Firmware upgrade method, transfer robot, medium, and computer program product

Abstract

The present disclosure provides a firmware upgrading method, a conveying robot, a medium and a computer program product, and relates to the technical field of conveying robots. The method comprises the following steps: detecting whether a target firmware program is stored in an external memory; if yes, overwriting the target firmware program to an internal storage space of a controller, and starting the target firmware program stored in the internal storage space after the overwriting is completed; if no, checking the integrity of an original firmware program stored in the internal storage space, and starting the original firmware program in the case that the integrity checking succeeds. The embodiment of the present disclosure can carry the firmware program of the conveying robot by setting the external memory, thereby triggering automatic upgrading, avoiding the cumbersome process of traditional manual programming, and being especially suitable for large-scale deployment scenarios.

Description

Technical Field

[0001] This disclosure relates to the field of handling robot technology, and more particularly to a firmware upgrade method, a handling robot, media, and computer program products. Background Technology

[0002] With the rapid development of industrial automation, the deployment of handling robots in automated warehousing and logistics systems and production lines has increased significantly, making the requirements for the efficiency and convenience of upgrading their control programs increasingly urgent.

[0003] In related technologies, firmware upgrades for handling robots mainly rely on manual flashing. Technicians need to carry computers and flashers, disassemble the robot's shell, and connect the internal control circuit board to complete the upgrade. This not only consumes a lot of manpower and time, but also cannot achieve batch upgrades, making it difficult to adapt to large-scale deployment scenarios. Summary of the Invention

[0004] To overcome the problems existing in related technologies, this disclosure provides a firmware upgrade method, a handling robot, media, and computer program products.

[0005] According to a first aspect of the present disclosure, a firmware upgrade method is provided, applied to a handling robot, the handling robot including: a controller and an external memory; The method includes: Detect whether the target firmware program is stored in the external memory; If so, the target firmware program is overwritten to the internal storage space of the controller, and the target firmware program stored in the internal storage space is started after the overwriting is completed; If not, the integrity of the original firmware program stored in the internal storage space is verified, and if the integrity verification is successful, the original firmware program is started.

[0006] In some embodiments, the method further includes: If the integrity check fails, broadcast a connection request message to the local area network; Upon receiving a connection response message from any target handling robot within the local area network, establish a communication connection with the target handling robot. Send a firmware request message to the target handling robot, the firmware request message being used to request a firmware program file; Receive the firmware file returned by the target handling robot and store the firmware file in the external memory; The firmware file is overwritten to the internal storage space, and the firmware stored in the internal storage space is started after the overwriting is completed.

[0007] In some embodiments, the method further includes: Upon detecting a connection request message sent by a faulty transport robot on the local area network, a connection response message is sent to the faulty transport robot to establish a communication connection with it. In response to the firmware request message sent by the faulty transport robot, a firmware program file is sent to the faulty transport robot.

[0008] In some embodiments, the firmware file includes at least a fault recovery file corresponding to a fault file in the original firmware program that failed integrity verification, and the firmware request message includes at least a file identifier of the fault recovery file. Before sending the firmware file to the fault-handling robot, the method further includes: Retrieve the fault recovery file corresponding to the file identifier from the internal storage space and / or the external storage device.

[0009] In some embodiments, the method further includes: Establish a communication connection with the target server; If the firmware version stored in the target server is higher than the original firmware version, the firmware version stored in the target server is obtained in response to the firmware upgrade command issued by the target server. The obtained firmware program is overwritten to the internal storage space of the controller, and the firmware program stored in the internal storage space is started after the overwriting is completed.

[0010] In some embodiments, the handling robot further includes: an external storage card slot; The method further includes: When a memory card is inserted into the external memory card slot, it is detected whether the memory card contains firmware. If the firmware program stored in the memory card is of a higher version than the original firmware program, then the firmware program stored in the memory card is copied to the external storage device. The firmware program in the external storage is overwritten to the internal storage space, and the firmware program stored in the internal storage space is started after the overwriting is completed.

[0011] In some embodiments, the method further includes: If the integrity check fails, and the memory card contains firmware, then the firmware stored in the memory card will be copied to the external storage device. The firmware program in the external storage is overwritten to the internal storage space, and the firmware program stored in the internal storage space is started after the overwriting is completed.

[0012] According to a second aspect of this disclosure, a handling robot is provided, comprising: a controller and an external memory; The controller is configured to perform the method described in the first aspect.

[0013] According to a third aspect of this disclosure, a computer-readable storage medium has a computer program stored thereon that, when executed by a controller, implements the method described in the first aspect.

[0014] According to a fourth aspect of this disclosure, a computer program product includes a computer program that, when executed by a controller, implements the steps of the method described in the first aspect.

[0015] This embodiment of the invention can detect whether the target firmware program is stored in the external storage. If so, the target firmware program is overwritten to the internal storage space of the controller, and the target firmware program stored in the internal storage space is started after the overwriting is completed. If not, the integrity of the original firmware program stored in the internal storage space is verified, and the original firmware program is started if the integrity verification is successful. This embodiment of the invention can trigger automatic upgrades by setting an external storage space to carry the firmware program of the handling robot, thereby avoiding the tedious process of manually burning firmware to each robot, and is especially suitable for large-scale deployment scenarios.

[0016] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0017] Figure 1 A schematic diagram of the architecture of a handling robot according to an embodiment of this disclosure is shown.

[0018] Figure 2 This diagram illustrates a flowchart of a firmware upgrade method according to an embodiment of the present disclosure.

[0019] Figure 3 The diagram shows a flowchart of a fault recovery method according to an embodiment of this disclosure.

[0020] Figure 4 A flowchart illustrating another fault recovery method in an embodiment of this disclosure is shown.

[0021] Figure 5 This diagram illustrates a flowchart of another firmware upgrade method according to an embodiment of the present disclosure.

[0022] Figure 6This diagram illustrates a flowchart of yet another firmware upgrade method according to an embodiment of the present disclosure.

[0023] Figure 7 This diagram illustrates the complete implementation process of a firmware upgrade method according to an embodiment of the present disclosure. Detailed Implementation

[0024] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0025] The terminology used in this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The singular forms “a,” “the,” and “the” as used in this disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0026] The firmware upgrade method disclosed herein can be applied to material handling robots (e.g., RGV carts, AGV carts, etc.) in industrial scenarios such as automated warehousing, automated storage and retrieval systems, and intelligent production lines. In these scenarios, material handling robots need to work in clusters to complete continuous tasks such as material transfer and cargo scheduling. The equipment deployment density is high, the workflow is highly interconnected, and the robots are mostly in closed or semi-closed environments with limited space for manual on-site operation. The core requirements for robot control program upgrades in these scenarios are: no need to disassemble the equipment, support for batch synchronous upgrades, no interruption of overall operations during the upgrade process, and rapid recovery from upgrade failures, to adapt to the continuous and efficient requirements of industrial production.

[0027] To facilitate understanding, the architecture of the handling robot used to implement the firmware upgrade method provided in this disclosure will be introduced first. Figure 1 A schematic diagram of the architecture of a handling robot according to an embodiment of this disclosure is shown. Figure 1 As shown, the transport robot may include: Controller: As the control core of the handling robot, its internal storage space is divided into the Bootloader program area and the firmware program area, which is responsible for executing the operation control logic and upgrading process scheduling.

[0028] External memory: An external Flash chip driven by an SPI interface is used to temporarily store the target firmware program that is downloaded remotely or imported locally, providing independent data cache space for upgrades.

[0029] WIFI communication module: Supports connection to remote server via gateway, or communication with other handling robots in local area network, to realize firmware program transmission and fault response broadcast.

[0030] External storage card slot: Supports insertion of TF cards and other storage cards, used for local firmware import in case of network interruption or program failure, serving as an emergency upgrade channel.

[0031] The following will describe the exemplary implementation method in detail with reference to the accompanying drawings and embodiments.

[0032] First, this disclosure provides a firmware upgrade method, which can be executed by a handling robot, the handling robot including at least a controller and an external memory.

[0033] Figure 2 This diagram illustrates a flowchart of a firmware upgrade method according to an embodiment of the present disclosure, as shown below. Figure 2 As shown, the method includes the following steps.

[0034] S201, detect whether the target firmware program is stored in the external storage.

[0035] For example, after the controller of the handling robot is powered on, the Bootloader program in the internal storage space of the controller is started first. This program is the core control program for firmware upgrade. It can execute the external memory detection process, mount the external flash chip through the file system, and scan the chip storage area to see if the target firmware program (i.e. the new firmware program to be upgraded) exists.

[0036] S202, if so, then overwrite the target firmware program to the controller's internal storage space, and start the target firmware program stored in the internal storage space after the overwrite is completed.

[0037] For example, if the target firmware program is detected to be stored in the external memory, the Bootloader program initiates the overwrite mechanism and completely overwrites the target firmware program in the external memory to the internal storage space of the main controller (i.e. the original firmware program storage area) according to the preset memory address mapping rules. Data verification is performed during the overwrite process to ensure transmission integrity.

[0038] After the overwrite operation is completed, the Bootloader program automatically jumps to the starting address of the target firmware program in the internal storage space of the main controller, starts and runs the target firmware program, and completes the upgrade process.

[0039] S203, if not, then verify the integrity of the original firmware program stored in the internal storage space, and if the integrity verification is successful, start the original firmware program.

[0040] For example, if the target firmware is not detected in the external storage, the Bootloader program performs an integrity check on the original firmware stored in the internal storage (i.e., the currently running old firmware). The check includes program verification, file length and critical code segment integrity checks.

[0041] If the integrity verification result is successful, the Bootloader program will directly jump to the original firmware program area in the internal storage space, start and run the program to ensure that the handling robot can perform material handling and other business tasks normally; if the verification fails, the subsequent fault recovery process will be entered (this process will be explained later).

[0042] Based on this, the embodiments disclosed herein can simplify the firmware upgrade process of handling robots, reduce labor costs, and enable the firmware upgrade operation of handling robots to be automatically triggered by carrying the target firmware program in an external memory, avoiding the tedious process of manually burning firmware to each robot, which is especially suitable for large-scale deployment scenarios.

[0043] Next, the fault recovery process after verification failure will be explained in detail with reference to the following examples.

[0044] Figure 3 This diagram illustrates a fault recovery method according to an embodiment of the present disclosure. The method focuses on fault recovery scenarios following a failure to verify the integrity of the original firmware program of a handling robot, relying on the local area network interaction function implemented through a WIFI module. Specifically, as... Figure 3 As shown, the method includes the following steps: S301, in the event of an integrity check failure, broadcasts a connection request message to the local area network.

[0045] In some embodiments, when the Bootloader program fails to verify the integrity of the original firmware program in the controller's internal storage space (such as missing code segments), an emergency recovery mechanism can be automatically triggered, and the WIFI module can be started to broadcast a connection request message to the local area network via UDP protocol. This message may contain information such as the faulty device identifier, firmware fault type, and required firmware version.

[0046] S302: Upon receiving a connection response message from any target handling robot within the local area network, establish a communication connection with the target handling robot.

[0047] In some embodiments, after a transport robot (target transport robot) operating normally within a local area network captures a connection request message, if its firmware status is normal and the version matches, or if the corresponding firmware program file is stored in its external storage, it can return a connection response message containing its own device identifier and communication port.

[0048] S303, sends a firmware request message to the target handling robot. The firmware request message is used to request the firmware program file.

[0049] In some embodiments, after receiving a connection response message, the faulty robot can establish a stable data link with the target handling robot based on a preset secure communication protocol, and then send a firmware request message to specify the complete identifier of the required firmware program file (such as version number and file checksum).

[0050] S304 receives the firmware file returned by the target handling robot and stores the firmware file in external memory.

[0051] In some embodiments, after receiving a request, the target handling robot can retrieve the corresponding firmware program file from its internal storage space or external storage, and transmit it through the established link. The handling robot that malfunctions can store the received file completely in its external storage and verify the integrity of the transmitted data.

[0052] S305 overwrites the firmware file to the internal storage space and starts the firmware stored in the internal storage space after the overwrite is completed.

[0053] In some embodiments, after the malfunctioning handling robot has stored the firmware file, the Bootloader program can initiate an overwrite process to overwrite the firmware from the external storage to the controller's internal storage. During the overwrite process, data verification can be performed simultaneously to ensure that no files are corrupted. After the overwrite is completed, the system automatically jumps to the internal storage to start the firmware and complete the fault recovery.

[0054] This disclosed embodiment solves the problem of fault repair in automated warehouses. When a handling robot malfunctions, there is no need to remove the malfunctioning robot or have an engineer handle it on-site. Firmware recovery can be achieved through collaborative transmission between robots within a local area network, avoiding the pain points of difficult disassembly of automated warehouse equipment and low on-site repair efficiency, and greatly improving the efficiency of fault handling.

[0055] Meanwhile, since multiple normal handling robots may respond to fault requests at the same time, the faulty handling robot can quickly establish a connection to obtain firmware, avoiding repair stagnation caused by the failure of a single rescue node, which is especially suitable for large-scale cluster deployment scenarios.

[0056] It is understood that the steps described in the previous embodiment are fault recovery steps performed by the handling robot that failed the integrity check. Next, from the perspective of the target handling robot, the process of the target handling robot assisting the robot that failed the integrity check in fault recovery will be explained.

[0057] Specifically, Figure 4 A flowchart illustrating another fault recovery method according to an embodiment of this disclosure is shown. Figure 4 As shown, the method includes the following steps: S401, upon detecting a connection request message from a faulty transport robot on the local area network, sends a connection response message to the faulty transport robot in order to establish a communication connection with it.

[0058] In some embodiments, a normally operating transport robot can monitor the local area network broadcast address through a WIFI module, capture connection request messages sent by other robots in real time, and parse key information such as fault device identification and firmware requirements in the messages.

[0059] If it confirms that its own firmware is in normal condition and its version matches the requirements of the fault-tolerant robot, or if its external storage contains firmware programs that match the requirements of the fault-tolerant robot, it returns a connection response message to the fault-tolerant robot containing its own device identifier and communication link parameters, informing it that firmware support can be provided.

[0060] S402, in response to the firmware request message sent by the faulty transport robot, sends the firmware program file to the faulty transport robot.

[0061] In some embodiments, the firmware file includes at least a fault recovery file corresponding to the fault file in the original firmware program that failed integrity verification, and the firmware request message includes at least a file identifier for the fault recovery file. Before executing S402, before sending the firmware file to the fault-handling robot, the fault recovery file corresponding to the file identifier can also be obtained from internal storage and / or external storage.

[0062] For example, after the target handling robot establishes a communication connection with the faulty handling robot, it can receive a firmware request message sent by the faulty handling robot. This message contains a file identifier for the fault recovery file (such as file ID, version number, storage address index, etc.). The file identifier can explicitly point to the fault recovery file required to repair the integrity of the firmware program of the faulty handling robot.

[0063] After parsing the file identifier, the target handling robot can search for a matching file in its own controller's internal storage space or in its own external storage space, and send the retrieved file as a firmware program file to the faulty handling robot.

[0064] For example, after retrieving a matching file, the target handling robot can also perform a pre-integrity check on the file to ensure that there is no missing or tampered data in the file to be transferred.

[0065] This disclosed embodiment leverages the proactive response capabilities of normal handling robots to enable a distributed repair system across a cluster of robots, eliminating reliance on external servers or manual intervention and enhancing the system's autonomous operation and maintenance capabilities. Simultaneously, file identification allows for precise location of fault recovery files, preventing the transmission of irrelevant data, reducing the probability of file transmission errors, and ensuring that faulty robots only repair the damaged portions, thereby improving the recovery success rate.

[0066] The following section will detail how to perform firmware upgrades via the network. Please refer to... Figure 5 , Figure 5 This diagram illustrates a flowchart of another firmware upgrade method according to an embodiment of this disclosure. Figure 5 As shown, the method includes the following steps: S501 establishes a communication connection with the target server.

[0067] In some embodiments, after the handling robot is powered on and started, it can establish a stable communication connection with the target server via a gateway through a WIFI module, and synchronously send its own device identifier and the current running original firmware version information.

[0068] S502, if the firmware version stored in the target server is higher than the original firmware, responds to the firmware upgrade command issued by the target server and obtains the firmware stored in the target server.

[0069] In some embodiments, after receiving the information, the target server compares it with the latest firmware version stored in its own storage. If the latest version is higher than the current version of the handling robot, the administrator confirms the upgrade and issues a firmware upgrade instruction. The instruction includes information such as the storage path of the latest firmware and verification parameters.

[0070] After receiving the upgrade command, the handling robot can start the download process, obtain the latest firmware program from the target server through the communication link, and store the latest firmware program in the external storage.

[0071] S503 overwrites the obtained firmware program to the controller's internal storage space, and starts the firmware program stored in the internal storage space after the overwriting is completed.

[0072] After the download is complete, the transport robot automatically jumps to the Bootloader program, which then completely overwrites the latest firmware program from the external storage to the controller's internal storage. Once the overwrite is complete, the Bootloader program jumps to the latest firmware area in the internal storage, starts and runs the program, and completes the remote upgrade.

[0073] This disclosure enables firmware upgrades for handling robots via a network. Multiple handling robots can simultaneously connect to the server and upgrade synchronously, completely eliminating the limitations of traditional manual upgrades for each robot individually, significantly improving cluster upgrade efficiency, and adapting to large-scale deployment scenarios. Furthermore, centralized firmware version management by the target server ensures that all handling robots are upgraded to a unified and compliant version, avoiding conflicts in cluster collaborative operations caused by version discrepancies.

[0074] Next, we will describe in detail how to upgrade firmware using an external storage card slot (e.g., a TF card slot). The memory card inserted into the external storage card slot can serve as the external storage for the handling robot. For details, please refer to... Figure 6 , Figure 6 This diagram illustrates a flowchart of yet another firmware upgrade method according to an embodiment of the present disclosure. Figure 6 As shown, the method includes the following steps: S601 detects whether firmware is stored on a memory card when a memory card is inserted into an external memory card slot.

[0075] In some embodiments, when a worker inserts a memory card (such as a TF card) containing firmware into the external memory card slot of the handling robot, the robot automatically triggers a local upgrade detection process when it is powered on or running and detects the card slot access signal.

[0076] S602: If the firmware program stored on the memory card is of a higher version than the original firmware program, then the firmware program stored on the memory card will be copied to the external storage.

[0077] In some embodiments, the bootloader program mounts a memory card, reads the firmware version information therein, and compares it with the original firmware version in the controller's internal storage. If the firmware version on the memory card is higher than the original version, the bootloader program completely copies the target firmware from the memory card to external storage.

[0078] S603 overwrites the firmware program in the external storage to the internal storage space, and starts the firmware program stored in the internal storage space after the overwrite is completed.

[0079] In some embodiments, after copying is complete, the Bootloader program initiates the overwrite process, overwriting the target firmware program in the external storage to the controller's internal storage space. After the overwrite is complete, it automatically jumps to the internal storage space, starts and runs the new firmware program, and completes the local upgrade.

[0080] This disclosure provides a reliable emergency upgrade channel. In scenarios involving network outages, server failures, or the inability of robots to connect remotely, upgrades can be completed via a memory card, overcoming the limitations of remote upgrades that rely on the network. Furthermore, the upgrade process does not require disassembling the handling robot or carrying specialized programming tools; simply inserting a memory card automatically triggers the upgrade, reducing the barrier to manual operation and improving on-site maintenance efficiency.

[0081] In some embodiments, the external memory card can also be used for fault recovery of the handling robot. In the event of an integrity check failure, if the memory card contains firmware, the firmware can be copied to the external memory. Subsequently, the firmware in the external memory is overwritten to the internal memory, and the firmware stored in the internal memory is activated after the overwrite is complete.

[0082] This disclosed embodiment can quickly restore the firmware of the handling robot via a memory card in extreme cases where the WIFI module fails and the internal firmware is damaged, without requiring engineers to disassemble or remove the device on-site, thus significantly shortening the troubleshooting time.

[0083] To facilitate understanding, the following will combine... Figure 7 The complete implementation process of this disclosure is described in detail. Figure 7 A schematic diagram illustrating the complete implementation process of a firmware upgrade method in an embodiment of this disclosure is provided, taking into account practical application scenarios.

[0084] The hardware configuration of the handling robot used in this implementation process includes: a controller (divided into a bootloader area and a firmware area), an external Flash chip (external storage), a WIFI communication module, and an optional TF card slot. The server deploys firmware distribution software and stores the latest version of the firmware program. The handling robot and the server establish a network connection through a gateway, and the cluster is located on the same local area network.

[0085] During the power-on startup phase, after the handling robot is powered on, the Bootloader program runs first. This program checks whether a TF card is connected. If a TF card is connected, it is mounted and the firmware program is checked. If it exists, it is copied to the external Flash, and then the TF card is unmounted. If no TF card is connected, the external Flash is mounted directly.

[0086] During the upgrade detection phase, the bootloader program scans the external Flash memory to determine if the target firmware program is stored. If it exists, it executes an overwrite process, writing the target firmware program into the main controller's firmware area. After the overwrite is complete, it jumps to the firmware area, starts the new firmware program, and completes the local upgrade.

[0087] During normal operation and remote upgrade triggering phases, if the external Flash does not contain the target firmware, the Bootloader program verifies the integrity of the internal firmware. If the verification passes, it jumps to the firmware area and starts the old firmware. The firmware runs business control logic and download monitoring logic in parallel: it connects to the server via Wi-Fi, compares the server firmware version, and if the server version is updated, it receives the server upgrade command, downloads the new firmware to the external Flash, and jumps to the Bootloader program after the download is complete.

[0088] During the fault recovery phase, if firmware integrity verification fails, the bootloader program activates the Wi-Fi module and broadcasts a connection request message to the local area network (LAN) via UDP. Upon detecting the broadcast, the normally functioning transport robot on the LAN returns a connection response message, and the faulty transport robot establishes a connection, requesting the necessary firmware file (complete firmware or faulty file). The target transport robot retrieves and transmits the corresponding file, while the faulty transport robot receives it and stores it in external Flash memory. The bootloader program then overwrites this file into the firmware area, completing the repair and starting the firmware program.

[0089] In addition, normally functioning transport robots can continuously monitor local area network broadcasts, respond promptly to requests from malfunctioning transport robots, transmit firmware files as needed, and support cluster self-cooperative repair.

[0090] This disclosed embodiment achieves full-scenario coverage of "local upgrade + remote upgrade + cluster collaborative repair" by having the Bootloader program lead the entire process of startup, upgrade, verification and repair, combined with the temporary storage function of external Flash, the emergency import function of TF card and the network communication and broadcast function of WIFI module, thus adapting to the efficient operation and maintenance needs of industrial cluster operations.

[0091] Based on the same inventive concept, this disclosure also provides a handling robot, as shown in the following embodiment. Since the principle by which this handling robot solves the problem is similar to that of the above-described method embodiment, the implementation of this handling robot embodiment can refer to the implementation of the above-described method embodiment, and repeated details will not be described again.

[0092] Specifically, the handling robot includes a controller and an external memory. The controller is configured to perform the steps described in the "Exemplary Methods" section above, according to various exemplary embodiments of this disclosure.

[0093] In some embodiments, this disclosure also provides a computer-readable storage medium, which may be a readable signal medium or a readable storage medium. A program product capable of implementing the methods described above is stored thereon. In some possible embodiments, various aspects of this disclosure may also be implemented as a program product including program code, which, when run on a terminal device, causes the terminal device to perform the steps described in the "Exemplary Methods" section of this specification according to various exemplary embodiments of this disclosure.

[0094] In some embodiments, this disclosure also provides a computer program product including a computer program that, when executed by a controller, implements the steps described in the "Exemplary Methods" section above according to various exemplary embodiments of this disclosure.

[0095] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the appended claims.

Claims

1. A firmware upgrade method, characterized in that, Applied to a handling robot, the handling robot includes: a controller and an external memory; The method includes: Detect whether the target firmware program is stored in the external memory; If so, the target firmware program is overwritten to the internal storage space of the controller, and the target firmware program stored in the internal storage space is started after the overwriting is completed; If not, the integrity of the original firmware program stored in the internal storage space is verified, and if the integrity verification is successful, the original firmware program is started.

2. The method according to claim 1, characterized in that, The method further includes: If the integrity check fails, broadcast a connection request message to the local area network; Upon receiving a connection response message from any target handling robot within the local area network, establish a communication connection with the target handling robot. Send a firmware request message to the target handling robot, the firmware request message being used to request a firmware program file; Receive the firmware file returned by the target handling robot and store the firmware file in the external memory; The firmware file is overwritten to the internal storage space, and the firmware stored in the internal storage space is started after the overwriting is completed.

3. The method according to claim 1, characterized in that, The method further includes: Upon detecting a connection request message sent by a faulty transport robot on the local area network, a connection response message is sent to the faulty transport robot to establish a communication connection with it. In response to the firmware request message sent by the faulty transport robot, a firmware program file is sent to the faulty transport robot.

4. The method according to claim 3, characterized in that, The firmware program file includes at least a fault recovery file corresponding to the fault file that failed the integrity check in the original firmware program, and the firmware request message includes at least a file identifier of the fault recovery file. Before sending the firmware file to the fault-handling robot, the method further includes: Retrieve the fault recovery file corresponding to the file identifier from the internal storage space and / or the external storage device.

5. The method according to claim 1, characterized in that, The method further includes: Establish a communication connection with the target server; If the firmware version stored in the target server is higher than the original firmware version, the firmware version stored in the target server is obtained in response to the firmware upgrade command issued by the target server. The obtained firmware program is overwritten to the internal storage space of the controller, and the firmware program stored in the internal storage space is started after the overwriting is completed.

6. The method according to claim 1, characterized in that, The transport robot also includes: an external storage card slot; The method further includes: When a memory card is inserted into the external memory card slot, it is detected whether the memory card contains firmware. If the firmware program stored in the memory card is of a higher version than the original firmware program, then the firmware program stored in the memory card is copied to the external storage device. The firmware program in the external storage is overwritten to the internal storage space, and the firmware program stored in the internal storage space is started after the overwriting is completed.

7. The method according to claim 6, characterized in that, The method further includes: If the integrity check fails, and the memory card contains firmware, then the firmware stored in the memory card will be copied to the external storage device. The firmware program in the external storage is overwritten to the internal storage space, and the firmware program stored in the internal storage space is started after the overwriting is completed.

8. A transport robot, characterized in that, Includes: controller and external memory; The controller is configured to perform the method according to any one of claims 1 to 7.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the controller, it implements the method according to any one of claims 1 to 7.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the controller, it implements the steps of the method according to any one of claims 1 to 7.

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