Fault handling method and system for a transport robot, transport method, electronic device, storage medium, and computer program

Abstract

A method and system for fault handling of a transport robot, relating to the technical field of robot control. This method includes the steps of detecting fault warning information transmitted from the transport robots (102, 103), and outputting prompt information in response to determining that the target passing box currently loaded on the transport robot meets the first preset condition; dispatching a target idle transport robot to the abnormal change port (108) of the transport line device (104); and controlling the target idle transport robot to continue the warehousing transport task in response to detecting that the target idle transport robot has obtained the target passing box at the abnormal change port. This method can effectively avoid task interruption caused by faults of the transport robot and improve the processing efficiency of the entire task.

Description

Technical Field

[0001] <Cross - Reference to Related Applications> This disclosure claims priority based on a Chinese patent application with an application number of 202210952045.3 and an invention title of "Fault Handling Method and System for a Transport Robot", filed on August 9, 2022, and incorporates the entire text of the said application by reference into this disclosure.

[0002] This disclosure relates to the technical field of computers, specifically to the technical field of robot control, and particularly to a fault handling method and system for robots.

Background Art

[0003] A transport robot is a robot used for operations such as moving and transporting goods in scenarios such as warehouses, sorting centers, and during the transportation of goods. Logistics robots are considered to be an important smart infrastructure in the process of digitalization and automation of logistics and supply chain related enterprises.

[0004] In the prior art, when a transport robot fails, on - site workers switch the transport robot to manual mode, tow it to an empty area for inspection, and resume system tasks after repair. If a passing box is placed on the abnormal transport robot, the task of the passing box is delayed and may not be processed in a timely manner. There is no choice but to wait until the inspection of the transport robot is completed, and the tasks up to that point can only be continued and completed after the task resumes normally.

Summary of the Invention

Means for Solving the Problems

[0005] Embodiments of this disclosure provide a fault handling method, apparatus, device, and storage medium for a transport robot.

[0006] In a first aspect, an embodiment of the present disclosure provides a method for handling a failure of a transport robot. The method includes: outputting prompt information in response to detecting failure warning information transmitted from the transport robot and determining that the target passing box currently loaded on the transport robot satisfies a first preset condition; dispatching a target idle transport robot to an abnormal-time change port of a transport line device; and controlling the target idle transport robot to continue an inbound transport task in response to detecting that the target idle transport robot has acquired the target passing box at the abnormal-time change port.

[0007] In a second aspect, an embodiment of the present disclosure provides a transport method. The method includes: scanning, by a scanning device, a box number of a passing box on a transport line; and transporting, in response to determining that the state of a transport task corresponding to the box number is completion of an inbound transport task, the passing box corresponding to the box number to an abnormal-time change port.

[0008] In a third aspect, an embodiment of the present disclosure provides a failure handling system for a transport robot. The system includes: a control device for executing a failure handling method of the transport robot; a transport line device for executing a transport method; and a transport robot. The transport robot receives a dispatch command transmitted from the control device and, based on the dispatch command, moves from the current position to the abnormal-time change port to load the target passing box and transmits failure warning information to the control device when a failure occurs.

[0009] In a fourth aspect, an embodiment of the present disclosure provides an electronic device. The electronic device includes: one or more processors; and a storage device storing one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the failure handling method of the transport robot according to any one of the embodiments of the first aspect.

[0010] In a fifth aspect, an embodiment of the present disclosure provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the failure handling method of the transport robot according to any of the embodiments of the first aspect.

[0011]

[0012] Note that the content described in the summary of the invention is not intended to limit the key features or important features of the embodiments of the present disclosure, nor to limit the scope of the present disclosure. Other features of the present disclosure will be more easily understood from the following description.

Brief Description of the Drawings

[0013]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

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Figure 7

Modes for Carrying Out the Invention

[0014] The following describes exemplary embodiments of the present disclosure with reference to the drawings. For the sake of understanding, various details of the embodiments of the present disclosure are described herein, but these are merely exemplary. Therefore, it is obvious that those skilled in the art can make various changes and modifications to the embodiments described herein without departing from the scope and gist of the present disclosure. In the following description, for the sake of clarity and simplicity, descriptions of known functions and structures are omitted.

[0015] Unless otherwise inconsistent, the embodiments in the present disclosure and the features in the embodiments can be combined with each other. Hereinafter, the present disclosure will be described in detail in combination with the embodiments with reference to the drawings.

[0016] FIG. 1 shows an exemplary system architecture 100 to which an embodiment of a failure processing method for a transport robot according to the present disclosure is applicable.

[0017] As shown in FIG. 1, the system architecture 100 may include a control device 101 for a transport robot, transport robots 102 and 103, a transport line device 104, and a network 105. Containers for placing passing boxes are attached to the transport robots 102 and 103, and the passing boxes are used to place articles to be warehoused or shipped. The transport line device 104 is provided with a box export port 106, a box import port 107, an abnormal change port 108, and a picking station 109. The transport line device 104 is used to execute an outbound transport task and an inbound transport task. Here, in the inbound transport task, the passing box is transported from the picking station 109 to the box export port 106 via the transport line device 104, and in the outbound transport task, the passing box is transported from the box import port 107 to the picking station 109 via the transport line device 104. The transport robots 102 and 103 are used to execute an outbound transport task and an inbound transport task. Here, in the outbound transport task, the passing box is transported from the storage position to the box import port 107 of the transport line device via the transport robots 102 and 103. The inbound transport task is to transport the passing box from the box export port 106 of the transport line device to the corresponding storage position of the passing box via the transport robots 102 and 103.

[0018] The network 105 is used as a medium for providing a communication link between the control device 101 and the transport robots 102 and 103. The network 105 may include various types of connections such as wired, wireless communication links, or optical fiber cables.

[0019] When the control device 101 detects the failure warning information transmitted from the transport robot and determines that the target passing box currently placed on the transport robot satisfies the first preset condition, the control device 101 outputs prompt information, dispatches the target idle transport robot to the abnormal change port of the transport line device, and controls the target idle transport robot to continue the inbound transport task in response to detecting that the target passing box has been acquired at the abnormal change port by the target idle transport robot.

[0020] The control device 101 may be a terminal device or a server for controlling the transport robot.

[0021] In addition, when the control device 101 is a server, the server may be hardware or software. When the server is hardware, it may be implemented as a distributed server cluster composed of multiple servers or as a single server. When the server is software, it may be realized as multiple software or software modules (for example, those for providing a failure processing service for the transport robot), or as a single software or software module. It is not particularly limited here.

[0022] When the control device 101 is a terminal device, the terminal device may be installed individually or installed in a device for controlling the transport robot.

[0023] In order to send and receive information, the transport robots 102, 103 can communicate with the control device 101 via the network 105. The transport robots 102, 103 may be electromechanical devices having computing power and execution power, or may be a combination of a terminal device having control power and a mechanical mechanism. For example, the transport robot includes, but is not limited to, a small automatic guided vehicle AGV, etc.

[0024] Note that the method for processing failures of the transport robot provided by the embodiments of the present disclosure is generally executed by the control device 101.

[0025] It should be understood that the numbers of the control device, network, transport robot, and transport line device in FIG. 1 are merely exemplary. Depending on the needs of implementation, the numbers of the control device, network, and transport robot may be arbitrary.

[0026] Figure 2 shows a schematic flowchart 200 to which the fault handling method of the transport robot according to the present disclosure is applicable. In this embodiment, the fault handling method of the transport robot includes the following steps.

[0027] In step 201, in response to detecting the fault warning information transmitted from the transport robot and determining that the target passing box currently loaded on the transport robot satisfies the first preset condition, prompt information is output.

[0028] In this embodiment, the execution entity (for example, the control device 101 shown in FIG. 1) may detect the fault warning information transmitted from the transport robot in real time or periodically. Here, the fault warning information is information for indicating that the transport robot has failed.

[0029] Here, a container for loading the passing box is attached to the transport robot.

[0030] In response to detecting the fault warning information transmitted from the transport robot and determining that the target passing box currently loaded on the transport robot satisfies the first preset condition, the execution entity outputs prompt information.

[0031] Here, the first preset condition includes that the state of the corresponding transport task of the passing box is in the process of the inbound transport task and the state of the transport task is the completion of the inbound transport task.

[0032] Here, the prompt information is information for prompting to carry the target passing box into the transport line device. After receiving the prompt information, the operator may carry the target passing box into the transport line device. The transport line device transports the passing box whose transport task state is the completion of the inbound transport task to the abnormal change port.

[0033] Here, the inbound transportation task is a task for transporting the passing box from the box export of the transportation line device to the corresponding storage position of the passing box via the transport robot, and the inbound transport task is a task for transporting the passing box from the picking station to the box export via the transport line device.

[0034] Note that the number of target passing boxes may be one or a plurality, and the present disclosure does not limit the number thereof.

[0035] In step 202, the target idle transport robot is dispatched to the abnormal change port of the transport line device.

[0036] In the present embodiment, the execution entity may use any one of the idle transport robots as the target idle transport robot, or identify the nearest transport robot from the idle transport robots via an Advanced Planning and Scheduling Module, determine the nearest transport robot as the target idle transport robot, and send a dispatch command for instructing the target idle transport robot to move from the current location to the abnormal change port to the target idle transport robot.

[0037] Here, the Advanced Planning and Scheduling Module calculates the optimal selection or combination among various tasks and generates the corresponding tasks.

[0038] In step 203, in response to detecting that the target idle transport robot has acquired the target passing box at the abnormal change port, control is performed to cause the target idle transport robot to continue the inbound transport task.

[0039] In this embodiment, the execution entity may detect in real time or periodically whether the target idle transport robot has acquired the target passing box at the abnormal change port, and in response to detecting that the target idle transport robot has acquired the target passing box at the abnormal change port, control the target idle transport robot to continue the warehousing transport task.

[0040] Specifically, after the target passing box waiting for warehousing is picked at the workstation, it is carried into the transport line device, and the transport line device executes the warehousing transport task of transporting the target passing box from the picking station to the box export. Further, the execution entity selects the nearest idle transport robot from the idle transport robots through an advanced production planning scheduling module, selects the recommended warehousing storage location, and generates the warehousing transport task of the idle transport robot. After the idle transport robot acquires the target passing box at the box export, it executes the warehousing transport task of transporting the target passing box from the box export to the corresponding storage location. When the transport robot issues a fault warning information during transportation, when the execution entity detects the fault warning information issued by the transport robot (that is, determines that the transport robot has failed), and determines that the target passing box meets the first preset condition (that is, the state of the corresponding transport task of the passing box is in the process of the warehousing transport task, and the state of the transport task is the completion of the warehousing transport task), it outputs prompt information to prompt the operator to carry the target passing box into the transport line device and dispatch the target idle transport robot to the abnormal change port of the transport line. Further, the execution entity may set the state of the corresponding warehousing transport task of the target passing box to waiting for warehousing transport task processing. In response to detecting that the target idle transport robot has acquired the target passing box at the abnormal change port, the execution entity controls the target idle transport robot to continue the warehousing transport task of the target passing box (that is, continue the warehousing task in the waiting state until warehousing is completed).

[0041] In some optional forms, this method further includes the step of detecting the failure warning information transmitted from the transport robot and outputting prompt information in response to determining that the target passing box currently carried by the transport robot meets the second preset condition.

[0042] In this embodiment, the execution entity detects the failure warning information transmitted from the transport robot in real time or periodically, and outputs prompt information in response to detecting the failure warning information transmitted from the transport robot and determining that the target passing box currently carried by the transport robot meets the second preset condition.

[0043] Here, the second preset condition includes that the state of the corresponding transport task of the passing box is in the process of the outbound transport task, and the state of the transport task is in the state where the outbound transport task is incomplete.

[0044] Here, the prompt information prompts to carry the target passing box into the transport line device. After receiving the prompt information, the operator may carry the target passing box into the transport line device, and the transport line device transports the passing box whose transport task state is the state where the outbound transport task is incomplete to the picking station for item sorting.

[0045] Here, the outbound transport task is a task of transporting the passing box from the storage position to the box loading entrance of the transport line device through the transport robot, and the outbound transport task is a task of transporting the passing box from the box loading entrance to the picking station through the transport line device.

[0046] Furthermore, the execution entity may modify the state of the corresponding transport task of the target passing box from in the process of the transport task to the completion of the transport task.

[0047] In this embodiment, by detecting the failure warning information sent from the transport robot and outputting prompt information in response to determining that the target passing box currently loaded on the transport robot satisfies the second preset condition, it is possible to avoid interruption of the outbound task due to the failure of the transport robot, and improve the processing efficiency of the entire task.

[0048] In some optional forms, this method further includes the step of outputting failure prompt information in response to detecting the failure warning information sent from the transport robot.

[0049] In this embodiment, the execution entity may receive the failure warning information sent from the transport robot, and after determining that the transport robot has failed, output the failure prompt information. Here, the failure prompt information is for prompting to switch the transport robot to the manual mode and move the transport robot to a preset empty area for troubleshooting and maintenance.

[0050] In this embodiment, by detecting the failure warning information sent from the transport robot and outputting the failure prompt information, it contributes to reducing the impact of the failed transport robot on the transport robot during task execution, and also contributes to the maintenance of the failed transport robot.

[0051] In some optional forms, the target idle transport robot is the transport robot closest to the transport line device among the idle transport robots.

[0052] In this embodiment, the execution entity identifies the transport robot closest to the transport line device from among the idle transport robots through an advanced production planning scheduling module, determines the closest transport robot as the target idle transport robot, and sends a dispatch command to the target idle transport robot.

[0053] In this embodiment, the transport robot closest to the transport line device is determined as the target idle transport robot, and the target idle transport robot is dispatched to the abnormal change port of the transport line device to complete the warehousing task, thereby further improving the efficiency of task processing.

[0054] Subsequently, refer to FIG. 3, which is a schematic diagram showing an application scenario of the fault handling method for the transport robot according to this embodiment.

[0055] In the application scenario of FIG. 3, the execution entity 301 detects the fault warning information sent from the transport robot 302 and determines that the transport robot has failed. Then, in response to determining that the target passing box currently loaded on the transport robot satisfies the first preset condition, prompt information is output. The first preset condition includes that the state of the transport task corresponding to the passing box is in the process of warehousing transport task, and the state of the transport task is the completion of the warehousing transport task. The prompt information is used to prompt to carry the target passing box into the transport line device 303. The transport line device 303 is used to transport the passing box whose transport task state is the completion of the warehousing transport task to the abnormal change port 304. The execution entity 301 further dispatches the target idle transport robot 305 to the abnormal change port 304 of the transport line device through an advanced production planning scheduling module, and controls the target idle transport robot to continue the warehousing transport task in response to detecting that the target idle transport robot has obtained the target passing box at the abnormal change port.

[0056] The fault handling method of the transport robot of the present disclosure detects the fault warning information transmitted from the transport robot, and outputs prompt information in response to determining that the target passing box currently loaded on the transport robot satisfies the first preset condition. When it is detected that the target idle transport robot has obtained the target passing box at the abnormal change port, the target idle transport robot is controlled to continue the warehousing transport task, so that task interruption due to the fault of the transport robot can be avoided, and the processing efficiency of the entire task is improved.

[0057] Furthermore, refer to FIG. 4 showing the flow 400 of one embodiment of the transport method. The flow 400 of the transport method of this embodiment may include the following steps.

[0058] In step 401, the box number of the passing box on the transport line is scanned by the scanning device.

[0059] In this embodiment, the execution entity (for example, the transport line device shown in FIG. 1) may scan the box number of the passing box on the transport line by the scanning device.

[0060] Here, the scanning device may use a device that scans graphic or image information and converts it into a digital signal, such as a scanner gun, a BCR (barcode reader), etc. in the prior art or future technologies, and the present disclosure does not limit this.

[0061] In step 402, in response to determining that the state of the transport task corresponding to the box number is the completion of the warehousing transport task, the passing box corresponding to the box number is transported to the abnormal change port.

[0062] In this embodiment, the execution entity may determine the state of the transport task corresponding to the box number, and when the state of the transport task corresponding to the box number is the completion of the warehousing transport task, transport the passing box corresponding to the box number to the abnormal change port.

[0063] In some optional forms, in response to determining that the status of the transportation task corresponding to the box number is an inbound transportation task in progress, this method further includes the step of transporting the through-box corresponding to the box number to the box export port.

[0064] In this embodiment, the executing entity determines the status of the transportation task corresponding to the box number, and when the status of the transportation task corresponding to the box number is an inbound transportation task in progress, transports the through-box corresponding to the box number to the box export port.

[0065] In this embodiment, in response to determining that the status of the transportation task corresponding to the box number is an inbound transportation task in progress, by transporting the through-box corresponding to the box number to the box export port, the inbound transportation of the through-box can be realized.

[0066] In some optional forms, in response to determining that the status of the transportation task corresponding to the box number is an outbound transportation task in progress and the status of the transportation task is the completion of the outbound transportation task, this method further includes the step of transporting the through-box corresponding to the box number to the picking station.

[0067] In this embodiment, the executing entity determines the status of the transportation task and the transportation task corresponding to the box number. When the status of the transportation task corresponding to the box number is an outbound transportation task in progress and the status of the transportation task is the completion of the outbound transportation task, the through-box corresponding to the box number may be transported to the picking station.

[0068] In this embodiment, in response to determining that the status of the transportation task corresponding to the box number of the through-box is an outbound transportation task in progress and the status of the transportation task is the completion of the outbound transportation task, by transporting the through-box corresponding to the box number to the picking station, the outbound transportation of the through-box can be realized.

[0069] The flow 400 of the transportation method according to this embodiment indicates that the box number of the passing box on the transportation line is scanned by a scanning device, and in response to determining that the status of the transportation task corresponding to the box number is the completion of the inbound transportation task, the passing box corresponding to the box number is transported to the abnormal change port, and the inbound transportation of the passing box placed on the failed transport robot can be realized.

[0070] Referring further to FIG. 5, the present disclosure provides an embodiment of a failure handling system for a transport robot.

[0071] In this embodiment, the system includes a control device 501, a transport robot 502, and a transport line device 503.

[0072] Here, the control device 501 executes the failure handling method described in Embodiment 2 above. The transport line device 503 executes the transport method described in Embodiment 4 above. The transport robot 502 receives a dispatch command transmitted from the control device, moves from the current position to the abnormal change port according to the dispatch command to load the passing box, and transmits failure warning information to the console when a failure occurs.

[0073] In one specific example, as shown in FIG. 6, when the transport robot malfunctions during transportation, it emits failure warning information. The control device may output failure prompt information for prompting to switch the transport robot to the manual mode in response to detecting the failure warning information sent from the transport robot (i.e., determining that the transport robot has malfunctioned). Further, the control device determines whether the target passing box placed on the transport robot meets the first preset condition (i.e., determines whether the state of the corresponding transport task of the passing box is in the process of the inbound transport task and whether the state of the transport task is the completion of the inbound transport task), and when the first preset condition is met, outputs prompt information for instructing the operator to carry the target passing box into the transport line device (manual carrying in), determines the target idle transport robot from the idle transport robots via the advanced production planning scheduling module, and sends a dispatch command for controlling the target idle transport robot to move from the current position to the abnormal time change port of the transport line device to the target idle transport robot. Further, the control device may set the state of the transport task corresponding to the target passing box to waiting for inbound transport task processing.

[0074] Note that the transport line device may use a scanning device such as a BCR scanning device to scan the box number of the passing box on the transport line, determine whether the state of the transport task corresponding to the box number is the completion of the inbound transport task, and transport the passing box corresponding to the box number (target passing box) to the abnormal time change port when the state of the transport task corresponding to the box number is the completion of the inbound transport task.

[0075] In response to detecting that the target idle transport robot has acquired the target passing box at the abnormal time change port, the control device controls the target idle transport robot to continue the inbound transport task of the target passing box (i.e., continue the inbound transport task in the waiting state until inbound completion).

[0076] It should be understood that the numbers of the control device 501, the transport robot 502, and the transport line device 503 in FIG. 5 are merely exemplary. Depending on the requirements of implementation, the numbers of the transport robot and the transport line device may be arbitrary.

[0077] According to an embodiment of the present disclosure, the present disclosure further provides an electronic device and a readable storage medium.

[0078] FIG. 7 is a block diagram of an electronic device of a method for processing a failure of a transport robot according to an embodiment of the present disclosure.

[0079] FIG. 7 is a block diagram of an electronic device of a method for processing a failure of a transport robot according to an embodiment of the present disclosure. The electronic device represents various forms of digital computers such as a laptop computer, a desktop computer, a workstation, a personal digital assistant, a server, a blade server, a mainframe computer, and other suitable computers. Also, the electronic device can represent various forms of mobile devices such as a personal digital processor, a mobile phone, a smartphone, a wearable device, and other similar computing devices. Note that the components, their connection relationships, and their functions shown here are merely examples and are not intended to limit the embodiments of the present disclosure described and / or claimed here.

[0080] As shown in FIG. 7, the electronic device includes one or more processors 701, a memory 702, and an interface (including a high-speed interface and a low-speed interface) for connecting each component. Each component is connected by a different bus and may be implemented on a common motherboard or in other ways as needed. The processor can process instructions executed within the electronic device, and the instructions include instructions stored in or on the memory for displaying graphic information of the GUI on an external input / output device (such as a display device coupled to the interface). In other embodiments, multiple processors and / or multiple buses and multiple memories can be used together with multiple memories as needed. Also, multiple electronic devices may be connected, and each device provides some necessary operations, such as a server array, a blade server group, or a multiprocessor system. In FIG. 7, one processor 701 is taken as an example.

[0081] The memory 702 is a non-transitory computer-readable storage medium provided by the present disclosure. Here, at least one executable instruction for the processor is stored in the memory, whereby the at least one processor is caused to execute the method for handling faults of the transport robot according to the present disclosure. The non-transitory computer-readable storage medium of the present disclosure stores computer instructions, and the computer instructions cause the computer to execute the method for handling faults of the transport robot according to the present disclosure.

[0082] The memory 702 can be used as a non-transitory computer-readable storage medium to store non-transitory software programs, non-transitory computer-executable programs, and modules. For example, program instructions / modules corresponding to the method for handling faults of the transport robot in the embodiments of the present disclosure can be mentioned. The processor 701 executes the non-transitory software programs, instructions, and modules stored in the memory 702 to execute various functional applications and data processing of the server, that is, to implement the method for handling faults of the transport robot in the embodiments of the above method.

[0083] The memory 702 may include a program storage area capable of storing an operating system and applications necessary for at least one function, and a data storage area capable of storing data created according to the use of electronic devices for handling failures of the transport robot. Further, the memory 702 may include a high-speed random access memory, and may also include a non-transitory memory (for example, at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device). In some embodiments, the memory 702 includes, as an option, a memory installed remotely from the processor 701, and these remotely installed memories may be connected to the electronic devices for handling failures of the transport robot via a network. Examples of the above network include, but are not limited to, the Internet, a corporate intranet, a local area network, a mobile communication network, and combinations thereof.

[0084] The electronic device that executes the method for handling failures of the transport robot may further include an input device 703 and an output device 704. The processor 701, the memory 702, the input device 703, and the output device 704 may be connected by a bus or other means, and FIG. 7 shows an example of being connected by a bus.

[0085] The input device 703, such as a touch panel, keypad, mouse, trackpad, touchpad, pointing device, one or more mouse buttons, trackball, joystick, etc., can receive the input numerical or character information. The output device 704 may include a display device, an auxiliary lighting device (for example, an LED), and a tactile feedback device (for example, a vibration motor). The display device may include, but is not limited to, a liquid crystal display (LCD), a light emitting diode (LED) display, and a plasma display. In some embodiments, the display device may be a touch panel.

[0086] The various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, application specific integrated circuits (ASICs), computer hardware, firmware, software, and / or combinations thereof. Each of these embodiments can be implemented in one or more computer programs, which can be executed and / or interpreted in a programmable system including at least one programmable processor, which can be a dedicated or general-purpose programmable processor, and can receive data and instructions from a memory system, at least one input device, and at least one output device, and can include transmitting the data and instructions to the memory system, the at least one input device, and the at least one output device.

[0087] These computer programs, also referred to as programs, software, software applications, or code, include machine instructions for a programmable processor, and can be implemented using high-level procedural and / or object-oriented programming languages, and / or assembly / machine languages. Here, the terms “machine-readable medium” and “computer-readable medium” mean any computer program product, apparatus, and / or device (e.g., magnetic disks, optical disks, memory, programmable logic devices (PLDs)) for providing machine instructions and / or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term “machine-readable signal” means any signal for providing machine instructions and / or data to a programmable processor.

[0088] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer that includes a display device (e.g., a cathode ray tube (CRT) or LCD (liquid crystal display) monitor) for displaying information to the user, and a keyboard and a pointing device (e.g., a mouse or trackball), and the user can provide input to the computer via the keyboard and the pointing device. Other types of devices can also be used to interact with the user. For example, the feedback provided to the user can be any form of sensing feedback such as, for example, visual feedback, auditory feedback, or tactile feedback, and the input received from the user can be in any form including voice input, speech input, or tactile input.

[0089] The systems and techniques described herein may be implemented in a computing system (e.g., a data server) that includes backend components, or in a computing system (e.g., an application server) that includes middleware components, or in a computing system (e.g., a user computer having a graphical user interface or a web browser) that includes frontend components, and the user may interact with embodiments of the systems and techniques described herein via the graphical user interface or the web browser, or it may be implemented in a computing system that includes any combination of such backend components, middleware components, or frontend components. Also, the components of the system may be connected by digital data communication via any form or medium such as a communication network. Examples of communication networks include local area networks (LANs), wide area networks (WANs), and the Internet.

[0090] A computer system may include a client and a server. The client and the server are usually separated from each other and communicate via a communication network. The relationship between the client and the server is generated by operating computer programs having a client-server relationship with each other on their respective computers.

[0091] According to the technical solution of the embodiment of the present disclosure, it is possible to effectively avoid a task terminal due to a failure of a transport robot, and improve the processing efficiency of the entire task.

[0092] It should be understood that the order of steps can be rearranged, added or deleted using the various forms of the flow described above. For example, each step described in the present disclosure may be executed in parallel, in sequence, or in a different order, and the present specification is not limited herein as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved.

[0093] The above specific embodiments do not limit the protection scope of the present disclosure. Those skilled in the art should understand that various modifications, combinations, recombinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made without departing from the spirit and principle of the present disclosure should all be included within the protection scope of the present disclosure.

Claims

1. A step of outputting prompt information for prompting to carry the target passing box into the transport line device in response to detecting the failure warning information transmitted from the transport robot and determining that the target passing box currently loaded on the transport robot satisfies the first preset condition, wherein the first preset condition includes that the state of the corresponding transport task of the passing box is in the process of the incoming transport task and the state of the transport task is the completion of the incoming transport task, and the transport line device is configured to transport the passing box whose transport task state is the completion of the incoming transport to the abnormal change port; A step of dispatching the target idle transport robot to the abnormal change port of the transport line device; A step of controlling the target idle transport robot to continue the incoming transport task in response to detecting that the target idle transport robot has acquired the target passing box at the abnormal change port; A method for processing a failure of a transport robot, including the above steps.

2. A step of outputting prompt information in response to detecting the failure warning information transmitted from the transport robot and determining that the target passing box currently loaded on the transport robot satisfies the second preset condition, wherein the second preset condition includes that the state of the corresponding transport task of the passing box is in the process of the outgoing transport task and the state of the transport task is in the state of incomplete outgoing transport task; A step of further modifying the state of the transport task corresponding to the target passing box from in the process of the transport task to the completion of the transport task. The method for processing a failure of a transport robot according to Claim 1.

3. The method for processing a failure of a transport robot according to Claim 1, further including a step of outputting failure prompt information in response to detecting the failure warning information transmitted from the transport robot, wherein the failure prompt information is for prompting to switch the transport robot to the manual mode and move to a preset empty area for failure maintenance.

4. The method for processing a failure of a transport robot according to any one of Claims 1 to 3, wherein the target idle transport robot is the transport robot closest to the transport line device among the idle transport robots.

5. A step of scanning the box number of the passing box on the transport line by a scanning device; In response to determining that the status of the transportation task corresponding to the box number is the completion of the inbound transportation task, a step of transporting the reusable box corresponding to the box number to the abnormal change port; A transportation method including the above.

6. The transportation method according to claim 5, further including a step of transporting the reusable box corresponding to the box number to the box transfer exit in response to determining that the status of the transportation task corresponding to the box number is in progress of the inbound transportation task.

7. The transportation method according to claim 5, further including a step of transporting the reusable box corresponding to the box number to the picking station in response to determining that the status of the transportation task corresponding to the box number is in progress of the outbound transportation task and the status of the transportation task is the completion of the outbound transportation task.

8. A control device configured to execute the failure handling method of the transport robot according to any one of claims 1 to 4; A transport line device configured to execute the transport method according to any one of claims 5 to 7; A transport robot configured to receive a dispatch command transmitted from the control device, move from the current position to the abnormal change port according to the dispatch command to place the target reusable box, and transmit failure warning information to the control device when a failure occurs; A failure handling system for a transport robot comprising the above.

9. An electronic device comprising at least one processor and a memory communicably connected to the at least one processor, wherein the memory stores computer instructions executable by the at least one processor, and the at least one processor can execute the failure handling method of the transport robot according to any one of claims 1 to 4 or the transport method according to any one of claims 5 to 7 by the computer instructions. An electronic device characterized by this.

10. A non-transitory computer-readable storage medium storing computer instructions for causing the computer to execute the failure handling method of the transport robot according to any one of claims 1 to 4 or the transport method according to any one of claims 5 to 7.

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