot is also used to climb on a vertical guide rail. The transport robot also includes a braking component, and the method further includes: If the braking component is in operation, and a vertical linear acceleration is detected in the handling robot, and the number of rotations of the drive wheel is obtained, a fall alarm is triggered. In response to a fall alarm, a hazard alarm is triggered and a locking device is activated to lock the transport robot to the vertical guide rail.

[0016] In one alternative approach, the controller's operating power comes from the energy harvesting module of the handling robot. When the safety torque shutdown command is triggered, the energy harvesting module converts the back electromotive force generated when the drive wheel rotates into the controller's operating power.

[0017] According to a second aspect of the embodiments of this application, a braking anomaly alarm method is provided, applied to a server, the method comprising: Receive alarm parameters sent by the handling robot; Determine the maintenance strategy corresponding to the alarm parameters.

[0018] In one alternative approach, the alarm parameters include an alarm type identifier, and the maintenance strategy corresponding to the alarm parameters is determined, including at least one of the following: If the braking anomaly alarm is determined to include a machine wear alarm based on the alarm type identifier, then based on the alarm parameters and the historical alarm parameters corresponding to the machine wear alarm, the remaining service life of the machine corresponding to the machine wear alarm on the handling robot is predicted, and a corresponding maintenance strategy is formulated based on the remaining service life. If the braking anomaly alarm is determined to include an environmental interference alarm based on the alarm type identifier, then a maintenance prompt message corresponding to the environmental interference alarm is generated to prompt the staff to check the location indicated by the location information when the handling robot triggers the environmental interference alarm.

[0019] According to a third aspect of the embodiments of this application, a handling robot is provided, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement an alarm method for braking abnormality as described in any of the above embodiments.

[0020] In one alternative embodiment, the transport robot also includes an energy harvesting module that, when a safety torque shutdown command is triggered, converts the back electromotive force generated by the rotation of the transport robot's drive wheels into operating power for the controller.

[0021] According to a fourth aspect of the embodiments of this application, a server is provided, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the alarm method for braking abnormality as described in any of the above embodiments.

[0022] According to a fifth aspect of the present application, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements a braking anomaly alarm method as described in any of the above embodiments.

[0023] In this embodiment, after the handling robot triggers the safety torque shutdown command, the system determines whether a braking anomaly alarm is triggered by the gliding distance collected by different modules. This method integrates parameters collected from different modules to determine whether a braking anomaly alarm is triggered, using multi-source data to avoid misjudgments caused by a single fault and improve the accuracy of determining whether a braking anomaly alarm is triggered. Furthermore, using the gliding distance obtained after the handling robot actually executes the safety torque shutdown command to determine whether a braking anomaly alarm is triggered provides a true and real-time reflection of the handling robot's current braking status, further improving the accuracy and timeliness of determining whether a braking anomaly alarm is triggered.

[0024] The above description is merely an overview of the technical solutions of the embodiments of this application. In order to better understand the technical means of the embodiments of this application and to implement them in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the embodiments of this application more obvious and understandable, specific implementation methods of this application are described below. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art 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.

[0026] Figure 1 A schematic diagram illustrating the movement of a handling robot in a warehousing system, according to an embodiment of this application, is shown. Figure 2 This illustration shows a schematic diagram of a handling robot connected to a vertical guide rail according to an embodiment of this application; Figure 3 A schematic diagram of the modular structure of a handling robot provided in an embodiment of this application is shown; Figure 4 A schematic diagram of the modular structure of a handling robot provided in an embodiment of this application is shown; Figure 5 A flowchart illustrating an alarm method for braking anomalies provided in an embodiment of this application is shown. Figure 6 This illustration shows a schematic diagram of the interaction process between a handling robot and a server according to an embodiment of this application; Figure 7 A schematic diagram of the structure of the handling robot provided in an embodiment of this application is shown; Figure 8 A schematic diagram of the server structure provided in an embodiment of this application is shown.

[0027] The attached figures are labeled as follows: Storage system 1; rack 10; guide rail 11; handling robot 20; chassis 211; lifting mechanism 212; handling mechanism 213; climbing mechanism 214; motor drive module 215; encoder 216; IMU 217; controller 218; data storage module 219; communication module 220; energy harvesting module 221. Detailed Implementation

[0028] Exemplary embodiments of the present application will now be described in more detail with reference to the accompanying drawings. Although exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application may be implemented in various forms and should not be limited to the embodiments set forth herein.

[0029] In smart warehousing scenarios, handling robots can not only navigate autonomously on the warehouse floor and move flexibly between the rack arrays, but also connect with the guide rails set along the vertical direction on the racks and climb along them to reach different heights of the goods and complete the picking and placing of goods on the racks.

[0030] Figure 1 This illustration shows a schematic diagram of a handling robot moving within a warehousing system, according to an embodiment of this application. Figure 1 As shown, the warehousing system 1 of this application embodiment includes shelves 10 and a handling robot 20. The handling robot 20 can autonomously navigate on the warehouse floor, flexibly moving between shelves 10 according to path planning to realize the transfer of goods; when goods need to be stored in a specific layer of the shelf 10, the handling robot 20 moves to the corresponding position of the shelf 10 and smoothly climbs along the vertical guide rail 11 set on the shelf 10, thereby accurately transporting the carried goods to each layer of the shelf 10. Specifically, the handling robot 20 can be an automated guided vehicle (AGV) or other autonomously movable handling device.

[0031] Please refer to Figure 2 , Figure 2 This diagram illustrates a handling robot connected to a vertical guide rail, according to an embodiment of this application. Figure 2As shown, the handling robot 20 includes a chassis 211, a handling mechanism 213, and a climbing mechanism 214. The chassis 211 includes wheels for driving the robot 20 to move on the warehouse floor. Both the handling mechanism 213 and the climbing mechanism 214 are mounted on the chassis 211. The handling mechanism 213 can transfer goods between the shelf 10 and the robot 20. The climbing mechanism 214 includes climbing wheels for engaging with the guide rail 11. After engagement, the climbing wheels move along the vertical guide rail 11, allowing the climbing mechanism 214 to climb the guide rail 11 until it reaches the desired storage location. The handling robot 20 may also include a lifting mechanism 212, mounted on the chassis 211. The handling mechanism 213 and the climbing mechanism 214 are mounted on the lifting mechanism 212. The lifting mechanism 212 performs a lifting action to cause the handling mechanism 213 and the climbing mechanism 214 to rise vertically as a whole.

[0032] Please refer to Figure 3 , Figure 3 A schematic diagram of the modular structure of a handling robot provided in an embodiment of this application is shown. Figure 3 As shown, the handling robot 20 also includes a motor drive module 215, an encoder 216, an inertial measurement unit (IMU) 217, a controller 218, a data storage module 219, and a communication module 220. Through the encoder 216 and the IMU 217, the handling robot 20 can collect motion parameters at any position when performing its handling task.

[0033] The motor drive module 215 includes a motor drive module for the walking wheels and a motor drive module for the climbing wheels, which are used to drive the walking wheels and climbing wheels of the handling robot 20, respectively. Each motor drive module includes a drive motor and a brake (usually an electromagnetic brake), both of which are communicatively connected to the controller 218 to achieve data interaction and control response. Specifically, the motor drive module 215 can receive operation control commands sent by the controller 218, drive the motor to run and output torque, and drive the handling robot 20 to move on the warehouse floor or drive the handling robot 20 to climb along the vertical guide rail 11 on the shelf 10. At the same time, the motor drive module 215 can also feed back the real-time operating parameters of the motor and brake (such as speed, current, temperature, brake status, etc.) to the controller 218 for status monitoring and anomaly judgment. Among them, the brake is used to lock the motor shaft when the handling robot 20 decelerates and stops or brakes in an emergency, thereby locking the walking wheels or climbing wheels, preventing the handling robot 20 from sliding due to inertia, slipping on slopes, or falling due to gravity, ensuring parking safety and position maintenance. The specific control of the brakes and motors by the handling robot 20 when performing handling tasks will be explained in more detail later.

[0034] The encoder 216 can output two-phase quadrature pulses (A and B) to record the number of pulse signals generated by the rotation of the drive wheels (including the walking wheels and the climbing wheels) of the handling robot 20, and transmit the pulses to the controller 218. In this embodiment, the handling robot 20 has two encoders 216, one of which collects the number of pulses generated when the walking wheels of the handling robot 20 move on the warehouse floor, and the other collects the number of pulses generated when the climbing wheels of the handling robot 20 climb along the vertical guide rail 11 of the shelf 10.

[0035] The IMU 217 consists of a three-axis accelerometer and a three-axis gyroscope, which collects the acceleration and angular velocity components of the handling robot 20. Specifically, the IMU 217 can obtain the acceleration components of the handling robot 20 in three orthogonal directions (denoted as α) in a Cartesian coordinate system. x ɑ y ɑ z (unit: m / s²) and angular velocity components (denoted as w) x w y w z (Unit: rad / s)

[0036] The controller 218 can be a microcontroller unit (MCU), which is a microcomputer chip integrating a processor core, memory, and input / output interfaces. It is an embedded controller responsible for control and data acquisition. The controller 218 can send operation control commands to the motor drive module 215 to control the movement of the handling robot 20. It can also receive the motion parameters of the handling robot 20 after triggering the Safe Torque Off (STO) command. Specifically, it acquires the number of pulses of drive wheel rotation collected by the encoder 216 after triggering the STO command, as well as the acceleration and angular velocity components collected by the IMU 217, to determine the sliding distance of the handling robot 20 after triggering the STO command (including the first sliding distance and the second sliding distance), and then determines whether to trigger a braking abnormality alarm (including a machine wear alarm and / or an environmental interference alarm). The machine wear alarm is triggered by wear on the machine controlling the handling robot 20 to brake and stop, and the environmental interference alarm is triggered by external environmental interference affecting the braking and stopping of the handling robot 20. The controller 218 can also monitor whether the handling robot 20 triggers a braking abnormality alarm, and record the alarm locally after the handling robot 20 triggers a braking abnormality alarm.

[0037] The data storage module 219 is connected to the controller 218 and receives motion data of the handling robot 20 sent by the controller 218, as well as the resolution of the encoder 216 written during the factory configuration or on-site debugging of the handling robot 20. The communication module 220 consists of a wireless communication unit (Wi-Fi / 5G / Industrial Ethernet), which can receive scheduling instructions sent by the server in the warehousing system 1 (for controlling the handling robot 20 to perform handling tasks), or send its own alarm parameters to the server.

[0038] The server of warehouse system 1 is equipped with an Equipment Scheduling System (ESS). The server can send scheduling instructions to the handling robot 20 through the ESS. The scheduling instructions can be transportation instructions (also known as pick-up and drop-off instructions) used to schedule the handling robot 20 to perform handling tasks, such as picking up / dropping goods from a certain location on the shelf.

[0039] Optionally, the handling robot 20 may also include a display screen (not shown in the figure), and the braking abnormality alarm may be displayed on the display screen of the handling robot 20 in a visual manner through an interactive interface. Furthermore, it may also trigger corresponding protection actions (such as speed limiting, repair reminder).

[0040] The following section will explain the specific control process of the motor and brake in three operating conditions of the handling robot 20 during the performance of handling tasks: constant speed travel, deceleration and stop, and triggering of the safety torque shutdown command. The following explanation uses the control of the motor drive module 215 corresponding to the walking wheels as an example when the handling robot 20 is walking on the ground. It can be understood that the control method of the motor drive module 215 corresponding to the climbing wheels when the handling robot 20 is climbing (ascending or descending) on ​​the vertical guide rail is the same, as described below.

[0041] While the handling robot 20 is moving at a constant speed, the motor drive module 215 receives the operation control command sent by the controller 218 and outputs a pulse-width modulation (PWM) signal to drive the motor to generate forward or reverse torque. This torque is transmitted to the wheels of the handling robot 20 through the reduction mechanism, causing the wheels to rotate and moving the handling robot 20 on the warehouse floor. Throughout the operation, the brake coil is always energized, and the spring inside is compressed by electromagnetic force, separating the brake disc from the friction plate, allowing the motor shaft to rotate freely, and the brake does not create resistance to the movement of the wheels.

[0042] When the handling robot 20 needs to decelerate and stop, the controller 218 first uses the motor drive module 215 to stop the motor from braking or reduce the output torque, thereby reducing the speed of the handling robot 20 until it stops. Then, the coil controlling the brake is de-energized, the spring resets and presses the brake disc, locking the motor shaft, thus mechanically locking the wheels and ensuring that the handling robot 20 remains stationary even on slopes or when subjected to external forces.

[0043] In situations requiring an emergency stop, such as when goods collapse on other transport robots ahead or when staff accidentally enter the monitored area, the controller 218 triggers an STO (Stop-to-Stop) command, sending it to the motor drive module 215. Upon receiving the STO command, the motor drive module 215 cuts off the motor's PWM output, preventing the motor from generating torque. At this point, the wheels and the motor rotor are in a free-rotating state. In this situation, if the transport robot 20 is on a slope or subjected to external thrust, the wheels will rotate without resistance, causing the robot to slip unexpectedly. To avoid such problems, typically, at the same time the controller 218 triggers the STO command, a locking torque is applied to the motor shaft using a brake, locking the motor shaft and the wheels. This reliably prevents any unexpected rotation of the wheels and avoids the transport robot 20 losing position control after stopping.

[0044] Based on the above, it can be seen that the brake plays an important role in the braking process of the handling robot 20, especially when the STO command is triggered, it can lock the wheels and fix the handling robot 20.

[0045] However, in actual transportation scenarios, the operating environment of the handling robot 20 is complex and varied. On smooth surfaces (such as those with water stains, oil, or ice), the wheels may slip. Even though the brakes mechanically lock the wheels, relative slippage can still occur between the wheels and the ground, causing the actual sliding distance of the handling robot 20 to exceed the expected distance under normal braking. The handling robot 20 cannot distinguish whether the braking anomaly is caused by environmental factors or brake wear, making it difficult to accurately determine the condition of the brakes.

[0046] Such misjudgment may lead to the following two risks: If the handling robot 20 misjudges the braking abnormality caused by brake wear as road slippage, it may not report the brake failure in time, which may lead to subsequent collisions or falls; conversely, if it misjudges the slippage caused by wet road surface as brake abnormality, it will lead to unnecessary maintenance downtime and reduce transportation efficiency.

[0047] Based on this, the determination of whether the handling robot 20 triggers a braking abnormality alarm after triggering the STO command in this embodiment mainly addresses the machine wear alarm triggered due to wear on the brake, and the environmental interference alarm triggered due to wheel slippage caused by the handling robot 20 traveling on a wet and slippery surface. It is understood that the causes of braking abnormalities are not limited to brake wear, but may also include wear on other braking components. In this embodiment, for ease of description, only the example of brake wear triggering a machine wear alarm is used. Similarly, the causes of wheel slippage are not limited to wet and slippery surfaces, but may also include other environmental factors. In this embodiment, the example of the handling robot 20 traveling on a wet and slippery surface, causing wheel slippage and triggering an environmental interference alarm, is used.

[0048] The relevant solutions rely on staff to periodically check the travel path and brakes of the handling robot for abnormalities, but this has the limitation of failing to detect abnormal braking of the handling robot in a timely and accurate manner.

[0049] Based on this, this application proposes a braking anomaly alarm method. After the handling robot 20 triggers the STO command, the controller 218 collects the number of rotations of the walking wheels through the encoder 216, and then calculates the first sliding distance of the handling robot 20 based on the number of rotations and the circumference of the walking wheels. The second sliding distance of the handling robot 20 is determined by the acceleration and angular velocity components of the handling robot 20 after the STO command is triggered, collected by the IMU 217. Then, the first and second sliding distances are used to determine whether a braking anomaly alarm is triggered, and after determining that a braking anomaly alarm is triggered, the corresponding alarm parameters are sent to the server.

[0050] Specifically, after the transport robot 20 triggers the STO command, if the robot's wheels slip on a wet surface (i.e., the wheels are locked by the brakes but slide due to the slippery surface), the actual rolling distance of the wheels will be very small (i.e., the first sliding distance is small), while the actual sliding distance of the robot body will be larger (i.e., the second sliding distance is large). At this time, the controller 218 calculates the second sliding distance after triggering the STO command by collecting the acceleration and angular velocity components from the IMU 217, and determines the first sliding distance after triggering the STO command by the number of rotations of the wheels. If the difference between the second sliding distance and the first sliding distance is large, it can be determined that there is abnormal interference in the current environment, and it can be determined that an environmental interference alarm needs to be triggered. In this case, the second sliding distance obtained by IMU 217 can accurately reflect the displacement of the handling robot 20 body, so it is further determined whether to trigger a machine wear alarm based on the second sliding distance. If the difference between the second sliding distance and the first sliding distance is small, it can be determined that there is no abnormal interference in the current environment, and it can be determined that there is no need to trigger an environmental interference alarm. In this case, the first sliding distance obtained by encoder 216 can accurately reflect the displacement of the handling robot 20 body, so it is determined whether to trigger a machine wear alarm based on the first sliding distance.

[0051] In this embodiment, by acquiring the motion parameters collected by the encoder 216 and IMU 217 after the transport robot 20 triggers the STO command, the first sliding distance and the second sliding distance of the transport robot 20 are calculated, and then the braking abnormality alarm is determined based on the first sliding distance and the second sliding distance. By integrating the motion parameters collected by different modules to determine whether the braking abnormality alarm is triggered, the braking status of the transport robot 20 can be determined in real time and accurately.

[0052] Furthermore, in the braking anomaly alarm method provided in this application embodiment, after triggering the STO command, the controller 218 needs to obtain the number of rotations of the walking wheels of the handling robot 20 collected by the encoder 216. In related technical solutions, when the handling robot 20 executes the STO command, the power supply is disconnected, and the motor drive module 215 is completely de-energized. Since the controller 218 also draws power from this power supply or a power circuit linked to it, after the handling robot 20 executes the STO command, the controller 218 will also lose power and stop working, and will be unable to continue collecting the number of pulses of the pulse signal output by the encoder 216. Based on this, please refer to... Figure 4 , Figure 4 A schematic diagram of the modular structure of another handling robot is shown. (For example...) Figure 4 As shown, the transport robot 20 also includes an energy harvesting module 221.

[0053] In order to realize energy recovery of the energy harvesting module 221, the motor of the motor drive module 215 in this embodiment is specifically a permanent magnet synchronous motor (PMSM) or a brushless DC motor (BLDC), both of which can generate back electromotive force when rotating.

[0054] After the transport robot 20 triggers the STO command, the motor stops outputting torque, but the wheels continue to rotate due to inertia. Since the motor used in this embodiment is a PMSM or BLDC motor, even though the motor stops outputting torque after the STO command is triggered, the wheels generate back electromotive force due to inertia. The energy harvesting module 221 collects the back electromotive force and rectifies and filters it through a rectifier circuit to provide a low-voltage operating power supply (e.g., 3.3V or 5V) to the controller 218. The back electromotive force is used to provide operating power to the controller 218, realizing energy recovery and providing operating power for subsequent determination of whether the transport robot 20 has triggered a braking abnormality alarm.

[0055] Optionally, after triggering the STO command, encoder 216 and IMU 217 can use their own backup low-power power supply to collect the number of pulses, acceleration components and angular velocity components generated by the rotation of the walking wheel, respectively; they can also use the working power provided by energy acquisition module 221 to collect motion parameters after triggering the STO command.

[0056] Figures 1 to 4 The transport robot 20 shown is for illustrative purposes only. The transport robot 20 can also have other structures, as long as it can transport goods and execute the alarm method for braking abnormality in the embodiments of this application. Its structure is not limited to this.

[0057] Figure 5 This illustration shows a flowchart of a braking anomaly alarm method provided in an embodiment of this application. The method consists of... Figure 1-4 The actions performed by the transport robot 20 shown can specifically be executed by the controller 218 of the transport robot 20. For example... Figure 5 As shown, the method includes the following steps: S110: After triggering the safety torque shutdown command, determine the number of rotations of the walking wheels of the handling robot, determine the first sliding distance of the handling robot based on the number of rotations, and determine the second sliding distance of the handling robot based on the inertial measurement unit.

[0058] The Safety Torque Off (STO) command is a command triggered by the handling robot in an emergency. Upon triggering the STO command, the motor drive module immediately cuts off the motor's PWM output, preventing the motor from generating torque to rotate the wheels. Simultaneously, the control brake coil is de-energized, causing the brake spring to reset and press against the brake disc, locking the motor shaft and mechanically locking the wheels to prevent them from sliding freely and causing the handling robot to glide.

[0059] Optionally, in this embodiment, the transport robot can trigger an STO command when it detects that other transport robots ahead are experiencing cargo collapse or obstacles, that a worker has entered the transport robot's operating monitoring area, or that it has internal malfunctions (such as overheating, overcurrent, grounding faults, or DC bus overvoltage). It is understood that for different triggering scenarios, the transport robot can use different monitoring devices to identify the occurrence of the above situations, thereby enabling the controller to determine whether to trigger an STO command. For example, it can use 3D vision or a depth camera to identify obstacles appearing ahead of the transport robot. The method by which the transport robot determines to trigger an STO command in this embodiment is not limited here.

[0060] The transport robot obtains the number of rotations of its wheels after the STO command is triggered by an encoder, and then calculates the first sliding distance of the transport robot after the STO command is triggered based on the number of rotations.

[0061] Specifically, the first sliding distance of the transport robot after triggering the STO command is determined by the encoder, including steps a1 to a3.

[0062] The number of rotations of the robot's wheels after the STO command is triggered is determined, including: Step a1: Obtain the number of pulses acquired by the encoder; Step a2: Determine the number of rotations of the robot's wheels based on the encoder's resolution and pulse count.

[0063] The first sliding distance of the handling robot is determined based on the number of rotations, including: Step a3: Determine the first sliding distance of the transport robot based on the number of rotations and the circumference of the wheels.

[0064] In steps a1-a3, the number of pulses collected by the encoder after the STO command is triggered, and the encoder resolution stored in the aforementioned data storage module are obtained. Then, based on the obtained resolution and pulse count, the number of rotations of the transport robot's wheels after the STO command is triggered is calculated. After obtaining the number of rotations, the first sliding distance of the transport robot can be obtained by multiplying the number of rotations by the circumference of the wheels. First sliding distance It can be calculated using Formula 1.

[0065] = *Formula C 1; Where R is the encoder resolution, which represents the number of pulses output by the encoder per revolution; C is the circumference of the walking wheel, which represents the distance the handling robot travels in one revolution of the walking wheel; and N is the number of pulses collected by the encoder after the STO command is triggered, which can be calculated by formula 1.1.

[0066] = Formula 1.1; in, To ensure the encoder determines that no new pulse input occurs within a continuous sampling period, the number of pulses at which the robot's wheels stop rotating at the end time T1 is determined. The number of pulses at the initial time T0 that triggers the STO instruction.

[0067] For example, with a circumference C of 0.5 meters and a resolution R of 1000 pulses / revolution, after triggering the STO command, the encoder collects 3000 pulses N, and the first sliding distance is calculated. It is 1.5 meters.

[0068] In this embodiment, the number of rotations of the walking wheel is determined by the number of pulses collected by the encoder and the encoder resolution, thereby obtaining the first sliding distance of the handling robot after the STO command is triggered, providing a basis for subsequent determination of whether to trigger a braking abnormality alarm.

[0069] After the STO command is triggered, the transport robot uses its IMU to collect the acceleration components of its body in a Cartesian coordinate system after the STO command is triggered to obtain linear acceleration, and then obtains the second sliding distance based on the linear acceleration.

[0070] Specifically, the second sliding distance of the transport robot after the STO command is triggered is determined based on the IMU, including: determining the linear acceleration of the transport robot after the STO command is triggered based on the acceleration and angular velocity components collected by the IMU; and integrating the linear acceleration to obtain the second sliding distance.

[0071] The handling robot obtains the acceleration component (α) after triggering the STO command via the IMU. x ɑ y ɑ z ) and angular velocity component (w x w y w zThe linear acceleration is determined, and then the acceleration components are integrated to obtain the second sliding distance.

[0072] It is understandable that the movement direction of the transport robot on the ground is arbitrary, with the gravitational component always superimposed on the three axes (i.e., the X, Y, and Z axes of the aforementioned Cartesian coordinate system). When calculating the second gliding distance using the acceleration components acquired by the IMU, a specific acceleration component (such as α) cannot be directly selected. x ɑ y ɑ z Integrate any one of them.

[0073] Therefore, in this embodiment, the angular velocity components are first integrated (e.g., using quaternions or Euler angles) to calculate the attitude angles (roll, pitch, and yaw) of the handling robot in real time. Then, the acceleration components in the spatial rectangular coordinate system are transformed to the global horizontal coordinate system using the attitude matrix to obtain the acceleration components in the global coordinate system. The horizontal acceleration in the global coordinate system is then projected using the attitude angles to obtain the linear acceleration in the forward direction of the handling robot. Finally, this linear acceleration is integrated twice to obtain the second sliding distance. The calculation can be done with reference to Formula 2.

[0074] = d 2 Formula 2; in, This refers to the linear acceleration in the forward direction of the transport robot after the STO command is triggered.

[0075] In this embodiment, the linear acceleration is determined by the acceleration and angular velocity components collected by the IMU, and the linear acceleration is integrated twice to obtain the second sliding distance of the transport robot after the STO command is triggered. This directly reflects the sliding displacement of the transport robot body and provides a basis for determining whether a braking abnormality alarm is triggered.

[0076] S120: Based on the first coasting distance and the second coasting distance, determine whether to trigger a braking abnormality alarm.

[0077] After obtaining the first sliding distance through the encoder and the second sliding distance through the IMU, the handling robot determines whether to trigger a braking abnormality alarm after triggering the STO command based on the first and second sliding distances.

[0078] Specifically, based on the first and second coasting distances, it is determined whether to trigger a braking anomaly alarm, including: calculating the difference between the second and first coasting distances; and determining whether to trigger a braking anomaly alarm based on the difference.

[0079] The braking anomaly alarm is triggered when the handling robot fails to complete the braking and stopping as expected after triggering the STO command.

[0080] The first sliding distance, determined by the number of rotations collected by the encoder, directly reflects the sliding distance corresponding to the number of rotations of the walking wheels. When the robot is not experiencing braking abnormalities, the difference between the first and second sliding distances is small, and the first sliding distance is less than or equal to a pre-set safety threshold. This indicates that the robot can complete braking and stopping according to the expected stopping target after triggering the STO command. If any of the above conditions are not met, it is determined that the robot has failed to complete braking and stopping according to the expected stopping target, triggering a braking abnormality alarm. The safety threshold can be obtained by testing a standard robot (without abnormal mechanical wear) that has been tested and can stop normally in a standard test environment (such as a dry, high-adhesion surface) after triggering the STO command.

[0081] Furthermore, in this embodiment of the application, the braking abnormality alarm includes an environmental interference alarm. Determining whether to trigger the braking abnormality alarm based on the difference between the second coasting distance and the first coasting distance includes: if the absolute value of the difference is greater than the coasting threshold, then determining that the environmental interference alarm is triggered.

[0082] Furthermore, the braking abnormality alarm also includes an instrument wear alarm. The determination of whether to trigger the braking abnormality alarm is based on the difference value includes: if the absolute value of the difference value is greater than the coasting threshold, then the determination of whether to trigger the instrument wear alarm is based on the second coasting distance; if the absolute value of the difference value is less than or equal to the coasting threshold, then the determination of whether to trigger the instrument wear alarm is based on the first coasting distance.

[0083] Understandably, when the wheels slip, the initial sliding distance cannot accurately reflect the actual distance traveled by the handling robot. For example, in scenarios with slippery surfaces, such as those with water stains, oil, or ice accumulation, even though the brakes lock the wheels after triggering the STO command, the robot will still slide forward a certain distance due to wheel slippage. The second sliding distance, calculated using the acceleration components collected by the IMU after triggering the STO command, directly reflects the robot's sliding displacement. Therefore, in cases of environmental disturbance, the second sliding distance obtained by the IMU is greater than the first sliding distance obtained by the encoder. Conversely, when the wheels are not slipping, the first sliding distance obtained by the encoder, calculated by counting the number of wheel rotations, accurately reflects the actual distance traveled by the handling robot. In this case, the difference between the first and second sliding distances is relatively small.

[0084] Therefore, in this embodiment, the handling robot can determine whether it needs to trigger an environmental interference alarm by comparing the absolute value of the difference between the first and second sliding distances with a sliding threshold. Specifically, the larger the absolute value of the difference between the second and first sliding distances, the farther the wheels slide due to slippery ground, and the more severe the braking abnormality caused by environmental interference after triggering the STO command.

[0085] In one embodiment, the coasting threshold can be determined through experimental calibration. For example, under a preset standard test environment (such as a dry, high-adhesion surface), an STO command is triggered on a standard handling robot (a handling robot that has been inspected and found to have no mechanical wear). The standard deviation between a standard first coasting distance calculated from the number of rotations collected by the encoder and a standard second coasting distance calculated by the IMU is obtained, and multiple standard deviations are obtained by triggering the STO command multiple times. The average of the multiple standard deviations is calculated, and the average value or a value slightly larger than the average value is determined as the coasting threshold.

[0086] For example, under a preset standard test environment (such as a dry, high-adhesion surface), an STO command is triggered for a standard handling robot to obtain a standard first sliding distance calculated by an encoder or a standard second sliding distance calculated by an IMU. The ratio of the standard first sliding distance to the standard second sliding distance is then determined as the sliding threshold. For instance, the sliding threshold can be set to 20% of the standard first sliding distance or the standard second sliding distance.

[0087] When the absolute value of the difference between the first and second sliding distances of the handling robot is greater than the sliding threshold, it indicates that the difference between the first and second sliding distances is large, and the handling robot's wheels are slipping, triggering an environmental interference alarm. In this case, since the first sliding distance is determined by the number of wheel rotations collected by the encoder, it can no longer accurately represent the handling robot's sliding distance when the environmental interference alarm is triggered. Therefore, the second sliding distance calculated based on the IMU is used as the criterion for determining whether to trigger a machine wear alarm.

[0088] When the absolute value of the difference between the first and second sliding distances determined by the handling robot is less than or equal to the sliding threshold, it indicates that the difference between the first and second sliding distances is small, and the handling robot is not experiencing wheel slippage, thus eliminating the need to trigger an environmental interference alarm. The first sliding distance determined by the encoder is obtained from the actual number of rotations of the handling robot's wheels and accurately represents the robot's sliding distance. Therefore, the first sliding distance calculated based on the encoder is used as the criterion for determining whether to trigger a machine wear alarm.

[0089] In this embodiment, the difference between the first and second sliding distances is used to determine whether an environmental interference alarm is triggered. This eliminates the need for complex calculations and allows for a quick determination of whether an environmental interference alarm needs to be triggered. Furthermore, based on the difference between the first and second sliding distances, or based on the judgment result of whether an environmental interference alarm is triggered, sliding distances collected by different modules are used to determine whether an instrument wear alarm is triggered, thereby improving the accuracy of determining whether an instrument wear alarm is triggered.

[0090] Furthermore, in the embodiments of this application, the step of determining whether to trigger a device wear alarm includes the following step b1 or step b2.

[0091] Whether to trigger a device wear alarm is determined based on the second sliding distance, including: Step b1: If the second sliding distance is greater than the safety threshold, then determine to trigger the instrument wear alarm.

[0092] Whether to trigger a device wear alarm is determined based on the first sliding distance, including: Step b2: If the first sliding distance is greater than the safety threshold, then determine to trigger the instrument wear alarm.

[0093] The safety threshold in steps b1 and b2 is the threshold for determining whether to trigger the equipment wear alarm. It can be determined by repeatedly triggering the STO command on a standard handling robot (a handling robot without equipment wear) under a preset standard test environment (such as a dry, high-adhesion surface), obtaining multiple standard sliding distances calculated by an encoder or IMU. The average value of these multiple standard sliding distances is calculated, and this average value, or a value slightly greater than the average value, is determined as the safety threshold. Optionally, in this embodiment, the safety threshold can also be set by the operator based on the type of handling robot, the application scenario, and safety standards.

[0094] Understandably, the more severe the wear (mechanical wear) of the brake on the handling robot, the weaker the brake's locking ability on the motor shaft, and the worse the robot's braking ability. After triggering STO (Stop-to-Trip) mode, the stronger the ability of the wheels to continue rotating, the greater the first and second sliding distances of the handling robot. That is, in this embodiment, besides determining whether to trigger a mechanical wear alarm based on the relationship between the first or second sliding distance and a safety threshold, the degree of mechanical wear on the handling robot can also be judged based on the difference between the first or second sliding distance and the safety threshold. Specifically, the greater the difference between the first or second sliding distance and the safety threshold, the more severe the mechanical wear on the handling robot is determined to be.

[0095] In this embodiment, the determination of whether to trigger a device wear alarm is based on the relationship between the first sliding distance or the second sliding distance and the safety threshold, which eliminates the need for complex calculations and improves the efficiency of identifying abnormal device wear.

[0096] The braking anomaly alarm method provided in this application, which determines whether the handling robot triggers a braking anomaly alarm after triggering an STO command, includes the following specific steps: The method uses a first sliding distance calculated from the number of pulses collected by the encoder and a second sliding distance determined from the acceleration and angular velocity components collected by the IMU. When the absolute value of the difference between the first and second sliding distances is greater than the sliding threshold, an environmental interference alarm is triggered. Then, when the second sliding distance is determined to be greater than the safety threshold, an equipment wear alarm is triggered. When the absolute value of the difference between the first and second sliding distances is greater than the sliding threshold, an environmental interference alarm is triggered. Conversely, when the second sliding distance is less than or equal to the safety threshold, an instrument wear alarm is not triggered. When the absolute value of the difference between the first sliding distance and the second sliding distance is less than or equal to the sliding threshold, the environmental interference alarm is not triggered. Then, when it is determined that the first sliding distance is greater than the safety threshold, the instrument wear alarm is triggered. When the absolute value of the difference between the first and second sliding distances is less than or equal to the sliding threshold, an environmental interference alarm is not triggered. Consequently, when the first sliding distance is determined to be less than or equal to the safety threshold, an instrument wear alarm is not triggered.

[0097] Therefore, this embodiment of the application can determine the type of braking abnormality alarm triggered by the handling robot after triggering the STO command by using the first sliding distance and the second sliding distance, thus realizing accurate classification of braking abnormality alarms.

[0098] S130: If it is determined that a braking abnormality alarm has been triggered, the alarm parameters corresponding to the braking abnormality alarm will be sent to the server.

[0099] In this embodiment, after the handling robot determines that a braking abnormality alarm has been triggered based on a first sliding distance and a second sliding distance, it sends the alarm parameters corresponding to the braking abnormality alarm to the server so that the server can formulate a corresponding maintenance strategy based on the alarm parameters.

[0100] The alarm parameters include: the robot identifier of the handling robot, the time of triggering the STO command, the sliding distance of the handling robot (including the first sliding distance and the second sliding distance), the location information of the triggering braking abnormality alarm (including the x-axis coordinate and y-axis coordinate of the warehouse floor), the type of triggering the braking abnormality alarm (machinery wear alarm and / or environmental interference alarm), the safety threshold, and the wear trend of the machine.

[0101] In this embodiment, after the handling robot triggers the STO command, the system determines whether a braking anomaly alarm is triggered by the sliding distance collected by different modules. It integrates motion parameters collected by different modules to determine whether a braking anomaly alarm is triggered. By using multi-source data for judgment, it avoids misjudgment caused by a single fault and improves the accuracy of determining whether a braking anomaly alarm is triggered. Furthermore, by using the sliding distance obtained by the handling robot in actually executing the STO command to determine whether a braking anomaly alarm is triggered, it can truly and in real time reflect the current braking status of the handling robot, further improving the accuracy and timeliness of determining whether a braking anomaly alarm is triggered.

[0102] It should be noted that although the above solution uses the movement of a handling robot on the warehouse floor as an example to illustrate the alarm method for abnormal braking, its application scenarios are not limited to this. The same method can be used to determine whether an abnormal braking alarm is triggered when the handling robot moves along the vertical guide rail of the shelf.

[0103] Taking the downward movement of a transport robot along a vertical guide rail as an example, when the guide rail becomes relatively smooth due to long-term wear, even if the brake has properly locked the motor shaft and locked the robot's lifting wheels after the STO command is triggered, the transport robot may still slip on the smooth guide rail and continue to slide downwards for a certain distance. At this time, the difference between the second sliding distance (the actual downward displacement of the transport robot) measured by the IMU and the first sliding distance (the theoretical rotation distance of the lifting wheels) calculated by the encoder is large, which determines whether an environmental interference alarm is triggered. Furthermore, the relationship between the second sliding distance and the safety threshold can be combined to determine whether a machine wear alarm is triggered.

[0104] Furthermore, in this embodiment of the application, the transport robot is also used to climb on a vertical guide rail. The transport robot also includes a braking component, and further includes: when the braking component is in the working state, if a linear acceleration in the vertical direction of the transport robot is detected and the number of rotations of the climbing wheel is obtained, a fall alarm is determined to be triggered; in response to the fall alarm, a danger alarm is triggered and a locking device is activated to lock the transport robot on the vertical guide rail.

[0105] When the transport robot moves along the vertical guide rail, after the STO (Stop Tolerance) is triggered, the braking component (brake) included in the motor drive module corresponding to the lifting wheel is activated, locking the lifting wheel and stopping the transport robot on the vertical guide rail to prevent it from slipping. When the brake can lock the lifting wheel, the transport robot can be locked on the vertical guide rail; if the brake is worn and fails to lock the lifting wheel, the transport robot cannot be stopped on the vertical guide rail. Therefore, in this embodiment, when the braking component is activated, if the IMU detects a linear acceleration in the vertical direction in the transport robot, and the encoder continues to record the number of rotations of the lifting wheel (indicating that the lifting wheel is not locked by the brake), it is determined that the transport robot is in an abnormal falling state, triggering a fall alarm.

[0106] In response to the fall alarm, the handling robot issues an acoustic or optical hazard warning to alert nearby personnel. Simultaneously, it immediately activates a locking device (such as a backup electromagnetic locking device) independent of the brake, forcibly locking the handling robot to the guide rail through physical clamping or locking. This provides alternative safety protection when the brake becomes insufficient due to wear, ensuring that the handling robot can reliably stop falling and avoid equipment damage and personnel injury.

[0107] Based on the above explanation, after the handling robot triggers the STO command, if it determines that a braking abnormality alarm needs to be triggered, the handling robot uses the communication module to send the alarm parameters corresponding to the braking abnormality alarm to the server. The specific process of determining the corresponding alarm parameters sent by the handling robot to the server will be described below.

[0108] Please refer to Figure 6 , Figure 6 This illustration shows a schematic diagram of the interaction process between a handling robot and a server, as provided in an embodiment of this application.

[0109] S1: The transport robot determines the number of rotations of its wheels after the STO command is triggered based on the encoder, and determines the first sliding distance of the transport robot based on the number of rotations. And the second sliding distance of the transport robot determined based on IMU. .

[0110] S2: The transport robot calculates the second sliding distance. and first gliding distance The difference between them.

[0111] S3: The transport robot calculates the second sliding distance. and first gliding distance The absolute value of the difference between them, k.

[0112] S4: The handling robot determines whether the absolute value k is greater than the sliding threshold q1.

[0113] S4.1: If the absolute value k is greater than the sliding threshold q1, the handling robot will trigger an environmental interference alarm.

[0114] S4.11: If an environmental interference alarm is triggered, the handling robot determines the second sliding distance. Is it greater than the safety threshold q2?

[0115] S4.111: If the second glide distance If the value exceeds the safety threshold q2, the handling robot will trigger a machine wear alarm.

[0116] S4.112: If the second glide distance If the value is not greater than the safety threshold q2, the handling robot will determine not to trigger the machine wear alarm.

[0117] S4.2: If the absolute value k is not greater than the sliding threshold q1, the handling robot will determine not to trigger the environmental interference alarm.

[0118] S4.21: If it is determined that no environmental interference alarm will be triggered, the handling robot will determine the first sliding distance. Is it greater than the safety threshold q2?

[0119] S4.211: If so, the handling robot will trigger a machine wear alarm.

[0120] S4.212: If not, the handling robot will ensure that the machine wear alarm is not triggered.

[0121] S5.1: If it is determined that an environmental interference alarm will not be triggered but a machine wear alarm will be triggered, the handling robot will send the first alarm parameter to the server.

[0122] S5.2: If it is determined that an environmental interference alarm is triggered but a machine wear alarm is not triggered, the handling robot sends a second alarm parameter to the server.

[0123] S5.3: If it is determined that environmental interference alarm and machine wear alarm will not be triggered, the handling robot will send a third alarm parameter to the server.

[0124] S5.4: If it is determined that an environmental interference alarm and a machine wear alarm have been triggered, the handling robot will send the fourth alarm parameter to the server.

[0125] In steps S5.1 to S5.4, after determining that a different type of braking anomaly alarm has been triggered, the handling robot sends the corresponding alarm parameters to the server. In the alarm parameters, the handling robot can use an alarm type identifier to distinguish the type of braking anomaly alarm currently triggered.

[0126] For example, when the handling robot determines that only an environmental interference alarm is triggered, it sends a second alarm parameter corresponding to an alarm type identifier containing 10 to the server; when the handling robot determines that only a machine wear alarm is triggered, it sends a first alarm parameter corresponding to an alarm type identifier containing 01 to the server, the first alarm parameter including the wear trend of the machine corresponding to the triggered machine wear alarm; when the handling robot determines that both an environmental interference alarm and a machine wear alarm are triggered, it sends a fourth alarm parameter corresponding to an alarm type identifier containing 11 to the server; if no braking abnormality alarm is triggered, a third alarm parameter corresponding to an alarm type identifier containing 00 is sent.

[0127] Since the braking anomaly alarms corresponding to the second and fourth alarm parameters include environmental interference alarms, it is necessary to add location information (such as warehouse floor coordinates or guide rail coordinates) to the second and fourth alarm parameters to inform the server of the location where the environmental interference alarm was triggered. The server then notifies staff to perform maintenance and upkeep at that location. It should be noted that the fourth alarm parameter includes both the wear trend of the equipment corresponding to the equipment wear alarm and the location information when the environmental interference alarm is triggered.

[0128] Understandably, the transport robot sends a third alarm parameter to the server without triggering a braking anomaly alarm. Based on this, regardless of whether a braking anomaly alarm is triggered, the server can obtain the alarm parameters of the transport robot after triggering the STO command, and understand the time when the transport robot triggered the STO and the braking status after the STO command was triggered. Optionally, in this embodiment, if it is determined that no environmental interference alarm or machine wear alarm has been triggered, the transport robot may not send the third alarm parameter to the server, saving energy.

[0129] In this embodiment, by sending alarm parameters corresponding to the type of braking abnormality alarm to the server, the server determines the type of braking abnormality triggered based on the received alarm parameters, and then formulates a corresponding strategy, thereby improving the operational safety of the handling robot.

[0130] S6: The server receives alarm parameters sent by the handling robot.

[0131] The server receives alarm parameters sent by the handling robot and determines the type of braking abnormality alarm based on the alarm type identifier contained in the alarm parameters, according to the pre-agreed type identifier mapping relationship.

[0132] S7: If the alarm type identifier based on the alarm parameters determines that the braking abnormality alarm includes the machine wear alarm, the server predicts the remaining service life of the machine corresponding to the machine wear alarm on the handling robot based on the alarm parameters and the historical alarm parameters corresponding to the machine wear alarm, and formulates the corresponding maintenance strategy based on the remaining service life.

[0133] When the server determines that the braking abnormality of the handling robot is a machine wear alarm based on the alarm type identifier in the alarm parameters, it combines the currently reported alarm parameters (such as the first sliding distance and the second sliding distance) with the historical alarm data corresponding to the handling robot (such as the historical first sliding distance and the historical second sliding distance) to estimate the remaining service time of the machine (brake) through trend analysis or prediction models, and formulates a tiered maintenance strategy based on the remaining service time. For example, if it is greater than a critical value, it is determined that the remaining time is sufficient and it is included in the routine maintenance plan; if it is less than or equal to the critical value, spare parts are arranged, the handling robot is stopped, and the brake is replaced.

[0134] S8: If the alarm type identifier based on the alarm parameters determines that the braking abnormality alarm includes an environmental interference alarm, the server will generate maintenance prompt information corresponding to the environmental interference alarm.

[0135] After determining that the braking anomaly alarm includes an environmental interference alarm based on the alarm type identifier of the alarm parameters, the server generates maintenance prompt information corresponding to the environmental interference alarm. It can also mark the location indicated by the location information of the handling robot when the environmental interference alarm is triggered as a risk area on the warehouse map, prompting staff to check the location and avoid safety accidents.

[0136] In this embodiment, the server determines the type of braking anomaly triggered based on the received alarm parameters, and then formulates a corresponding strategy, thereby improving the operational safety of the handling robot.

[0137] Figure 7 A schematic diagram of the structure of the handling robot 20 provided in an embodiment of this application is shown. Figure 7 As shown, the handling robot 20 may include a processor 302 and a memory 304.

[0138] The memory 304 is used to store the computer program 306. The memory 304 may include high-speed RAM, and may also include non-volatile memory, such as at least one disk drive. The computer program 306 may include computer-executable instructions.

[0139] The processor 302 is used to execute the computer program 306 to implement the above-described embodiment of the alarm method for braking abnormality executed by the handling robot 20.

[0140] Processor 302 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application. The one or more processors included in the handling robot 20 may be processors of the same type, such as one or more CPUs; or they may be processors of different types, such as one or more CPUs and one or more ASICs.

[0141] Figure 8 A schematic diagram of the server structure provided in an embodiment of this application is shown. Figure 8 As shown, the server may include a processor 402 and a memory 404.

[0142] The memory 404 is used to store the computer program 406. The memory 404 may include high-speed RAM, and may also include non-volatile memory, such as at least one disk storage device. The computer program 406 may include computer-executable instructions.

[0143] The processor 402 is used to execute the computer program 406 to implement the above-described embodiment of the alarm method for braking abnormality executed by the server.

[0144] Processor 402 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application. The server includes one or more processors, which may be processors of the same type, such as one or more CPUs; or they may be processors of different types, such as one or more CPUs and one or more ASICs.

[0145] Please continue reading. Figure 1 and Figure 2 This application provides a warehousing system 1, which includes a handling robot 20, a server, and a guide rail 11.

[0146] The handling robot 20 can move on the warehouse floor or on the guide rails of the shelf 10 to perform handling operations. The guide rails can be horizontal guide rails or vertical guide rails 11 installed on the shelf 10. When the handling robot 20 moves on the warehouse floor or on the guide rails of the shelf 10, it can execute the braking abnormality alarm method embodiment described above.

[0147] This application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described alarm method for braking abnormalities.

[0148] This application provides a computer program that can be executed by a processor to implement the above-described alarm method for braking abnormalities.

[0149] This application provides a computer program product, which includes a computer program that, when executed by a processor, implements the above-described alarm method for braking abnormalities.

[0150] In the several embodiments provided in this application, any function, if implemented as a software functional module / unit and sold or used as an independent product, can be stored in a computer-readable storage medium. Based on this understanding, all or part of the technical solution of this application can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or other electronic device) to execute all or part of the steps of the methods in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing computer program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0151] The algorithms or displays provided herein are not inherently related to any particular computer, virtual system, or other device. Various general-purpose systems can also be used in conjunction with the teachings herein. The required structure for constructing such systems is apparent from the above description. Furthermore, the embodiments of this application are not directed to any particular programming language. It should be understood that the content of this application described herein can be implemented using various programming languages, and the above description of specific languages ​​is for the purpose of disclosing the best mode of implementation of this application.

[0152] It should be noted that the above embodiments are illustrative of this application and not restrictive, and those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. This application can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In claims enumerating several means, several units or modules of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names. The steps in the above embodiments, unless otherwise specified, should not be construed as limiting the order of execution.

[0153] The above embodiments are merely illustrative of several implementation methods of this application, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for alarming abnormal braking, characterized in that, The method, applied to a controller for a handling robot, includes: After triggering the safety torque shutdown command, the number of rotations of the drive wheel of the handling robot is determined, and the first sliding distance of the handling robot is determined based on the number of rotations, and the second sliding distance of the handling robot is determined based on the inertial measurement unit. Based on the first coasting distance and the second coasting distance, determine whether to trigger a braking anomaly alarm; If the braking anomaly alarm is triggered, the alarm parameters corresponding to the braking anomaly alarm are sent to the server.

2. The method according to claim 1, characterized in that, The step of determining whether to trigger a braking anomaly alarm based on the first coasting distance and the second coasting distance includes: Calculate the difference between the second gliding distance and the first gliding distance; The braking anomaly alarm is determined based on the difference.

3. The method according to claim 2, characterized in that, The braking anomaly alarm includes an environmental interference alarm. The step of determining whether to trigger the braking anomaly alarm based on the difference includes: If the absolute value of the difference is greater than the gliding threshold, the environmental interference alarm is triggered.

4. The method according to claim 2, characterized in that, The braking anomaly alarm includes a machine wear alarm. The step of determining whether to trigger the braking anomaly alarm based on the difference includes: If the absolute value of the difference is greater than the sliding threshold, then it is determined whether to trigger the instrument wear alarm based on the second sliding distance; If the absolute value of the difference is less than or equal to the sliding threshold, then it is determined whether to trigger the instrument wear alarm based on the first sliding distance.

5. The method according to claim 4, characterized in that, The step of determining whether to trigger the instrument wear alarm based on the second sliding distance includes: If the second sliding distance is greater than a safety threshold, then the instrument wear alarm is triggered; the step of determining whether to trigger the instrument wear alarm based on the first sliding distance includes: If the first sliding distance is greater than the safety threshold, then the instrument wear alarm is triggered.

6. The method according to claim 4, characterized in that, Sending the alarm parameters corresponding to the braking anomaly alarm to the server includes: If it is determined that the instrument wear alarm has been triggered, a first alarm parameter is sent to the server. The first alarm parameter includes the wear trend of the instrument that triggered the instrument wear alarm.

7. The method according to claim 3, characterized in that, Sending the alarm parameters corresponding to the braking anomaly alarm to the server includes: If it is determined that the environmental interference alarm has been triggered, a second alarm parameter is sent to the server. The second alarm parameter includes the location information when the environmental interference alarm was triggered.

8. The method according to claim 1, characterized in that, The transport robot includes an encoder, and determining the number of rotations of the drive wheels of the transport robot includes: Obtain the number of pulses acquired by the encoder; The number of rotations of the drive wheel of the handling robot is determined based on the encoder resolution and the number of pulses. Determining the first sliding distance of the transport robot based on the number of rotations includes: The first sliding distance of the transport robot is determined based on the number of rotations and the circumference of the drive wheel.

9. The method according to claim 1, characterized in that, The determination of the second sliding distance of the transport robot based on the inertial measurement unit includes: Based on the acceleration and angular velocity components collected by the inertial measurement unit, the linear acceleration of the handling robot is determined. The second sliding distance is obtained by integrating the linear acceleration.

10. The method according to claim 1, characterized in that, The transport robot is also used to climb on a vertical guide rail, and the transport robot also includes a braking component; the method further includes: When the braking component is in operation, if a vertical linear acceleration is detected in the handling robot and the number of rotations of the drive wheel is obtained, a fall alarm is triggered. In response to the fall alarm, a hazard alarm is triggered and a locking device is activated to lock the transport robot to the vertical guide rail.

11. The method according to claim 1, characterized in that, The controller's operating power comes from the energy harvesting module of the handling robot. When the safety torque shutdown command is triggered, the energy harvesting module converts the back electromotive force generated when the drive wheel rotates into the controller's operating power.

12. A method for alarming abnormal braking, characterized in that, Applied to a server, the method includes: Receive alarm parameters sent by the handling robot; Determine the maintenance strategy corresponding to the alarm parameters.

13. The method according to claim 12, characterized in that, The alarm parameters include an alarm type identifier, and the step of determining the maintenance strategy corresponding to the alarm parameters includes at least one of the following: If the braking anomaly alarm is determined to include a machine wear alarm based on the alarm type identifier, then based on the alarm parameters and the historical alarm parameters corresponding to the machine wear alarm, the remaining usage time of the machine corresponding to the machine wear alarm of the handling robot is predicted, and a corresponding maintenance strategy is formulated based on the remaining usage time. If the braking anomaly alarm is determined to include an environmental interference alarm based on the alarm type identifier, then a maintenance prompt message corresponding to the environmental interference alarm is generated to prompt the staff to investigate the location indicated by the location information when the handling robot triggers the environmental interference alarm.

14. A transport robot, characterized in that, The transport robot includes: A controller, a memory, and a computer program stored in the memory, wherein the controller executes the computer program to implement the alarm method for braking abnormality as described in any one of claims 1 to 11.

15. The handling robot according to claim 14, characterized in that, The transport robot also includes an energy harvesting module. When a safety torque shutdown command is triggered, the energy harvesting module converts the back electromotive force generated when the drive wheels of the transport robot rotate into the working power of the controller.

16. A server, characterized in that, The system includes a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the alarm method for braking abnormality as described in any one of claims 12 to 13.

17. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by a processor, implements an alarm method for braking abnormality as described in any one of claims 1 to 11 or 12 to 13.

Images