Security control method, secure transmission system, and mobile device

Abstract

The present invention relates to the technical field of warehouse logistics. Disclosed are a security control method, a secure transmission system, and a mobile device. The method is applied to a secure transmission system. The secure transmission system comprises a security control system and a mobile device. The method comprises: when a network between the mobile device and the security control system is disconnected, a security control mechanism in the mobile device controls an execution mechanism in the mobile device to stop operation; and when the network between the mobile device and the security control system is restored, if it is determined that an operation resumption condition is satisfied, the security control mechanism controls the execution mechanism to resume operation, wherein satisfying the operation resumption condition comprises: a security control unit obtaining a reset signal and / or the duration from when the network is disconnected to when the network is restored is smaller than a first preset duration.

Description

Security control method, security transmission system and mobile device

[0001] This application claims priority to Chinese patent application No. 202310745015.X filed on June 25, 2023, and priority to Chinese patent application No. 202310752524.5 filed on June 25, 2023, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present disclosure relates to the technical field of warehousing and logistics, and in particular to a safety control method, a safety transmission system and a mobile device. Background Art

[0003] With the development of mobile device technology, more and more mobile devices are being used in industrial services such as freight, warehousing, logistics, and catering, greatly facilitating human production and life.

[0004] In mobile device operation scenarios, a control platform typically transmits control signals to the mobile device, causing the mobile device to execute corresponding operations according to the control signals, thereby achieving control of the mobile device. However, if the control signals pose security risks during transmission between the control platform and the mobile device, such as if the control signals are tampered with, the control platform will be unable to effectively manage the mobile device through the control signals, potentially causing the mobile device to lose control. Therefore, a secure control system is needed to ensure that control signals are securely transmitted to the mobile device.

[0005] Summary of the Invention

[0006] Embodiments of the present disclosure provide a security control method, a security transmission system, and a mobile device.

[0007] According to a first aspect of an embodiment of the present disclosure, a security control method is provided for use in a secure transmission system comprising a mobile device and a security control system. The method comprises: first, when the network between the mobile device and the security control system is disconnected, a security control mechanism in the mobile device controls an actuator in the mobile device to stop operating; second, when the network between the mobile device and the security control system is restored, if a resumption condition is determined to be met, the security control mechanism controls the actuator to resume operating; wherein the resumption condition is met, including the security control mechanism receiving a reset signal and / or the duration from network disconnection to network restoration being less than a first preset duration.

[0008] According to a second aspect of an embodiment of the present disclosure, a secure transmission system is provided, comprising a security control system and a mobile device; wherein the mobile device comprises a security control mechanism and an execution mechanism, and the security control mechanism is configured to: when the network between the mobile device and the security control system is disconnected, control the execution mechanism to stop running; when the network between the mobile device and the security control system is restored, if it is determined that a resumption condition is met, control the execution mechanism to resume running; wherein, meeting the resumption condition includes the security control mechanism obtaining a reset signal and / or the time length from network disconnection to network restoration being less than a first preset time length.

[0009] According to a third aspect of an embodiment of the present disclosure, a mobile device is provided, comprising a security control mechanism and an execution mechanism; wherein, when the network between the mobile device and the security control system is disconnected, the execution mechanism is controlled to stop operating; when the network between the mobile device and the security control system is restored, if it is determined that a condition for resuming operation is met, the execution mechanism is controlled to resume operating; wherein, satisfying the condition for resuming operation includes the security control mechanism obtaining a reset signal and / or the time duration from network disconnection to network restoration being less than a first preset time duration.

[0010] According to a fourth aspect of an embodiment of the present disclosure, a computing device is provided, comprising a memory, a processor, and computer instructions stored in the memory and executable on the processor, wherein the processor implements the steps of the security control method described in the first aspect when executing the computer instructions.

[0011] According to a fifth aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, which stores computer instructions. When the computer instructions are executed by a processor, the steps of the security control method described in the first aspect are implemented.

[0012] According to the sixth aspect of an embodiment of the present disclosure, a computer program product is provided, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer executes the steps of the security control method described in the first aspect.

[0013] According to a seventh aspect of an embodiment of the present disclosure, a computer program is provided. When the computer program is executed by a processor, the steps of the security control method described in the first aspect can be implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] FIG1 is a schematic diagram of an interaction scenario between a control platform and a mobile device provided by an embodiment of the present disclosure;

[0015] FIG2 is a schematic diagram of another interaction scenario between a control platform and a mobile device provided by an embodiment of the present disclosure;

[0016] FIG3 is a schematic diagram of a security control method provided by an embodiment of the present disclosure;

[0017] FIG4 is a schematic diagram of a secure transmission system provided by an embodiment of the present disclosure;

[0018] FIG5 is a schematic diagram of an interaction scenario between a security control system and a mobile device provided by an embodiment of the present disclosure;

[0019] FIG6 is a schematic diagram of another security control method provided by an embodiment of the present disclosure;

[0020] FIG7 is a signal timing diagram provided by an embodiment of the present disclosure;

[0021] FIG8 is another signal timing diagram provided by an embodiment of the present disclosure;

[0022] FIG9 is a schematic diagram of another security control method provided by an embodiment of the present disclosure;

[0023] FIG10 is another signal timing diagram provided by an embodiment of the present disclosure;

[0024] FIG11 is a schematic diagram of a mobile device provided by an embodiment of the present disclosure;

[0025] FIG12 is a schematic diagram of another secure transmission system provided by an embodiment of the present disclosure;

[0026] FIG13 is a schematic diagram of another interaction scenario between a control platform and a mobile device provided by an embodiment of the present disclosure;

[0027] FIG14 is a schematic diagram of another secure transmission system provided by an embodiment of the present disclosure;

[0028] FIG15 is a schematic diagram of another secure transmission system provided by an embodiment of the present disclosure;

[0029] FIG16 is a schematic diagram of another secure transmission system provided by an embodiment of the present disclosure;

[0030] FIG17 is a schematic diagram of another secure transmission system provided by an embodiment of the present disclosure;

[0031] FIG18 is a schematic diagram of another secure transmission system provided by an embodiment of the present disclosure;

[0032] FIG19 is a schematic diagram of another secure transmission system provided by an embodiment of the present disclosure;

[0033] FIG20 is a schematic diagram of another secure transmission system provided by an embodiment of the present disclosure;

[0034] FIG21 is a schematic diagram of another secure transmission system provided by an embodiment of the present disclosure;

[0035] FIG22 is a schematic diagram of another secure transmission system provided by an embodiment of the present disclosure;

[0036] FIG23 is a schematic diagram of another security control method provided by an embodiment of the present disclosure;

[0037] FIG24 is a schematic diagram of another secure transmission system provided by an embodiment of the present disclosure;

[0038] FIG25 is a schematic diagram of another secure transmission system provided by an embodiment of the present disclosure;

[0039] FIG26 is a schematic diagram of a security control scenario provided by an embodiment of the present disclosure;

[0040] FIG27 is a schematic diagram of interaction between security control units provided by an embodiment of the present disclosure;

[0041] FIG28 is a schematic diagram of another security control scenario provided by an embodiment of the present disclosure;

[0042] FIG29 is a schematic diagram of another security control method provided by an embodiment of the present disclosure;

[0043] FIG30 is a schematic diagram of an electronic device provided in some embodiments of the present disclosure. DETAILED DESCRIPTION

[0044] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present invention and to make the above-mentioned purposes, features and advantages of the embodiments of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention are further described in detail below with reference to the accompanying drawings.

[0045] Figure 1 is a schematic diagram of an interaction scenario between a control platform and a mobile device provided in some embodiments of the present disclosure. As shown in Figure 1, the control platform 10 can send control instructions to the mobile device 20 via at least two communication links (e.g., a first communication link 101 and a second communication link 102) to control the operation of the mobile device 20.

[0046] In some examples, the mobile device 20 may be an automated guided vehicle (AGV), a robot, or other equipment, which is not limited in the embodiments of the present disclosure. The embodiments of the present disclosure may be schematically illustrated using an AGV as an example.

[0047] In some examples, the control platform 10 refers to a platform that can control mobile devices 20. For example, in a warehouse management scenario, the warehouse may include multiple AGVs and a control platform 10 for managing and controlling these AGVs. By controlling the mobile devices 20, the control platform 10 can implement various functions, such as scheduling, operating, emergency stopping, and resuming operation of the mobile devices.

[0048] In some embodiments, upon determining that an emergency stop event has been triggered, the control platform 10 may generate an emergency stop signal and transmit the emergency stop signal to the mobile device 20 via the first communication link 101. The emergency stop signal is a command that complies with a preset safety communication protocol, and the first communication link 101 is a link that complies with the preset safety communication protocol. The mobile device 20 may receive the emergency stop signal via the first communication link 101, parse the emergency stop signal using the preset safety communication protocol, and execute a shutdown operation based on the parsed result.

[0049] Since the first communication link 101 for transmitting the emergency stop signal between the control platform 10 and the mobile device 20 complies with the preset safety communication protocol, and the emergency stop signal also complies with the preset safety communication protocol, the emergency stop signal that complies with the preset safety communication protocol can be protected when transmitted through the first communication link 101, thereby achieving safe transmission between the control platform 10 and the mobile device 20.

[0050] In some examples, the control platform 10 may further include system software for generating a dispatch instruction, which may be sent to the mobile device 20 via the second communication link 102. The second communication link 102 may not conform to a preset safety communication protocol.

[0051] 1 , the control platform 10 may include a first safety control mechanism 11, a safety trigger mechanism 12, and a transmitter, such as a wireless transmitter 13. The first safety control mechanism 11 is coupled to the safety trigger mechanism 12 and the wireless transmitter 13, respectively.

[0052] In some examples, as shown in Figure 2, the first safety control mechanism 11 may include a first safety input and output port, a first safety processor, and a safety network module.

[0053] In some examples, the safety trigger mechanism 12 may include at least one of an emergency stop button, a light barrier, and a safety door, wherein at least one of the emergency stop button, the light barrier, and the safety door is coupled to the first safety input and output port.

[0054] For example, when the safety trigger mechanism 12 detects a trigger operation, it may generate a safety trigger signal. When the first safety control mechanism 11 receives the safety trigger signal, it may determine that an emergency stop event is triggered based on the safety trigger signal and generate an emergency stop signal.

[0055] For example, when an emergency stop button is pressed, a light barrier is blocked, or a safety door is opened, a corresponding safety trigger signal may be generated. When the first safety control mechanism 11 receives the safety trigger signal, it may generate an emergency stop signal that complies with a preset safety communication protocol.

[0056] For example, the wireless transmitter 13 may send an emergency stop signal and / or a dispatch instruction to the mobile device 20 , so that the mobile device 20 stops or moves according to the emergency stop signal or the dispatch instruction.

[0057] In some examples, as shown in FIG2 , the wireless transmitter 13 includes a switch, a wireless controller, and a wireless access point. The switch can be coupled to the safety network module to receive the emergency stop signal generated by the first safety control mechanism 11, process the signal through the wireless controller, and then transmit the processed emergency stop signal to the mobile device 20 via the wireless access point.

[0058] In some embodiments, as shown in Figure 2, the mobile device 20 includes a second security control mechanism 21, an execution mechanism 22, and a wireless receiver 23. The second security control mechanism 21 is coupled to the execution mechanism 22 and the wireless receiver 23 respectively.

[0059] In some examples, the wireless receiver 23 includes a wireless receiving module, a wireless receiving processor, and a forwarding module. The wireless receiving module can be coupled to a wireless access point to receive wireless signals sent by the control platform 10 and forward them to the wireless receiving processor. For example, the wireless receiving module can forward the received wireless signal via a high-speed serial computer expansion bus standard (Peripheral Component Interconnect Express, PCIE) bus. The wireless receiving processor transparently transmits the received wireless signal to the forwarding module, which processes it. The forwarding module converts the received wireless signal and outputs it after converting it into an Ethernet port format.

[0060] For example, the second safety control mechanism 21 analyzes the received emergency stop signal using a preset safety communication protocol to obtain an analysis result, and sends the analysis result to the execution mechanism 22. The execution mechanism 22 executes a stop operation (eg, shutdown) based on the analysis result.

[0061] In some examples, as shown in Figure 2, the second safety control mechanism 21 includes a network communication stack, a safety protocol stack, a second safety controller, and a second safety input / output port. The network communication stack is configured to receive control instructions and filter and identify received control instructions. When the control instruction is identified as a safety instruction received from the first communication link 101, it is determined to be an emergency stop signal and forwarded to the safety protocol stack. The safety protocol stack parses the emergency stop signal, which complies with the preset safety communication protocol, using a preset safety communication protocol to obtain a parsed result. The parsed result is then safely output to the actuator 22 via the second safety input / output port in the form of input and output quantities.

[0062] In some examples, as shown in FIG2 , the first safety control mechanism 11 may be referred to as a master station, and the second safety control mechanism 21 may be referred to as a slave station.

[0063] In some examples, the transmission process between the control platform 10 and the mobile device 20 is based on the fact that the network (e.g., wireless network) between the control platform 10 and the mobile device 20 is in a normal connection. For example, as shown in FIG2 , if all components in the wireless transmitter 13 and the wireless receiver 23 are in normal operation, it can be considered that the network between the control platform 10 and the mobile device 20 is normal, and the transmission process between the control platform 10 and the mobile device 20 can be completed.

[0064] However, if either the wireless transmitter 13 or the wireless receiver 23 fails, the network between the control platform 10 and the mobile device 20 may be disconnected (or fail). When the network is disconnected, the mobile device 20 cannot normally receive the relevant control instructions sent by the control platform 10, and the mobile device 20 stops operating. In the related art, when the network between the control platform 10 and the mobile device 20 is restored, the mobile device 20 cannot automatically return to its original operating state, but remains in a stopped state. In other words, the mobile device cannot continue to perform relevant operations after the network is restored.

[0065] In some examples, after the network between the control platform 10 and the mobile device 20 is disconnected and then restored, manual intervention can be used to control the mobile device 20 to resume operation. For example, after the network is restored, the mobile device 20 can be manually powered off and restarted to resume operation. However, manual intervention is cumbersome and requires manual control of the restart timing of the mobile device 20. If the mobile device 20 is not restarted promptly after the network is restored, it will not be able to resume operation immediately after the network is restored, thereby reducing the operating efficiency of the mobile device 20.

[0066] In order to solve the above problems, an embodiment of the present disclosure provides a security control method. This security control method can solve the problem that the mobile device 20 cannot automatically resume operation after the network between the control platform 10 and the mobile device 20 is disconnected and restored, while ensuring the safe transmission of the mobile device 20, thereby improving the working efficiency of the mobile device 20.

[0067] The security control method provided by the embodiment of the present disclosure is described below with reference to the accompanying drawings.

[0068] Figure 3 is a schematic diagram of a security control method provided by some embodiments of the present disclosure. As shown in Figure 3, the security control method includes steps 310 to 320 as shown below.

[0069] Step 310: When the network between the mobile device and the safety control system is disconnected, the safety control mechanism in the mobile device controls the execution mechanism in the mobile device to stop running.

[0070] FIG4 is a schematic diagram of a secure transmission system according to some embodiments of the present disclosure. In some embodiments, as shown in FIG4 , the secure transmission system 1 includes a mobile device 20 and a security control system 100. The mobile device 20 includes a security control mechanism 41 and an actuator 22 coupled to the security control mechanism 41.

[0071] It should be noted that the safety control mechanism 41 may be the second safety control mechanism 21 in the above embodiment (such as FIG. 1 and FIG. 2 ).

[0072] In some examples, the safety control system 100 can be the control platform 10 in the above-mentioned embodiments (such as Figures 1 and 2). For example, the safety control system 100 can include a first safety control mechanism 11, a safety trigger mechanism 12, and a wireless transmitter 13. In other examples, the safety control system 100 can also include the first safety control mechanism 11 and the wireless transmitter 13 in the control platform 10, and couple them with the safety trigger mechanism 12. The embodiments of the present disclosure are not limited to this. It should be noted that the embodiments of the present disclosure are schematically described by taking the safety control system 100 as the control platform 10 in the above-mentioned embodiments as an example.

[0073] In some embodiments, the safety control mechanism 41 in the mobile device 20 controls the execution mechanism 22 in the mobile device 20 to stop running, including: the safety control mechanism 41 outputs a stop operation instruction to the execution mechanism 22; and the execution mechanism 22 stops running according to the stop operation instruction.

[0074] The stop operation instruction is used to instruct the actuator 22 to stop operating.

[0075] Exemplarily, the safety output of the safety control mechanism 41 corresponding to the stop operation instruction is at the second level. For example, when the network between the safety control system 100 and the mobile device 20 is disconnected, the safety output (signal) of the safety control mechanism 41 (e.g., a slave) changes to the second level, and the actuator 22 stops operating in response to the second level output by the safety control mechanism 41.

[0076] In some examples, the second level can be a low level, or the second level can be a high level, which is not limited in the embodiments of the present disclosure. It should be noted that the embodiments of the present disclosure are illustrated by taking the second level as a low level as an example. That is, when the network between the security control system 100 and the mobile device 20 is disconnected, the safety output of the security control mechanism 41 changes from the original high level to the low level. In response to the safety output of the security control mechanism 41 changing to the low level, the actuator 22 stops operating.

[0077] FIG5 is a schematic diagram of a scenario of interaction between a security control system and a mobile device provided by some embodiments of the present disclosure. In some embodiments, as shown in FIG5 , the actuator 22 includes a control module 221 , a delay module 222 , a drive module 223 , and a motor 224 .

[0078] In some examples, the control module 221 and the delay module 222 are both coupled to the safety control mechanism 41 to receive control instructions sent by the safety control mechanism 41. The control module 221 and the delay module 222 are also coupled to the drive module 223, and the drive module 223 is coupled to the motor 224.

[0079] In some embodiments, the actuator 22 stops operating in response to a stop instruction, including: the control module 221 outputs a deceleration instruction to the drive module 223 in response to the stop instruction output by the safety control mechanism 41; the drive module 223 decelerates the motor 224 in response to the deceleration instruction. The delay module 222 starts timing in response to the stop instruction output by the safety control mechanism 41; when the delay module timing reaches a second preset duration, the delay module 222 outputs a power-off instruction to the drive module 223; the drive module 223 de-energizes and brakes the motor 224 in response to the power-off instruction, and outputs a fault message.

[0080] For example, when the safety output of the safety control mechanism 41 is low and outputs a stop command, the control module 221 responds to the stop command by changing the safety output of the control module 221 to a low level and outputting a speed reduction command. The drive module 223 receives the speed reduction command and drives the motor 224 to reduce the speed until it stops according to the speed reduction command.

[0081] For example, when the safety output of the safety control mechanism 41 is low and a stop command is issued, the delay module 222 begins a delay timer in response to the stop command. When the timer reaches a second preset duration, the safety output of the delay module 222 becomes low and a power-off command is issued. The drive module 223 receives the power-off command, outputs fault information based on the power-off command, and drives the motor 224 to power off and brake.

[0082] In some examples, the second preset duration is a preset duration in the delay module 222, and the second preset duration can be set as needed. For example, the second preset duration is 6 seconds, that is, when the timing of the delay module 222 reaches 6 seconds, the timing ends. At this time, the safety output of the delay module 222 changes to a low level, and a power-off command is output. It should be noted that the second preset duration can also be other durations (such as greater than 6 seconds or less than 6 seconds), and the embodiments of the present disclosure are not limited to this.

[0083] In some examples, the motor 224 can be de-energized and braked when the speed of the motor 224 drops to zero. That is, the second preset duration can be set to be greater than or equal to the time it takes for the motor 224 to start running and then drop to zero speed. For example, the time it takes for the motor 224 to start running and then drop to zero speed can be predetermined, and the second preset duration can be determined based on this time. Alternatively, the second preset duration can be determined in other ways, which are not limited in the present embodiment.

[0084] In some examples, the fault information output by the driver module 223 may be a fault code, which indicates that the driver module 223 is in a fault state and that the driver module 223 can resume normal operation only after the fault code is cleared. For example, the fault code may be a hexadecimal fault code (e.g., 0x4000).

[0085] In some examples, as shown in FIG5 , the drive module 223 may include a left wheel drive and a right wheel drive, and the motor 224 may include a left wheel motor and a right wheel motor, wherein the left wheel drive may be coupled to the left wheel motor, and the right wheel drive may be coupled to the right wheel motor.

[0086] That is, when control module 221 outputs a deceleration command, the left wheel driver can drive the left wheel motor to decelerate in response to the deceleration command, and the right wheel driver can drive the right wheel motor to decelerate in response to the deceleration command. Simultaneously, when delay module 222 outputs a power-off command after the timer reaches a second preset duration, the left wheel driver outputs a first fault message in response to the power-off command, de-energizes the left wheel motor, and applies the brakes. The right wheel driver outputs a second fault message in response to the power-off command, de-energizes the right wheel motor, and applies the brakes. The first and second fault messages can be the same or different.

[0087] In some examples, as shown in FIG5 , the actuator 22 further includes at least one data encoder 225 . The data encoder 225 is used to obtain the current speed of the motor 224 in real time and transmit the obtained speed to the safety control mechanism 41 . The safety control mechanism 41 monitors the speed of the motor 224 to determine whether the motor 224 is running or stopped. For example, the safety control mechanism 41 can determine whether the motor 224 is abnormal based on its speed. If an abnormality is determined, the safety control mechanism 41 can also drive the motor 224 to de-energize and brake the motor 224 through the drive module 223 .

[0088] For example, the actuator 22 may include two data encoders 225. One data encoder 225 is coupled to the left wheel motor to obtain the rotational speed of the left wheel motor; the other data encoder 225 is coupled to the right wheel motor to obtain the rotational speed of the right wheel motor. This is not limited in the present embodiment.

[0089] Step 320: When the network between the mobile device and the safety control system is restored, if it is determined that the resumption operation condition is met, the safety control mechanism controls the execution mechanism to resume operation.

[0090] In some embodiments, the resumption condition includes the security control mechanism 41 receiving a reset signal and / or the time from network disconnection to network restoration being less than a first preset time, wherein the first preset time is less than or equal to a second preset time.

[0091] In some examples, when the network between the mobile device 20 and the security control system 100 is restored, the security control mechanism 41 may determine whether the actuator 22 meets the conditions for resuming operation based on the currently received relevant signals or information. For example, when the security control mechanism 41 determines that a reset signal has been obtained, it may be determined that the actuator 22 meets the conditions for resuming operation and the actuator 22 may be controlled to resume operation. And / or, when the security control mechanism 41 determines that the time between network disconnection and network restoration is less than a first preset time, it may be determined that the actuator 22 meets the conditions for resuming operation and the actuator 22 may be controlled to resume operation.

[0092] For example, the first preset time length can be the upper limit of the time length from network disconnection to network recovery. When the time length from network disconnection to network recovery is less than the first preset time length, the safety control mechanism 41 can control the actuator 22 to resume operation; when the time length from network disconnection to network recovery is greater than or equal to the first preset time length, the safety control mechanism 41 needs to receive a reset signal before it can control the actuator 22 to resume operation.

[0093] For example, the first preset duration can be less than or equal to the second preset duration. That is, when the time from network disconnection to network restoration is less than or equal to the second preset duration in the delay module, the safety control mechanism 41 can control the actuator 22 to resume operation. The first embodiment of the present disclosure does not specifically limit the first preset duration and the second preset duration. The present embodiment of the disclosure uses the example of the first preset duration being equal to the second preset duration for illustrative purposes.

[0094] FIG6 is a schematic diagram of another safety control method provided by an embodiment of the present disclosure. When the preset conditions are met, including the safety control mechanism 41 receiving a reset signal, as shown in FIG6 , after step 310 and before step 320, the method further includes step 610, and step 320 includes steps 620 to 650.

[0095] Step 610: When the network between the mobile device and the security control system is restored, the security control mechanism obtains the security control signal sent by the security control system.

[0096] In some embodiments, the safety control signal includes an emergency stop signal and / or a reset signal. The safety control signal corresponds to a safety event. When the safety control system 100 (such as the control platform 10) confirms that a safety event is triggered, a safety control signal can be sent to the mobile device 20. For example, safety events include emergency stop events and reset events. The triggering of a safety event includes the triggering of an emergency stop event or the triggering of a reset event. Among them, when the emergency stop event is triggered, the safety control system 100 (such as the control platform 10) can send an emergency stop signal to the mobile device 20, and when the reset event is triggered, the safety control system 100 (such as the control platform 10) can send a reset signal to the mobile device 20.

[0097] For example, if the safety control mechanism 41 receives an emergency stop signal sent by the safety control system 100 when the network between the mobile device 20 and the safety control system 100 is restored, it is determined that the emergency stop event is triggered.

[0098] In some examples, an emergency stop event can be triggered by the safety trigger mechanism 12 in the safety control system 100 (e.g., the control platform 10). For example, when the first safety control mechanism 11 detects a triggering operation such as the emergency stop button being pressed, the light barrier being blocked, or the safety door being opened, a corresponding emergency stop signal can be generated. The first safety control mechanism 11 transmits the generated emergency stop signal to the safety control mechanism 41 in the mobile device 20. When the network is restored, the safety control mechanism 41 receives the emergency stop signal and determines that the emergency stop event has been triggered based on the emergency stop signal.

[0099] In other examples, if the first safety control mechanism 11 generates an emergency stop signal before the network is disconnected, the safety control mechanism 41 may receive the emergency stop signal and, based on the emergency stop signal, determine that an emergency stop event has been triggered. Furthermore, if the first safety control mechanism 11 does not receive a reset signal from the first safety control mechanism 11 between the network disconnection and network restoration, the safety control mechanism 41 may determine that an emergency stop event has been triggered upon network restoration.

[0100] For example, if the safety control mechanism 41 does not receive the emergency stop signal sent by the safety control system 100 when the network between the mobile device 20 and the safety control system 100 is restored, it is determined that the emergency stop event is not triggered.

[0101] In some examples, if the first safety control mechanism 11 does not detect that the emergency stop button has been pressed, the light barrier is not blocked, and the safety door is not opened, the emergency stop event has not been triggered. Therefore, the first safety control mechanism 11 does not generate an emergency stop signal. When the network is restored, the safety control mechanism 41 does not receive the emergency stop signal sent by the first safety control mechanism 11. Therefore, when the network is restored, the safety control mechanism 41 determines that the emergency stop event has not been triggered.

[0102] For example, if the security control mechanism 41 obtains a reset signal sent by the security control system 100 when the network between the mobile device 20 and the security control system 100 is restored, it determines that a reset event is triggered.

[0103] For example, the safety control system 100 detects that a reset event has been triggered during the period from network disconnection to network restoration and generates a reset signal. However, because the network is disconnected, the safety control mechanism 41 cannot receive the reset signal. When the network is restored, the safety control mechanism 41 can receive the reset signal and thus determine that the reset event has been triggered.

[0104] In some examples, as shown in FIG5 , a reset event can be triggered by a reset button in the security control system 100 (e.g., the control platform 10). For example, when the first security control mechanism 11 detects that the reset button is pressed, a reset signal can be generated. The first security control mechanism 11 sends the reset signal to the security control mechanism 41 in the mobile device 20. When the network is restored, the security control mechanism 41 receives the reset signal and determines that a reset event has been triggered based on the reset signal. It should be noted that the reset event can also be triggered by other means, and this disclosure is not limited to this.

[0105] Illustratively, the emergency stop event corresponding to the reset event, or the most recent emergency stop event before the reset event, may be triggered before the network is disconnected, or may be triggered during the period from network disconnection to network recovery (such as before the reset event is triggered).

[0106] For example, if an emergency stop event is triggered before the network is disconnected and a reset event is triggered between the time the network is disconnected and the time the network is restored, then upon network restoration, the safety control mechanism 41 can determine that the reset event has been triggered based on the reset signal sent by the safety control system 100. For another example, if an emergency stop event is triggered and then a reset event is triggered between the time the network is disconnected and the time the network is restored, then upon network restoration, the safety control mechanism 41 can determine that the reset event has been triggered based on the reset signal sent by the safety control system 100.

[0107] Step 620: If the safety control signal is a reset signal, it is determined that the recovery operation condition is met.

[0108] Exemplarily, the reset signal may be a reset signal sent by the safety control system 100 , or the reset signal 30 may be a reset signal generated by the safety control mechanism 41 .

[0109] In some examples, when the reset signal is a reset signal sent by the safety control system 100 , the reset signal is a reset signal generated by the safety control system 100 in the above implementation when triggered by a reset event and sent to the safety control mechanism 41 .

[0110] In other examples, when the reset signal 30 is a reset signal generated by the safety control mechanism 41, the safety control mechanism 41 can generate a reset signal based on changes in the emergency stop signal. For example, the safety control mechanism 41 can generate a reset signal based on the recovery of the emergency stop signal (e.g., the emergency stop signal changes from a low level to a high level). In this case, the reset signal is independent of the safety control system 100 and only needs to be determined based on the rising edge of the emergency stop signal, thereby avoiding the situation where the safety control mechanism 41 cannot normally receive the reset signal sent by the safety control system 100.

[0111] For example, when the reset signal 30 is a reset signal generated by the security control mechanism 41 , the security control mechanism 41 may generate the reset signal after the network is restored.

[0112] It should be noted that, regardless of whether the reset signal is a reset signal sent by the safety control system 100 or a reset signal generated by the safety control mechanism 41, the safety control mechanism 41 can control the actuator to resume operation based on the reset signal. The following embodiments are illustrative examples using the reset signal sent by the safety control system 100 as an example.

[0113] In step 630 , the safety control mechanism controls the actuator to resume operation based on the reset signal.

[0114] In some examples, when the network between the mobile device 20 and the security control system 100 is restored, if the security control mechanism 41 receives a reset signal sent by the first security control mechanism 11, the security control mechanism 41 can determine that the reset event is triggered, and therefore, it can be determined that the actuator 22 meets the conditions for resuming operation, thereby controlling the actuator 22 to resume operation.

[0115] For example, after a network disconnection, if the first safety control mechanism 11 detects that an emergency stop event has been triggered, it generates an emergency stop signal. Before the network is restored, the first safety control mechanism 11 detects that a reset event has been triggered and generates a reset signal. Due to the network disconnection, the safety control mechanism 41 cannot receive the emergency stop signal and reset signal sent by the first safety control mechanism 11. When the network is restored, the safety control mechanism 41 can receive the reset signal sent by the first safety control mechanism 11 and determine that a reset event has been triggered based on the reset signal.

[0116] It should be noted that if, during the period from network disconnection to network restoration, the first safety control mechanism 11 generates both an emergency stop signal and a reset signal, then upon network restoration, the safety control mechanism 41 may only receive the subsequent instruction output by the first safety control mechanism 11, or the safety control mechanism 41 may only perform related operations in response to the subsequent instruction output by the first safety control mechanism 11. For example, if, during the period from network disconnection to network restoration, the first safety control mechanism 11 first generates an emergency stop signal and then generates a reset signal, then upon network restoration, the safety control mechanism 41 may only receive the reset signal or only respond to the reset signal to determine that a reset event has been triggered.

[0117] In some examples, the safety control mechanism 41 may also receive all instructions generated by the first safety control mechanism 11 when the network is restored. For example, the safety control mechanism 41 may receive relevant instructions based on the time the first safety control mechanism 11 generated the instructions. For example, if the first safety control mechanism 11 generates an emergency stop signal first and then a reset signal, then when the network is restored, the safety control mechanism 41 may receive the emergency stop signal first and then the reset signal, and determine that a reset event has been triggered in response to the reset signal received later.

[0118] For example, before the network is disconnected, if the first safety control mechanism 11 detects that an emergency stop event has been triggered and generates an emergency stop signal, since the network is normal, the safety control mechanism 41 can receive the emergency stop signal and determine that an emergency stop event has been triggered based on the emergency stop signal. Between the time the network is disconnected and the time the network is restored, if the first safety control mechanism 11 detects that a reset event has been triggered and generates a reset signal, then when the network is restored, the safety control mechanism 41 receives the reset signal and determines that a reset event has been triggered based on the reset signal.

[0119] In some embodiments, the safety control mechanism 41 controls the execution mechanism 22 to resume operation based on the reset signal, including: the safety control mechanism 41 outputs a first level based on the received reset signal and outputs a resume operation instruction to the execution mechanism 22. The execution mechanism 22 resumes operation according to the resume operation instruction.

[0120] The resume operation instruction is used to instruct the actuator 22 to resume operation.

[0121] Exemplarily, the safety output of the safety control mechanism 41 corresponding to the resume operation instruction is at a first level. For example, when the network between the safety control system 100 and the mobile device 20 is restored, the safety output (signal) of the safety control mechanism 41 (e.g., a slave) changes to the first level, and the actuator 22 resumes operation in response to the first level output by the safety control mechanism 41.

[0122] In some examples, when the network is restored, if it is determined that the emergency stop event has not been triggered or the reset event has been triggered, the safety output of the safety control mechanism 41 changes to the first level. Because the actuator 22 is coupled to the safety control mechanism 41, when the safety output of the safety control mechanism 41 changes to the first level, the actuator 22 can resume operation in response to the first level.

[0123] Exemplarily, the first level is different from the second level. For example, when the second level is a low level, the first level may be a high level; and when the second level is a high level, the first level may be a low level. It should be noted that the embodiment of the present disclosure is schematically illustrated by taking the first level as a high level and the second level as a low level as an example. That is, when the network between the security control system 100 and the mobile device 20 is restored, the safety output of the security control mechanism 41 is restored from a low level to a high level. In response to the safety output of the security control mechanism 41 becoming a high level, the security control mechanism 41 outputs a resume operation instruction to the execution mechanism 22, and the execution mechanism 22 resumes operation according to the resume operation instruction.

[0124] In some embodiments, the actuator 22 resumes operation according to the resumption operation instruction, including: the control module 221 outputs a power-on instruction to the drive module 223 according to the resumption operation instruction output by the safety control mechanism 41; the drive module 223 clears the fault information according to the power-on instruction, and drives the motor 224 to power on and resume operation.

[0125] In some examples, when the safety output of the safety control mechanism 41 returns to a high level and the safety control mechanism 41 outputs a resume operation instruction, the control module 221 responds to the resume operation instruction, the safety output of the control module 221 changes to a high level, and the control module 221 outputs a power-on instruction to the drive module 223. The drive module 223 receives the power-on instruction, clears the fault information generated by it according to the power-on instruction, and drives the motor 224 to power on.

[0126] At the same time, when the safety output of safety control mechanism 41 is high and safety control mechanism 41 outputs a resume operation instruction, delay module 222 responds to the resume operation instruction by changing the safety output to a high level and outputting an acceleration instruction to driver module 223. Driver module 223 receives the acceleration instruction and, in accordance with the acceleration instruction, drives motor 224 to accelerate after motor 224 is powered on until motor 224 resumes operation. For example, driver module 223 may drive motor 224 to resume its operating speed before the network disconnection, although this disclosure is not limited thereto.

[0127] Figure 7 is a signal timing diagram provided by some embodiments of the present disclosure. As shown in Figure 7, time t1 represents the time when the network between the safety control system 100 and the mobile device 20 is disconnected, and time t2 represents the time when the network between the safety control system 100 and the mobile device 20 is restored. Time t3 to t4 represents the time interval when the emergency stop event is triggered. Time t5 to t6 represents the time interval when the reset event is triggered.

[0128] As shown in Figure 7, at time t1, the network is disconnected, and the output signal of the first safety control mechanism 11 remains unchanged, maintaining a high-level safety output. In response to the network disconnection at time t1, the output signal of the safety control mechanism 41 changes from a high level to a low level. When the output of the safety control mechanism 41 changes to a low level, the safety control mechanism 41 outputs a stop command. Based on this stop command, the control module 221 outputs a speed reduction command to the drive module 223, driving the motor 224 to slow down and stop. Simultaneously, the delay module 222 begins timing at time t1. When the delay module 222 reaches a preset time at time t7, the output signal of the delay module 222 changes from a high level to a low level at time t7, causing the signal corresponding to the fault information to change from a low level to a high level at time t7, thus outputting the fault information. At this point, the mobile device 20 stops operating, and the drive motor 224 is powered off and braked. Therefore, the network disconnection between the safety control system 100 and the mobile device 20 does not affect the safety output of the safety control system 100 (e.g., the master station), but only affects the safety output of the mobile device (e.g., the slave station).

[0129] Continuing with Figure 7 , the emergency stop event is triggered between t3 and t4. That is, the emergency stop signal from the master station becomes low between t3 and t4. At this point, the output signal of the first safety control mechanism 11 changes from a high level to a low level at t3, when the emergency stop event is triggered. Because the network is still disconnected at t3, the output signals of the safety control mechanism 41 and the delay module 222 remain low.

[0130] The reset event is triggered between t5 and t6, meaning the reset signal from the master station becomes high between t5 and t6. At this point, the output signal of the first safety control mechanism 11 returns from a low level to a high level at t6, the time the reset event is triggered. Because the network remains disconnected at t6, the output signals of the safety control mechanism 41 and the delay module 222 remain low.

[0131] At time t2, the network connection between safety control system 100 and mobile device 20 is restored. The safety output of safety control mechanism 41 returns from a low level to a high level at time t2, and the safety output of delay module 222 also returns from a low level to a high level at time t2. Safety control mechanism 41 outputs a resume operation command. In response to this resume operation command, the signal corresponding to the fault code information returns from a high level to a low level at time t8, clearing the fault information. At this point, mobile device 20 resumes operation.

[0132] The security control method provided by the embodiment of the present disclosure is that when the network between the mobile device 20 and the security control system 100 is restored, if the security control mechanism 41 receives a reset signal and determines that a reset event is triggered, it can control the actuator 22 to resume operation. Compared with the method of restoring the operation of the mobile device 20 without manual intervention, the working efficiency of the mobile device 20 is improved while ensuring the safe operation of the mobile device 20.

[0133] Step 640: If the safety control signal is an emergency stop signal, the safety control mechanism controls the actuator to continue to stop running.

[0134] In some embodiments, if the safety control signal 41 is an emergency stop signal, the safety control mechanism 41 controls the actuator 22 to continue to stop running, including: when the network between the mobile device 20 and the safety control system 100 is restored, the safety control mechanism 41 outputs a second level based on the emergency stop signal and controls the actuator 22 to continue to stop running.

[0135] In some examples, if the safety control signal is an emergency stop signal, the safety control mechanism 41 determines that the emergency stop event is triggered, the output of the safety control mechanism 41 still maintains the second level (such as a low level), and the safety control mechanism 41 controls the actuator 22 to continue to stop running.

[0136] In some embodiments, the emergency stop event may be triggered before the network between the mobile device 20 and the safety control system 100 is disconnected, or the emergency stop event may be triggered during the period from when the network between the mobile device 20 and the safety control system 100 is disconnected to when the network is restored.

[0137] For example, if the emergency stop event is triggered before the network is disconnected, and the reset event is not triggered during the period from network disconnection to network recovery, then when the network is restored, the safety control mechanism 41 determines that the emergency stop event is triggered and controls the actuator 22 to continue to maintain the stopped state.

[0138] For another example, if an emergency stop event is triggered during the period from network disconnection to network recovery, and a reset event is not triggered during the period from network disconnection to network recovery, then when the network is restored, the safety control mechanism 41 can receive the emergency stop signal sent by the first safety control mechanism 11, and determine that the emergency stop event is triggered based on the emergency stop signal, and control the execution mechanism 22 to continue to maintain a stopped state.

[0139] It should be noted that the process of the safety control mechanism 41 controlling the actuator 22 to continue to stop running in step 640 is similar to the process of the safety control mechanism 41 controlling the actuator 22 to stop running in step 310. To avoid repetition, it will not be repeated here.

[0140] Step 650: After the network between the mobile device and the security control system is restored, if the security control mechanism obtains a reset signal, the security control mechanism controls the execution mechanism to resume operation based on the reset signal.

[0141] In some embodiments, after the network between the mobile device 20 and the security control system 100 is restored, if the security control mechanism 41 receives a reset signal sent by the security control system 100 or the security control mechanism 41 generates a reset signal, the security control mechanism 41 controls the actuator to resume operation based on the reset signal, including: after the network between the mobile device 20 and the security control system 100 is restored, the security control mechanism 41 changes the output of the security control mechanism from the second level to the first level based on the received reset signal, and outputs a resumption operation instruction to the actuator 22; the actuator 22 resumes operation according to the resumption operation instruction.

[0142] For example, at some point after the network is restored, if the security control mechanism 41 receives a reset signal sent by the first security control mechanism 11 and determines based on the reset signal that a reset event has been triggered, then since the network between the security control system 100 and the mobile device 20 is currently in a normal state and the reset signal indicating that a reset event has been triggered has been received, the security control mechanism 41 can control the actuator 22 to resume operation.

[0143] It should be noted that the process of the safety control mechanism 41 controlling the actuator 22 to resume operation in step 650 is similar to the process of the safety control mechanism 41 controlling the actuator 22 to resume operation in step 630. To avoid repetition, they will not be repeated here.

[0144] Figure 8 is another signal timing diagram provided by some embodiments of the present disclosure. As shown in Figure 8, time t1 is the time when the network between the safety control system 100 and the mobile device 20 is disconnected, and time t2 is the time when the network between the safety control system 100 and the mobile device 20 is restored. Time t3 to t4 is the time interval when the emergency stop event is triggered. Time t5 to t6 is the time interval when the reset event is triggered. Time t2 is before time t4, meaning that when the network is restored, the emergency stop event is still triggered.

[0145] As shown in Figure 8, at time t1, the network is disconnected, and the output signal of the first safety control mechanism 11 does not change, maintaining a high-level safety output; in response to the network disconnection at time t1, the output signal of the safety control mechanism 41 changes from a high level to a low level. When the output of the safety control mechanism 41 changes to a low level, the safety control mechanism 41 outputs a stop operation instruction, and the control module 221 outputs a speed reduction instruction to the drive module 223 according to the stop operation instruction to drive the motor 224 to slow down and stop. At the same time, the delay module 222 starts timing from time t1. When the timing duration of the delay module 222 reaches the preset duration at time t7, the output signal of the delay module 222 changes from a high level to a low level at time t7, thereby causing the signal corresponding to the fault information to change from a low level to a high level at time t7, that is, the fault information is output. At this time, the mobile device 20 stops running.

[0146] The emergency stop event is triggered between t3 and t4. The output signal of the first safety control mechanism 11 changes from a high level to a low level at t3, when the emergency stop event is triggered. Because the network is still disconnected at t3, the output signals of the safety control mechanism 41 and the delay module 222 continue to remain low.

[0147] At time t2, the network between the safety control system 100 and the mobile device 20 is restored, but since the emergency stop event is still in the triggered state at time t2, the outputs of the first safety control mechanism 11, the safety control mechanism 41 and the delay module 222 remain at a low level at time t2.

[0148] The reset event is triggered between t5 and t6, and the output signal of the first safety control mechanism 11 recovers from low level to high level at t6 when the reset event is triggered; at the same time, the output signals of the safety control mechanism 41 and the delay module 222 also recover to high level at t6.

[0149] After the safety output of the safety control mechanism 41 returns to a high level, it can output a resume operation instruction. In response to the resume operation instruction, the signal corresponding to the fault code information is restored from a high level to a low level at time t8, that is, the fault information is cleared. At this time, the mobile device 20 resumes operation and drives the motor 224 to cut off power and brake.

[0150] The safety control method provided by the embodiment of the present disclosure is that if the safety control mechanism 41 receives an emergency stop signal when the network is restored and determines that an emergency stop event is triggered, the execution mechanism 22 is controlled to continue to remain stopped until the safety control mechanism 41 receives a reset signal sent by the safety control system 100 and determines that the reset event is triggered. The execution mechanism 22 can be controlled to resume operation, thereby ensuring the safe operation of the mobile device 20 while improving the working efficiency of the mobile device 20.

[0151] Figure 9 is a schematic diagram of another security control method provided by an embodiment of the present disclosure. When the preset conditions are met, including that the time from network disconnection to network recovery is less than the first preset time, as shown in Figure 9, the security control mechanism 41 controls the actuator 22 to resume operation, which may include steps 910 to 970 as described below.

[0152] In step 910 , the control module outputs a speed reduction instruction to the drive module according to the stop operation instruction output by the safety control mechanism.

[0153] In step 920 , the driving module drives the motor to decelerate according to the deceleration instruction.

[0154] It should be noted that steps 910 to 920 are similar to the process in step 310 in the above embodiment in which the control module 221 outputs a speed reduction instruction to the drive module 223 according to the stop operation instruction output by the safety control mechanism 41, and the drive module 223 drives the motor 224 to decelerate according to the speed reduction instruction. To avoid repetition, they will not be repeated here.

[0155] Step 930: The delay module starts timing according to the stop operation instruction output by the safety control mechanism.

[0156] In step 940 , the security control mechanism outputs a network recovery instruction to the delay module and the control module.

[0157] Step 950: If the time duration from the start of timing by the delay module to the receipt of the network recovery instruction does not reach a second preset time duration, the delay module stops timing according to the network recovery instruction.

[0158] Step 960: The control module outputs an acceleration instruction to the driving module according to the network recovery operation instruction.

[0159] Step 970: The driving module drives the motor to resume operation according to the acceleration instruction.

[0160] In some examples, after the delay module 222 begins timing based on the stop operation instruction output by the safety control mechanism 41, the duration from network disconnection to network restoration is less than the first preset duration, that is, the duration from network disconnection to network restoration is less than the second preset duration in the delay module 222. Therefore, when the network is restored, the timing duration of the delay module 222 has not yet reached the second preset duration. In this case, when the network is restored, the output of the safety control mechanism 41 becomes high and outputs a network restoration instruction to the delay module 222 and the control module 221. Since the timing duration of the delay module 222 has not reached the second preset duration at this time, the output of the drive module 223 remains high and does not change to a low level during the period from network disconnection to network restoration (or receipt of the network restoration instruction). Therefore, the delay module 222 does not output a power-off instruction to the drive module 224, and the motor does not need to be powered off or braked.

[0161] At the same time, when the network between the mobile device 20 and the security control system 100 is restored, the control module 221 outputs an acceleration instruction in response to the resume operation instruction output by the security control mechanism 41. The drive module 223 drives the motor 224 to accelerate and resume operation according to the acceleration instruction. For example, when the motor 224 receives the acceleration instruction, its operating speed may not have dropped to zero. In this case, the motor 224 can begin to accelerate according to the acceleration instruction and resume operation. Alternatively, when the motor 224 receives the acceleration instruction, its operating speed may have dropped to zero. In this case, the motor 224 can accelerate according to the acceleration instruction and resume operation.

[0162] FIG10 is another signal timing diagram provided by some embodiments of the present disclosure. As shown in FIG10 , time t1 is the time when the network between the security control system 100 and the mobile device 20 is disconnected, and time t2 is the time when the network between the security control system 100 and the mobile device 20 is restored. The duration from time t1 to time t7 is the preset duration of the delay module 222. It should be noted that during the period from time t1 (network disconnection) to time t2 (network restoration), neither the emergency stop event nor the reset event was triggered.

[0163] As shown in Figure 10, at time t1, the network is disconnected, and the output signal of the first safety control mechanism 11 does not change, maintaining a high-level safety output. In response to the network disconnection at time t1, the output signal of the safety control mechanism 41 changes from a high level to a low level. When the output of the safety control mechanism 41 changes to a low level, the safety control mechanism 41 outputs a stop operation instruction. Based on this stop operation instruction, the control module 221 outputs a speed reduction instruction to the drive module 223 to drive the motor 224 to slow down and stop. At the same time, the delay module 222 starts timing from time t1. At time t2, the network is restored. Since the emergency stop event has not been triggered, the output signal of the safety control mechanism 41 changes from a low level to a high level.

[0164] As shown in Figure 10, since time t7 is after time t2, it indicates that at time t2, the delayed timing of the delay module 222 has not reached the preset timing, that is, the timing of the delay module 222 has not ended, so the output signal of the delay module 222 remains at a high level, and the signal corresponding to the fault information will also remain at a low level, that is, the drive module 223 does not output fault information, and the motor 224 does not need to be powered off and braked.

[0165] In the safety control method provided by the embodiments of the present disclosure, if the duration between the network disconnection and the network restoration between the mobile device 20 and the safety control system 100 is short (for example, the network disconnection duration is less than the second preset duration of the delay module 222), there is no need to de-energize and brake the motor 224; instead, the motor 224 only needs to be decelerated. Therefore, when the network is restored, there is no need to power on the motor 224; instead, the motor 224 only needs to be accelerated to resume operation. The safety control method of the embodiments of the present disclosure avoids the need to power on the motor 224 after a short period of time, thereby reducing the time it takes for the mobile device 20 to resume operation and improving the operating efficiency of the mobile device 20.

[0166] FIG11 is a schematic diagram of a mobile device provided by an embodiment of the present disclosure. As shown in FIG11 , the mobile device 20 includes a security control mechanism 41 and an execution mechanism 22.

[0167] The safety control mechanism 41 is used to control the execution mechanism 22 to stop running when the network between the mobile device and the safety control system is disconnected.

[0168] The security control mechanism 41 is also used to control the execution mechanism 22 to resume operation when the network between the mobile device and the security control system is restored, if it is determined that the resumption operation conditions are met; wherein, the resumption operation conditions are met, including the security control mechanism 41 obtaining a reset signal and / or the time from network disconnection to network recovery being less than a first preset time.

[0169] In some embodiments, the actuator 22 includes a delay module, a control module, a drive module and a motor; the safety control mechanism 41 is used to output a stop operation instruction to the control module and the delay module; the control module is used to receive the stop operation instruction and output a deceleration instruction to the drive module according to the stop operation instruction; the drive module is used to drive the motor to decelerate according to the deceleration instruction; the delay module is used to receive the stop operation instruction and start timing according to the stop operation instruction; and when the timing duration of the delay module reaches a second preset duration, the power-off instruction is output to the drive module; wherein the first preset duration is less than or equal to the second preset duration; the drive module is also used to drive the motor to power off and brake according to the power-off instruction, and output fault information.

[0170] In some embodiments, the safety control mechanism 41 is further configured to obtain a safety control signal when the network between the mobile device and the safety control system is restored; the safety control signal includes a reset signal and / or an emergency stop signal; if the safety control signal is a reset signal, the resumption condition is determined to be satisfied. If the safety control signal is an emergency stop signal, the actuator 22 is controlled to continue to stop operation; and after the network between the mobile device and the safety control system is restored, if the safety control mechanism 41 obtains a reset signal, the actuator is controlled to resume operation based on the reset signal. The reset signal is a reset signal sent by the safety control system or a reset signal generated by the safety control mechanism 41.

[0171] In some embodiments, the safety control mechanism 41 is also used to output a recovery operation instruction to the control module; the control module is used to receive the recovery operation instruction and output a power-on instruction to the drive module according to the recovery operation instruction; the drive module is used to clear the fault information according to the power-on instruction, drive the motor to power on and resume operation.

[0172] In some embodiments, the time from network disconnection to network recovery is less than a first preset time; the actuator 22 includes a delay module, a control module, a drive module and a motor; the safety control mechanism 41 is used to output a stop operation instruction to the control module and the delay module; the control module is used to receive the stop operation instruction, and output a speed reduction instruction to the drive module according to the stop operation instruction; the drive module is used to drive the motor to decelerate according to the speed reduction instruction; the delay module is used to receive the stop operation instruction, and start timing according to the stop operation instruction.

[0173] In some embodiments, the safety control mechanism 41 is also used to output a network recovery instruction to the delay module and the control module; the delay module is also used to stop timing according to the network recovery instruction if the timing duration from the start of the delay module to the receipt of the network recovery instruction has not reached a second preset duration; wherein the first preset duration is less than or equal to the second preset duration; the control module is also used to output an acceleration instruction to the drive module according to the network recovery instruction; the drive module is also used to drive the motor to resume operation according to the acceleration instruction.

[0174] Figure 12 is a schematic diagram of a secure transmission system provided by an embodiment of the present disclosure. As shown in Figure 12, secure transmission system 1 includes a security control system 100 and a mobile device 20. Specifically, security control system 100 includes a first security control mechanism 11, a security trigger mechanism 12, and a wireless transmitter 13, while mobile device 20 includes a second security control mechanism 21, an actuator 22, and a wireless receiver 23.

[0175] The safety trigger mechanism 12 is used to generate a safety trigger signal when a trigger operation is detected, and send the safety trigger signal to the first safety control mechanism 11; the first safety control mechanism 11 is used to receive the safety trigger signal, generate a safety control signal according to the safety trigger signal, and send the safety control signal through the wireless transmitter 13; wherein the safety control signal includes an emergency stop signal and / or a reset signal.

[0176] The second safety control mechanism 21 is used to receive safety control signals through a wireless receiver 23; the second safety control mechanism 21 is also used to control the execution mechanism 22 to stop running when the network between the mobile device and the safety control system 100 is disconnected; when the network between the mobile device and the safety control system 100 is restored, if it is determined that the resumption operation conditions are met, the control execution mechanism 22 is resumed; wherein, the resumption operation conditions are met, including the second safety control mechanism 21 obtaining a reset signal and / or the time length from network disconnection to network recovery being less than a first preset time length.

[0177] In some embodiments, the actuator 22 includes a delay module, a control module, a drive module, and a motor. The second safety control mechanism 21 is configured to output a stop operation instruction to the control module and the delay module; the control module is configured to receive the stop operation instruction and output a deceleration instruction to the drive module based on the stop operation instruction; the drive module is configured to drive the motor to decelerate based on the deceleration instruction; the delay module is configured to receive the stop operation instruction and start timing based on the stop operation instruction; and when the timing of the delay module reaches a second preset duration, the drive module outputs a power-off instruction to the drive module; wherein the first preset duration is less than or equal to the second preset duration; the drive module is further configured to drive the motor to power off and brake based on the power-off instruction and output fault information.

[0178] In some embodiments, the second safety control mechanism 21 is further configured to receive a safety control signal sent by the first safety control mechanism 11 when the network between the mobile device and the safety control system 100 is restored. The safety control signal may include a reset signal and / or an emergency stop signal. If the safety control signal is a reset signal, the second safety control mechanism 21 is configured to determine that the safety control signal satisfies the conditions for resuming operation. If the safety control signal is an emergency stop signal, the second safety control mechanism 21 controls the actuator 22 to continue to stop operation. After the network between the mobile device and the safety control system 100 is restored, if the second safety control mechanism 21 receives a reset signal sent by the first safety control mechanism 11, the second safety control mechanism 21 controls the actuator 22 to resume operation based on the reset signal.

[0179] In some embodiments, the second safety control mechanism 21 is also used to output a recovery operation instruction to the control module; the control module is also used to receive the recovery operation instruction, and output a power-on instruction to the drive module according to the recovery operation instruction; the drive module is used to clear the fault information according to the power-on instruction, drive the motor to power on and resume operation.

[0180] In some embodiments, the time from network disconnection to network recovery is less than the first preset time, and the actuator 22 includes a delay module, a control module, a drive module and a motor; the second safety control mechanism 21 is used to output a stop operation instruction to the control module and the delay module; the control module is used to receive the stop operation instruction, and output a speed reduction instruction to the drive module according to the stop operation instruction; the drive module is used to drive the motor to decelerate according to the speed reduction instruction; the delay module is used to receive the stop operation instruction, and start timing according to the stop operation instruction.

[0181] In some embodiments, the second safety control mechanism 21 is also used to output a network recovery instruction to the delay module and the control module; the delay module is also used to stop timing according to the network recovery instruction if the timing duration from the start of timing to the receipt of the network recovery instruction of the delay module does not reach a second preset duration; wherein the first preset duration is less than or equal to the second preset duration; the control module is used to output an acceleration instruction to the drive module according to the network recovery instruction; and the drive module is used to drive the motor to resume operation according to the acceleration instruction.

[0182] FIG13 is a schematic diagram of another interaction scenario between a control platform and a mobile device provided in an embodiment of the present disclosure.

[0183] In some examples, as shown in FIG13 , the first safety control mechanism 11 may include a safety control unit, such as a central processing unit (CPU) and a safety input / output module. The first safety control mechanism 11 is configured to generate an emergency stop instruction when determining that an emergency stop event is triggered.

[0184] In some examples, the control platform 10 is a platform that controls multiple mobile devices 20. For example, in a warehouse management scenario, the warehouse may include multiple AGVs (e.g., AGV1 through AGVm) and a control platform 10 for managing and controlling these AGVs. By controlling the mobile devices 20, the control platform 10 can schedule, emergency stop, and resume operation of the mobile devices.

[0185] Typically, the control platform 10 has a limited load capacity, meaning the number of mobile devices 20 (e.g., AGVs) that the control platform 10 can manage and control is limited. For example, the load capacity of the control platform 10 can be determined by the first safety control mechanism 11 (e.g., a CPU). For example, the number of mobile devices 20 that the control platform 10 can manage depends on the manufacturer and / or model of the first safety control mechanism 11.

[0186] In some examples, the control platform 10 typically includes a first safety control mechanism 11. This first safety control mechanism 11 (e.g., a CPU) can typically control a few, dozens, or even hundreds of AGVs. However, with the advancement of mobile device technology, the number of AGVs required in some large-scale warehouse management scenarios may reach several thousand. While ensuring secure transmission between the control platform 10 and the mobile devices 20, the existing control platform 10 is unable to simultaneously control and manage these thousands of AGVs.

[0187] In order to solve the above problems, the safety control system in the safe transmission system provided by the embodiment of the present disclosure may include multiple safety control units, which can solve the problem of safety control of all AGVs in large-scale warehousing scenarios, such as when the number of AGVs reaches thousands.

[0188] The security control system provided by the embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.

[0189] FIG14 is a schematic diagram of another secure transmission control system provided by an embodiment of the present disclosure. As shown in FIG14 , in some embodiments, the secure control system 100 includes multiple security control units. It should be noted that the secure control system 100 in FIG14 is the same as the secure control system 100 in the above-mentioned embodiment.

[0190] 14 , the plurality of safety control units include a first safety control unit 111 and at least one second safety control unit 112. For example, the first safety control unit 111 is any one of the plurality of safety control units, and the second safety control unit 112 is any one of the plurality of safety control units except the first safety control unit 111.

[0191] In some examples, the number of the second safety control unit 112 may be one or more, which is not limited in the embodiments of the present disclosure.

[0192] It should be noted that the safety control system 100 can be the control platform 10 in the above embodiment (such as Figure 13), and the safety control unit can be the first safety control mechanism 11 in the above embodiment (such as Figure 13), that is, the safety control unit can include a CPU.

[0193] For example, the safety control system 100 may include n safety control units, that is, the safety control system 100 includes a first safety control unit 111 and n-1 second safety control units 112. Wherein, n is an integer greater than 1.

[0194] In some embodiments, each security control unit is configured to control a group of mobile devices 20 .

[0195] In some examples, a group of mobile devices may include at least one mobile device 20. For example, the plurality of mobile devices 20 in a warehouse may be divided into a corresponding number of mobile device groups based on the number of security control units. For example, if the number of security control units is n, the plurality of mobile devices 20 may be divided into n groups, where each group contains m mobile devices, meaning that each security control unit can control m mobile devices 20.

[0196] It should be noted that the mobile device 20 in the embodiment of the present disclosure may be an AGV or other types of mobile devices, such as a robot. The embodiment of the present disclosure is not limited to this. The embodiment of the present disclosure takes the mobile device 20 as an AGV as an example for schematic description.

[0197] In some embodiments, the first security control unit is configured to: generate a first security control signal based on a first security trigger signal sent by the first security trigger device, and send the first security control signal to each second security control unit; and, based on the first security control signal, send a target security control signal to each first mobile device in a first mobile device group corresponding to the first security control unit. The second security control unit is configured to: send a target security control signal to each second mobile device in a second mobile device group corresponding to the second security control unit based on the first security control signal.

[0198] For example, the target security control signal may be a first security control signal. That is, the first security control unit may send the first security control signal to each first mobile device in a first mobile device group corresponding to the first security control unit; and the second security control unit may also send the first security control signal to each second mobile device in a second mobile device group corresponding to the second security control unit.

[0199] For example, the target safety control signal may also be generated based on the first safety control signal. When the target safety control signal is a signal generated based on the first safety control signal, the target safety control signal may be generated by combining the first safety control signal and the second safety control signal. The second safety control signal is a signal generated by the second safety trigger signal sent by each second safety trigger device in the second safety trigger device group corresponding to the second safety control unit.

[0200] The following takes the target safety control signal as the first safety control signal as an example, and describes the structure of the safety transmission system and the safety control method corresponding to the safety transmission system in combination with Figures 14 to 23.

[0201] It should be noted that the first safety control signal may also be referred to as a safety instruction. When the first safety control signal is a safety instruction, the safety instruction is an instruction that carries the first safety control signal. The following embodiments are illustrative in the case where the first safety control signal is a safety instruction.

[0202] That is, in some embodiments, the first security control unit 111 is configured to, upon determining that a security event has been triggered, generate a security instruction and send the security instruction (e.g., a first security control signal, hereinafter described as an example) to the second security control unit 112 and each mobile device in the first mobile device group corresponding to the first security control unit 111. The second security control unit 112 is configured to receive the security instruction and send the security instruction to each mobile device in the second mobile device group corresponding to the second security control unit 112.

[0203] For example, the first security control unit 111 can control each mobile device in its corresponding first mobile device group according to the security instruction; and the second security control unit 112 can control each mobile device in its corresponding second mobile device group according to the security instruction, for example, controlling the stopping and running of each mobile device.

[0204] For example, the first safety control unit 111 and the second safety control unit 112 can mutually transmit (e.g., share) safety instructions. That is, after any one of the multiple safety control units (e.g., the first safety control unit 111) generates a safety instruction, in addition to sending the safety instruction to each mobile device in the corresponding mobile device group (e.g., the first mobile device group), it can also send the safety instruction to other safety control units (e.g., the second safety control unit 112), so that each of the other safety control units sends the safety instruction to each mobile device in the corresponding mobile device group (e.g., the second mobile device group), thereby enabling the safety control system 100 to simultaneously control the emergency stop and resumption of operation of all mobile devices 20.

[0205] It should be noted that, in the embodiment of the present disclosure, the first security control unit 111 generates a security instruction and sends it to the second security control unit 112 as an example for illustrative description.

[0206] FIG15 is a schematic diagram of another safety transmission system provided by an embodiment of the present disclosure. As shown in FIG15 , the first mobile equipment group corresponding to the first safety control unit 111 is AGVs 11 to AGV 1m. The first safety control unit 111 can then send generated safety instructions to AGVs 11 to AGV 1m to control the stopping (e.g., emergency stop) and operation (e.g., resumption) of AGVs 11 to AGV 1m.

[0207] In some examples, the first safety control unit 111 is coupled to the second safety control unit 112. For example, the first safety control unit 111 can be directly coupled to the second safety control unit 112, or the first safety control unit 111 can be coupled to the second safety control unit 112 through other devices. Therefore, communication can be performed between the first safety control unit 111 and the second safety control unit 112. For example, the first safety control unit 111 can send a safety instruction to the second safety control unit 112. The second safety control unit 112 receives the safety instruction and sends it to each mobile device in the second mobile device group, such as AGV21 to AGV2m, to control the stopping and running of AGV21 to AGV2m.

[0208] In some embodiments, as shown in FIG15 , the secure transmission system 1 further includes at least one (eg, one or more) security triggering devices, wherein the at least one security triggering device includes a first security triggering device 121 coupled to the first security control unit 111 .

[0209] In some embodiments, the first security triggering device 121 is configured to generate a first security triggering signal upon detecting a triggering operation, and send the first security triggering signal to the first security control unit 111. The first security control unit 111 is configured to receive the first security triggering signal and determine, based on the first security triggering signal, that a security event has been triggered.

[0210] In some examples, the safety trigger device may be the safety trigger mechanism 12 in the above embodiment (such as FIG13 ). That is, the safety trigger device may also include at least one of an emergency stop button, a light barrier, and a safety door lock; or, the safety trigger device may be a workstation electrical cabinet, which is not limited in the present disclosure.

[0211] For example, the number of safety triggering devices may be the same as or different from the number of safety control units. For example, if each of the multiple safety control units is coupled to a safety triggering device, the number of safety triggering devices is the same as the number of safety control units; if some (one or more) of the multiple safety control units are coupled to a safety triggering device, the number of safety triggering devices is less than the number of safety control units.

[0212] In some examples, if the first safety control unit 111 is coupled to the first safety trigger device 121, when the first safety trigger device 121 detects a trigger operation, it can generate a first safety trigger signal based on the trigger operation and send the first safety trigger signal to the first safety control unit 111; the first safety control unit 111 receives the first safety trigger signal and determines that a safety event is triggered based on the first safety trigger signal.

[0213] Exemplarily, safety events include emergency stop events and / or reset events. In some examples, an emergency stop event can be triggered by a user pressing an emergency stop button, a light barrier being blocked, or a safety door lock being opened; a reset event can be triggered by a user pressing a reset button, etc. This disclosure is not limited to this.

[0214] In some embodiments, the safety instruction can be used to instruct the mobile device 20 to stop or resume operation. For example, the safety instruction can include an emergency stop instruction and / or a reset instruction. It should be noted that if the safety instruction is a first safety control signal, the emergency stop instruction is an instruction that carries an emergency stop control signal, and the reset instruction is an instruction that carries a reset control signal.

[0215] For example, when the safety event is an emergency stop event, the safety instruction generated by the first safety control unit 111 is an emergency stop instruction, which is used to instruct the mobile device 20 to stop running (such as an emergency stop); when the safety event is a reset event, the safety instruction generated by the first safety control unit 111 is a reset instruction, which is used to instruct the mobile device 20 to resume operation.

[0216] For example, as shown in FIG15 , the first safety control unit 111 and the first safety triggering device 121 may be referred to as a first master station, and the second safety control unit 112 or the second safety control unit 112 and the second safety triggering device 122 (where the safety triggering device includes the second safety triggering device 122 coupled to the second safety control unit 112) may be referred to as a second master station. In other words, the second master station may or may not include a safety triggering device.

[0217] It should be noted that the first safety control unit 111 may also be referred to as a first master station, and the second safety control unit 112 may also be referred to as a second master station. That is, the master station may or may not include a safety trigger device coupled to the safety control unit, and this is not limited in the present embodiment. The following embodiment uses the example of a master station including a safety control unit and a coupled safety trigger device as an example.

[0218] In some examples, if the second master station includes a safety trigger device, such as the second safety trigger device 122, then when the second safety trigger device 122 detects a trigger operation, it may also generate a safety trigger signal and send it to the second safety control unit 112. The second safety control unit 112 may generate a safety instruction based on the received safety trigger signal and send the safety instruction to each mobile device in the second mobile device group (such as the second mobile device) and the first safety control unit 111, so that the first safety control unit 111 sends the safety instruction to each mobile device in the first mobile device group (such as the first mobile device), thereby controlling the stopping and running of all mobile devices.

[0219] In some examples, when the security control system 100 includes multiple security trigger devices, among the multiple security trigger devices, when any security trigger device detects a trigger operation, it can generate a security trigger signal and send the security trigger signal to the security control unit coupled to it. The security control unit can generate a safety instruction based on the security trigger signal, and then send the safety instruction to its corresponding mobile device group, as well as other security control units, so that other security control units send it to their respective corresponding mobile device groups, thereby realizing the control of all mobile devices 20 by the security control system 100.

[0220] The security control system provided by the embodiments of the present disclosure includes multiple security control units, each of which can control a group of mobile devices. These multiple security control units include a first security control unit 111 and at least one second security control unit 112. Upon determining that a security event has been triggered, the first security control unit 111 is configured to generate a security instruction and send the security instruction to each mobile device in its corresponding first mobile device group, causing each mobile device in the first mobile device group to perform the corresponding operation according to the security instruction. Simultaneously, the first security control unit 111 can also send the security instruction to the second security control unit 112. The second security control unit 112 receives the security instruction and sends the security instruction to each mobile device in its corresponding second mobile device group, causing each mobile device in the second mobile device group to perform the corresponding operation according to the security instruction. Compared to related art, the embodiments of the present disclosure increase the number of security control units in the security control system, with one security control unit controlling a group of mobile devices. This expands the number of mobile devices that the security control system 100 can control and improves the load capacity of the security control system 100. Furthermore, because data can be transmitted between each security control unit, the security control system 100 can also achieve unified security control of all mobile devices in scenarios with a large number of mobile devices.

[0221] FIG16 is a schematic diagram of another secure transmission system provided in an embodiment of the present disclosure.

[0222] In some embodiments, as shown in FIG16 , the security control system 100 further includes a wireless transmitter 130. The wireless transmitter 130 is coupled to each of the plurality of security control units. The first security control unit 111 is configured to send a security instruction via the wireless transmitter 130 to each mobile device in the first mobile device group corresponding to the first security control unit 111.

[0223] In some embodiments, the first security control unit 111 is further configured to send a security instruction to the second security control unit 112 via the wireless transmitter 130. The second security control unit 112 is configured to receive the security instruction via the wireless transmitter 130 and send the security instruction to each mobile device in the second mobile device group corresponding to the second security control unit 112 via the wireless transmitter 130.

[0224] Exemplarily, the wireless transmitter 130 can transmit communication data between each security control unit and each mobile device 20 in its corresponding mobile device group, such as, the wireless transmitter 130 is used to transmit data between the first master station and each mobile device 20 in the first mobile device group; or, the wireless transmitter 130 can also be used to transmit communication data between each security control unit, such as, the wireless transmitter 130 is used to transmit data between the first master station and the second master station (i.e., each master station).

[0225] In some examples, the wireless transmitter 130 can perform data transmission between the master station and each mobile device group based on a preset correspondence between multiple security control units and multiple mobile device groups. The preset correspondence can be pre-generated by the security control unit and sent to the wireless transmitter 130. For example, the first security control unit 111 can send the preset correspondence and security instructions to the wireless transmitter 130, and the wireless transmitter 130 can send the security instructions to each mobile device in the first mobile device group based on the preset correspondence. Alternatively, the preset correspondence can also be preset and stored in the wireless transmitter 130. For example, after the first security control unit 111 sends the security instruction to the wireless transmitter 130, the wireless transmitter 130 determines the first mobile device group corresponding to the first security control unit 111 based on the stored preset correspondence, and sends the security instruction to each mobile device in the first mobile device group. This is not limited to the embodiments of the present disclosure.

[0226] In other examples, the security instruction sent by the security control unit may carry identification information, and the identification information is used to instruct the wireless transmitter 130 to send the security instruction to each mobile device in its corresponding mobile device group, or to other security control units.

[0227] In the security control system 100 provided by the embodiment of the present disclosure, the wireless transmitter 130 can be used to realize the transmission of security instructions between each security control unit and each mobile device in its corresponding mobile device group, and the wireless transmitter 130 can also be used to realize the transmission of security instructions between each security control unit, thereby realizing unified security management and control of all mobile devices 20 by the security control system 100.

[0228] FIG17 is a schematic diagram of another secure transmission system provided by an embodiment of the present disclosure. As shown in FIG17 , the security control system 100 further includes a switch 140 .

[0229] Exemplarily, as shown in FIG. 17 , a plurality of security control units are coupled to the switch 140 , and a plurality of security control units are also coupled to the wireless transmitter 130 .

[0230] In some embodiments, the first security control unit 111 is configured to send a security instruction to the second security control unit 112 via the switch 140. The second security control unit 112 is configured to receive the security instruction via the switch 140 and send the security instruction to each mobile device in the second mobile device group corresponding to the second security control unit 112 via the wireless transmitter 130.

[0231] Illustratively, the wireless transmitter 130 is used to transmit communication data between each safety control unit and each mobile device in its corresponding mobile device group. For example, the wireless transmitter 130 can transmit a scheduling instruction generated by the system software to each mobile device 20. Another example is that the wireless transmitter 130 can transmit a safety instruction (such as an emergency stop instruction) generated by the first safety control unit 111 to each mobile device in the first mobile device group.

[0232] Exemplarily, the switch 140 is used to transmit data between safety control units, i.e., between master stations. For example, the first safety control unit 111 (e.g., the first master station) can send a generated safety instruction (e.g., an emergency stop instruction) to the second safety control unit 112 (e.g., the second master station) via the switch 140.

[0233] For example, each security control unit may include two interfaces, namely a first interface A and a second interface B. As shown in FIG15 , the first interface A of each security control unit may be coupled to the wireless transmitter 130, and the second interface B of each security control unit may be coupled to the switch 140. It should be noted that each security control unit may also include more interfaces, such as three interfaces, which is not limited in the present embodiment.

[0234] In some embodiments, the first security control unit 111 is configured to send a security instruction to the wireless transmitter 130 via the first interface A of the first security control unit 111, so that the wireless transmitter 130 sends the security instruction to each mobile device in the first mobile device group. The first security control unit is further configured to send the security instruction to the switch 140 via the second interface B of the first security control unit 111, so that the switch 140 sends the security instruction to the second security control unit 112. The second security control unit 112 is configured to receive the security instruction via the second interface of the second security control unit 112, and send the security instruction to the wireless transmitter 130 via the first interface of the second security control unit 112, so that the wireless transmitter 130 sends the security instruction to each mobile device in the second mobile device group.

[0235] In some examples, the number of switches 140 in the security control system 100 may be one or more. The number of switches 140 may be determined based on the number of ports of the switch 140 and the number of security control units. For example, when the number of security control units is less than the number of ports of the switch 140, one switch 140 may be used to implement the transmission of security instructions between the security control units. For another example, when the number of security control units is greater than the number of ports of the switch 140, multiple switches 140 may be used to implement the transmission of security instructions between the security control units. It should be noted that when there are multiple switches 140, data transmission can be performed between the multiple switches 140, thereby ensuring data transmission between the security control units.

[0236] The security control system provided by the embodiment of the present disclosure ensures the security of data transmission while realizing data transmission between various security control units by adding a switch 140, thereby avoiding the problem of network congestion caused by excessive data volume of the wireless transmitter 130.

[0237] FIG18 is a schematic diagram of another secure transmission system provided by an embodiment of the present disclosure. As shown in FIG18 , the second security control unit 112 can be coupled to the wireless transmitter 130 through the first security control unit 111 .

[0238] In some embodiments, the first security control unit 111 is configured to: send security instructions to each mobile device in the first mobile device group corresponding to the first security control unit 111 through the wireless transmitter 130; the second security control unit 112 is configured to: receive the security instructions sent by the first security control unit 111, and send security instructions to each mobile device in the second mobile device group through the first security control unit 111 and the wireless transmitter 130.

[0239] In some embodiments, as shown in FIG18 , the first interface A of the first security control unit 111 is coupled to the wireless transmitter 130, and the second interface B of the first security control unit 111 is coupled to the first interface A of the second security control unit. Upon determining that a security event has been triggered, the first security control unit 111 is configured to generate a security instruction, send the security instruction to each mobile device in the first mobile device group via the first interface A of the first security control unit 111 and the wireless transmitter 130, and send the security instruction to the second security control unit 112 via the second interface B of the first security control unit 111. The second security control unit 112 is configured to receive the security instruction via the first interface A of the second security control unit 112, and send the security instruction to each mobile device in the second mobile device group via the first security control unit 111 and the wireless transmitter 130.

[0240] In some examples, as shown in Figure 18, when the first security control unit 111 is coupled to the second security control unit 112 and the wireless transmitter 130 respectively, the first security control unit 111 can serve as a data transmission transit, and the transmission data of other security control units (such as the second security control unit 112) can be transmitted to each mobile device in the corresponding mobile device group through the first security control unit 111.

[0241] In some examples, if the first safety trigger device 121 detects that a safety event has been triggered, the first safety control unit 111 may generate a safety instruction based on the safety trigger signal sent by the first safety trigger device 121. The first safety control unit 111 may send the safety instruction to the wireless transmitter 130 and the second safety control unit 112 via the second interface B. The wireless transmitter 130 may send the safety instruction sent by the first safety control unit to each mobile device in the first mobile device group (e.g., AGV11 to AGV1m). The second safety control unit 112 receives the safety instruction sent by the first safety control unit via the first interface A and sends the safety instruction to each mobile device in the second mobile device group (e.g., AGV21 to AGV2m) via the first safety control unit 111 and the wireless transmitter 130. For example, the second safety control unit 112 may process the received safety instruction and then send it to each mobile device in the second mobile device group via the first safety control unit 111 and the wireless transmitter 130, but this is not limited in the present embodiment.

[0242] In some examples, if the second security triggering device 122 coupled to the second security control unit detects that a security event has been triggered, the second security control unit 112 can generate a security instruction based on the security triggering signal sent by the second security triggering device 122. The second security control unit 112 sends the security instruction to the first security control unit 111 via the first interface A. The first security control unit 111 receives the security instruction via the second interface B and sends the security instruction to the wireless transmitter 130 via the first interface A, so that the wireless transmitter 130 sends the security instruction to each mobile device in the first mobile device group and each mobile device in the second mobile device group.

[0243] FIG19 is a schematic diagram of another secure transmission system according to an embodiment of the present disclosure. As shown in FIG19 , the first security control unit 111 is coupled to the second security control unit 112 , and the first security control unit 111 and the second security control unit 112 are coupled to the wireless transmitter 130 , respectively.

[0244] In some embodiments, the first security control unit 111 is configured to: send security instructions to each mobile device in the first mobile device group corresponding to the first security control unit 111 through the wireless transmitter 130; the second security control unit 112 is configured to: receive the security instructions sent by the first security control unit 111, and send security instructions to each mobile device in the second mobile device group through the wireless transmitter 130.

[0245] In some embodiments, as shown in FIG19 , the first interface A of the first security control unit 111 is coupled to the wireless transmitter 130, the second interface B of the first security control unit 111 is coupled to the first interface A of the second security control unit 112, and the second interface B of the second security control unit is coupled to the wireless transmitter 130. The first security control unit 111 is configured to, upon determining that a security event has been triggered, generate a security instruction, send the security instruction to each mobile device in the first mobile device group (e.g., each first mobile device) via the first interface A of the first security control unit 111 and the wireless transmitter 130, and send the security instruction to the second security control unit via the second interface B of the first security control unit 111. The second security control unit 112 is configured to receive the security instruction via the first interface A of the second security control unit 112, and send the security instruction to each mobile device in the second mobile device group (e.g., each second mobile device) via the second interface B of the second security control unit and the wireless transmitter 130.

[0246] In some examples, the second safety control unit 112 cascaded with the first safety control unit 111 may also be coupled to the wireless transmitter 130. In this case, when the second safety control unit 112 receives a safety instruction sent by the second interface B of the first safety control unit 111 cascaded therewith, the second safety control unit 112 may send the safety instruction to the wireless transmitter 130 via the second interface B of the second safety control unit 112, so that the wireless transmitter 130 sends the safety instruction to each mobile device in the second mobile device group, thereby controlling the stopping and running of each mobile device.

[0247] FIG20 is a schematic diagram of another secure transmission system provided by an embodiment of the present disclosure. As shown in FIG20 , the plurality of security control units further includes a third security control unit 113 .

[0248] For example, the first interface A of the third safety control unit 113 is coupled to the second interface B of the second safety control unit 112 .

[0249] In some embodiments, the first security control unit 111 is configured to, upon determining that a security event has been triggered, generate a security instruction and send the security instruction to the second security control unit via the second interface B of the first security control unit 111. The second security control unit 112 is configured to send the security instruction to the third security control unit 113 via the first interface A of the second security control unit 112 and via the second interface B of the second security control unit. The third security control unit 113 is configured to receive the security instruction via the first interface A of the third security control unit 113 and send the security instruction to each mobile device in the third mobile device group corresponding to the third security control unit 113 via the second security control unit, the first security control unit 111, and the wireless transmitter 130.

[0250] It should be noted that when there are multiple second safety control units 112, that is, when multiple safety control units are coupled between the first safety control unit 111 and the third safety control unit 113, their connection method and data transmission process are similar to the above process. To avoid repetition, they will not be repeated here.

[0251] In some examples, if the second security control unit 112 is coupled to the third security control unit 113, the third security control unit 113 can receive the security instructions sent by the first security control unit 111 through the second security control unit 112, and then send its security instructions to each mobile device in the third mobile device group through the second security control unit 112, the first security control unit 111 and the wireless transmitter 130.

[0252] In some examples, if the third security triggering device 123 detects that a security event has been triggered, the third security control unit 113 can generate a security instruction based on the security trigger signal sent by the third security triggering device 123. The third security control unit 113 sends the security instruction to the second security control unit 112 via the first interface A. The second security control unit 112 receives the security instruction via the second interface B and sends the security instruction to the first security control unit 111 via the first interface A. The first security control unit 111 receives the security instruction via the second interface B and sends the security instruction to the wireless transmitter 130 via the first interface A, so that the wireless transmitter 130 sends the security instruction to each mobile device in the first mobile device group, each mobile device in the second mobile device group, and each mobile device in the third mobile device group.

[0253] It should be noted that the embodiments of the present disclosure do not limit the security triggering device that triggers the security event, and it can be a security triggering device coupled to any security control unit.

[0254] FIG21 is a schematic diagram of another secure transmission system provided by an embodiment of the present disclosure. As shown in FIG21 , the plurality of security control units further includes a third security control unit 113 .

[0255] Exemplarily, the second safety control unit 112 further includes a third interface C; the third interface C of the second safety control unit 112 is coupled to the first interface A of the third safety control unit 113 , and the second interface B of the third safety control unit 113 is coupled to the wireless transmitter 130 .

[0256] In some embodiments, the second security control unit 112 is further configured to send a security instruction to the third security control unit 113 via the third interface C of the second security control unit 112. The third security control unit 113 is configured to receive the security instruction via the first interface A of the third security control unit 113, and send the security instruction to each mobile device in the third mobile device group corresponding to the third security control unit 113 via the second interface B of the third security control unit 113 and the wireless transmitter 130.

[0257] In some examples, when the second safety control unit 112 further includes a third interface C, the first safety control unit 111, the second safety control unit 112, and the third safety control unit 113 can be connected in cascade order and each be coupled to the wireless transmitter 130. In this case, when the second safety control unit 112 receives a safety instruction sent by the second interface B of the first safety control unit 111, it can send the instruction to the wireless transmitter 130 via the second interface B of the second safety control unit 112, so that the wireless transmitter 130 transmits the safety instruction to each mobile device in the second mobile device group, thereby controlling the shutdown and operation of each mobile device. Simultaneously, the second safety control unit 112 can send the safety instruction to the third safety control unit 113 via the third interface C of the second safety control unit 112. The third safety control unit 113 receives the safety instruction via the first interface A of the third safety control unit 113 and sends it to the wireless transmitter 130 via the second interface B of the third safety control unit 113, so that the wireless transmitter 130 transmits the safety instruction to each mobile device in the third mobile device group, thereby controlling the shutdown and operation of each mobile device.

[0258] In the embodiment of the present disclosure, the security control units are connected in a cascade manner, and when one of the security control units (such as the first security control unit 111) is connected to the wireless transmitter 130, the other security control units connected to the first security control unit 111 (such as the second security control unit 112 and / or the third security control unit 113) can send security instructions to each mobile device in the corresponding mobile device group through the first security control unit 111 and the wireless transmitter 130, thereby achieving unified security management and control of all mobile devices 20 by the security control system 100. Alternatively, the security control units can be directly cascaded with each other to transmit security instructions, and each security control unit is separately coupled to the wireless transmitter 130, and sends the security instructions obtained by each to each mobile device in the corresponding mobile device group through the wireless transmitter 130, thereby achieving unified security management and control of all mobile devices 20 by the security control system 100.

[0259] FIG22 is a schematic diagram of another secure transmission system provided by an embodiment of the present disclosure. As shown in FIG22 , the secure transmission system 1 includes a security control system 100 and a plurality of mobile devices 20 .

[0260] In some embodiments, the mobile device 20 is configured to receive a security instruction sent by a corresponding security control unit in the security control system 100 and perform corresponding operations according to the security instruction.

[0261] In some examples, each of the multiple mobile devices 20 can receive security instructions from the security control unit corresponding to the mobile device group to which it belongs. For example, each mobile device in the first mobile device group can receive security instructions from the first security control unit 111, and each mobile device in the second mobile device group can receive security instructions from the second security control unit 112. This is similar to the transmission method between the multiple security control units and the multiple mobile devices 20 described in Figures 16 and 17 of the above embodiments.

[0262] In other examples, each mobile device may also receive security instructions from the security control unit corresponding to the mobile device group to which it belongs, sent through other security control units. For example, each mobile device in the second mobile device group may receive security instructions from the second security control unit 112, sent through the first security control unit 111.

[0263] In some embodiments, as shown in FIG22 , each mobile device 20 includes a second security control mechanism 21 (such as the security control mechanism 41 in the above embodiment), a wireless receiver 23, and an actuator 22. The wireless receiver 23 is coupled to the wireless transmitter 130 in the security control system 100; the security control mechanism 21 is coupled to the wireless receiver 23 and the actuator 22, respectively.

[0264] The wireless receiver 22 is configured to receive the security instruction sent by the wireless transmitter 130 and send the security instruction to the security control mechanism 21. The security control mechanism 21 is configured to receive the security instruction, parse the security instruction according to a preset security communication protocol, obtain a parsing result, and send the parsing result to the execution mechanism 22. The execution mechanism 22 is configured to perform a corresponding operation based on the parsing result.

[0265] In some examples, the actuator 22 may execute a stop operation corresponding to an emergency stop instruction, or execute a run operation corresponding to a reset instruction, based on the analysis results; or, it may execute operations corresponding to other scheduling instructions, which is not limited in the embodiments of the present disclosure.

[0266] Figure 23 is a schematic diagram of another security control method provided by an embodiment of the present disclosure. As shown in Figure 23, the method includes steps 2310 to 2340 as described below.

[0267] Step 2310: When determining that a security event is triggered, the first security control unit generates first security control information based on a first security trigger signal.

[0268] Step 2320: The first security control unit sends first security control information to the second security control unit.

[0269] Step 2330: The first security control unit sends a target security control signal to each first mobile device in the first mobile device group based on the first security control signal.

[0270] Step 2340: The second security control unit sends a target security control signal to each second mobile device in the second mobile device group corresponding to the second security control unit based on the first security control signal.

[0271] In some embodiments, the target security control signal may be a first security control signal. That is, step 2330 may include the first security control unit sending the first security control signal to each first mobile device in the first mobile device group.

[0272] It should be noted that the first security control signal can also be sent to each first mobile device in the form of an instruction. For example, the first security control signal can also be referred to as a security instruction. When the first security control signal is a security instruction, the security instruction carries the first security control signal and can achieve the same effect as the first security control signal. The first security control signal in this method embodiment is the security instruction in the above embodiment.

[0273] The above steps 2310 to 2340 are described below when the target safety control signal is the first safety control signal.

[0274] In some embodiments, the security control system further includes a wireless transmitter coupled to the plurality of security control units.

[0275] Step 2320 includes: the first safety control unit sends a first safety control signal to the second safety control unit through a wireless transmitter.

[0276] Step 2330 includes: the first security control unit sends the first security control signal to each first mobile device in the first mobile device group corresponding to the first security control unit through the wireless transmitter.

[0277] Step 2340 includes: the second security control unit receives the first security control signal through a wireless transmitter, and transmits the first security control signal to each second mobile device in the second mobile device group corresponding to the second security control unit through the wireless transmitter.

[0278] In some embodiments, the security control system further includes a switch coupled to the plurality of security control units.

[0279] Step 2320 includes: the first safety control unit sends a first safety control signal to the second safety control unit through the switch.

[0280] Step 2340 includes: the second security control unit receives the first security control signal through the switch, and sends the first security control signal to each second mobile device in the second mobile device group corresponding to the second security control unit through a wireless transmitter.

[0281] In some embodiments, the first interfaces of the plurality of security control units are respectively coupled to the wireless transmitter, and the second interfaces of the plurality of security control units are respectively coupled to the switch.

[0282] Step 2330 includes: the first security control unit sends a first security control signal to the wireless transmitter through the first interface of the first security control unit, so that the wireless transmitter sends the first security control signal to each first mobile device in the first mobile device group.

[0283] Step 2320 includes: the first security control unit sends a first security control signal to the switch through the second interface of the first security control unit, so that the switch sends the first security control signal to the second security control unit.

[0284] Step 2340 includes: the second security control unit receives the first security control signal through the switch and the second interface of the second security control unit, and sends the first security control signal to the wireless transmitter through the first interface of the second security control unit, so that the wireless transmitter sends the first security control signal to each second mobile device in the second mobile device group.

[0285] In some embodiments, the safety control system further includes a wireless transmitter, and the second safety control unit is coupled to the wireless transmitter via the first safety control unit.

[0286] Step 2330 includes: the first security control unit sends a first security control signal to each first mobile device in the first mobile device group corresponding to the first security control unit through a wireless transmitter.

[0287] Step 2340 includes: the second security control unit receives the first security control signal sent by the first security control unit, and sends the first security control signal to each second mobile device in the second mobile device group via the first security control unit and the wireless transmitter.

[0288] In some embodiments, the first interface of the first security control unit is coupled to the wireless transmitter, and the second interface of the first security control unit is coupled to the first interface of the second security control unit.

[0289] Step 2330 includes: the first security control unit sends a first security control signal to each first mobile device in the first mobile device group through the first interface of the first security control unit and the wireless transmitter.

[0290] Step 2320 includes: the first safety control unit sends a first safety control signal to the second safety control unit through the second interface of the first safety control unit.

[0291] Step 2340 includes: the second security control unit receives the first security control signal through the first interface of the second security control unit, and sends the first security control signal to each second mobile device in the second mobile device group through the first security control unit and the wireless transmitter.

[0292] In some embodiments, the plurality of security control units further comprises a third security control unit; the first interface of the third security control unit is coupled to the second interface of the second security control unit. The method further comprises: the second security control unit transmits a first security control signal to the third security control unit via the second interface of the second security control unit; the third security control unit receives the first security control signal via the first interface of the third security control unit, and transmits the first security control signal to each third mobile device in the third mobile device group corresponding to the third security control unit via the second security control unit, the first security control unit, and a wireless transmitter.

[0293] In some embodiments, the safety control system further includes a wireless transmitter, the first safety control unit is coupled to the second safety control unit, and the first safety control unit and the second safety control unit are respectively coupled to the wireless transmitter.

[0294] Step 2330 includes: the first security control unit sends the first security control signal to each first mobile device in the first mobile device group corresponding to the first security control unit through a wireless transmitter;

[0295] Step 2340 includes: the second security control unit receives the first security control signal sent by the first security control unit, and sends the first security control signal to each second mobile device in the second mobile device group through a wireless transmitter.

[0296] In some embodiments, the first interface of the first safety control unit is coupled to the wireless transmitter, the second interface of the first safety control unit is coupled to the first interface of the second safety control unit, and the second interface of the second safety control unit is coupled to the wireless transmitter.

[0297] Step 2330 includes: the first security control unit sends the first security control signal to each first mobile device in the first mobile device group through the first interface of the first security control unit and the wireless transmitter.

[0298] Step 2320 includes: the first safety control unit sends a first safety control signal to the second safety control unit through the second interface of the first safety control unit.

[0299] Step 2340 includes: the second security control unit receives the first security control signal through the first interface of the second security control unit, and sends the first security control signal to each second mobile device in the second mobile device group through the second interface of the second security control unit and the wireless transmitter.

[0300] In some embodiments, the multiple security control units also include a third security control unit, and the second security control unit also includes a third interface; the third interface of the second security control unit is coupled to the first interface of the third security control unit, and the second interface of the third security control unit is coupled to the wireless transmitter; the method also includes: the second security control unit sends a first security control signal to the third security control unit through the third interface of the second security control unit; the third security control unit receives the target security control signal through the first interface of the third security control unit, and sends the first security control signal to each third mobile device in the third mobile device group corresponding to the third security control unit through the second interface of the third security control unit and the wireless transmitter.

[0301] In some embodiments, the safety transmission system also includes at least one safety trigger device; the at least one safety trigger device includes a first safety trigger device coupled to a first safety control unit; the method also includes: when the first safety trigger device detects a trigger operation, the first safety trigger device generates a first safety trigger signal and sends the first safety trigger signal to the first safety control unit; the first safety control unit receives the first safety trigger signal, and determines that the safety event is triggered based on the first safety trigger signal; wherein, the safety event includes an emergency stop event and / or a reset event.

[0302] The following takes the target safety control signal as an example of a signal generated based on the first safety control signal, and describes the structure of the safety transmission system and the corresponding safety control method of the safety transmission system in combination with Figures 24 to 30.

[0303] It should be noted that the target safety control signal generated based on the first safety control signal can also be called a safety control instruction. When the target safety control signal is a safety control instruction, the safety control instruction can be an instruction that carries the target safety control signal. The following embodiments are illustrative examples using the target safety control signal as a safety control instruction.

[0304] Figure 24 is a schematic diagram of another secure transmission control system provided by an embodiment of the present disclosure. As shown in Figure 24, the secure transmission system 1 includes a secure control system 100, multiple security triggering devices 30, and multiple mobile devices 20. The secure control system 100 includes multiple security control units.

[0305] In some embodiments, the safety trigger device 30 may also include a workstation control cabinet. The workstation control cabinet is used to provide safety control for each workstation in the warehouse system. For example, each workstation control cabinet may support safety control for multiple workstations, each of which may have different functions, such as a picking station, a security gate, or a shelving station.

[0306] In some examples, when multiple safety trigger devices 30 (e.g., workstation cabinets) are included in the secure transmission system 1, the security control unit can receive safety trigger signals sent by each of the multiple safety trigger devices. For example, the secure transmission system 1 can include n workstation cabinets, namely, workstation cabinet 1 through workstation cabinet n, where n is an integer greater than 1.

[0307] For example, each workstation electrical cabinet can send an emergency stop signal and a reset signal to the safety control unit respectively. The safety control unit can control each mobile device to perform an emergency stop (i.e., stop running) based on the emergency stop signal sent by each workstation electrical cabinet when it determines that an emergency stop event is triggered, and control each mobile device to reset (i.e., resume running) based on the reset signal sent by each workstation electrical cabinet when it determines that a reset event is triggered.

[0308] In some embodiments, the multiple safety control units include a first safety control unit 111 and at least one second safety control unit 112, wherein the first safety control unit 111 is any one of the multiple safety control units, and the second safety control unit 112 is the remaining safety control unit except the first safety control unit.

[0309] In some examples, the number of the at least one second safety control unit 112 can be one or more. FIG24 shows a safety control system 100 with one second safety control unit 112. The present embodiment of the disclosure uses one second safety control unit 112 as an example for illustrative purposes. It should be noted that the number of second safety control units 112 can be set as needed. For example, the number of safety control units can be determined based on the number of mobile devices and safety trigger devices in the warehouse system, and the present embodiment of the disclosure is not limited to this.

[0310] For example, the safety control system 100 may include p safety control units, where p is an integer greater than 2. Each safety control unit may be referred to as a master station (e.g., Master). In other words, the safety control system 100 includes a first safety control unit 111 and (p-1) second safety control units.

[0311] In some embodiments, each security control unit in the plurality of security control units is used to control a group of mobile devices and to receive a security trigger signal sent by each security trigger device in a corresponding security trigger device group.

[0312] For example, each security control unit may correspond to a mobile device group and a security trigger device group. For example, each security control unit may be associated with a security trigger device group to receive security trigger signals sent by each security trigger device in the security trigger device group. Each security control unit may also be associated with a mobile device group to perform security control on each mobile device in the mobile device group.

[0313] For example, the plurality of mobile devices 20 may be pre-divided into at least one mobile device group, and the plurality of security trigger devices 30 may be pre-divided into at least one security trigger device group, wherein each mobile device group includes at least one mobile device, and each security trigger device group includes at least one security trigger device.

[0314] In some examples, the plurality of mobile devices 20 can be divided into a number of mobile device groups, and the number of mobile devices included in each mobile device group can be the same or different. As shown in FIG24 , taking a safety control system 100 including two safety control units as an example, m AGVs can be divided into two mobile device groups, with the first mobile device group including m1 AGVs and the second mobile device group including m2 AGVs, where m1 and m2 are integers greater than or equal to 1, and the sum of m1 and m2 is m.

[0315] In some examples, multiple safety trigger devices 30 can be divided into b safety trigger device groups. The number of safety trigger devices included in each safety trigger device group can be the same or different. As shown in FIG24 , taking a safety control system 100 including two safety control units as an example, n workstation electrical cabinets can be divided into two safety trigger device groups. The first safety trigger device group includes n1 workstation electrical cabinets, and the second mobile device group includes n2 workstation electrical cabinets. n1 and n2 are integers greater than or equal to 1, and the sum of n1 and n2 is n.

[0316] It should be noted that when the number of safety control units in the safety control system 100 is greater, the n workstation electrical cabinets can be divided into a greater number of safety trigger device groups, and the m AGVs can be divided into a greater number of mobile device groups. For example, the number of safety trigger device groups and the number of mobile device groups can be determined based on the number of safety control units. For example, the number of safety trigger device groups and the number of mobile device groups can be less than or equal to the number of safety control units. This is not limited in the present embodiment.

[0317] Exemplarily, a first preset association relationship may be established between a mobile device groups and p security control units, and a second preset association relationship may be established between b security trigger device groups and p security control units.

[0318] In some examples, each of the multiple safety triggering devices 30 must be associated with one and only one safety control unit. A safety control unit can be associated with multiple safety triggering devices (i.e., a safety triggering device group), and different safety triggering device groups associated with different safety control units do not have the same safety triggering device. For example, a first safety control unit is associated with a first safety triggering device group, and a second safety control unit is associated with a second safety triggering device group. The n1 workstation electrical cabinet in the first safety triggering device group and the n2 workstation electrical cabinet in the second safety triggering device group are not duplicated.

[0319] In some examples, each of the multiple mobile devices 20 is associated with one and only one safety control unit. A single safety control unit can be associated with multiple mobile devices (i.e., a mobile device group), and mobile device groups associated with different safety control units do not contain duplicate mobile devices. For example, a first safety control unit is associated with a first mobile device group, and a second safety control unit is associated with a second mobile device group. The number m1 AGVs in the first mobile device group and the number m2 AGVs in the second mobile device group are unique.

[0320] For example, as shown in Figure 24, when the first safety control unit 111 is associated with the first safety trigger device group, the first safety control unit 111 can receive safety trigger signals sent respectively from n1 workstation electrical cabinets in the first safety trigger device group, and the first safety control unit can send safety control instructions (such as target safety control signals, exemplified below using safety control instructions as an example) to m1 AGVs in the first mobile device group to control the emergency stop or reset of each mobile device in the first mobile device group.

[0321] In some embodiments, each security control unit has a maximum number of connectable nodes. The sum of the number of security trigger devices in the security trigger device group associated with each security control unit and the number of mobile devices in the mobile device group associated with each security control unit is less than or equal to the maximum number of controllable nodes.

[0322] As shown in FIG24 , the sum of the number of workstation electrical cabinets in the first safety trigger device group (such as n1) and the number of AGVs in the first mobile device group (such as m1) is less than or equal to the maximum number of controllable nodes of the first safety control unit 111 .

[0323] For example, when grouping multiple mobile devices 20 and multiple security trigger devices 30, the maximum number of connectable nodes of each security control unit needs to be considered. The maximum number of connectable nodes of a security control unit indicates the maximum number of devices that the security control unit can connect to and manage. The maximum number of connectable nodes of different security control units can be the same or different, and this is not limited in the present embodiment.

[0324] In some examples, after completing the division of security trigger device groups and mobile device groups, a first preset association relationship between a mobile device groups and p security control units, and a second preset association relationship between b security trigger device groups and p security control units can be established based on the maximum number of connectable nodes of each security control unit, thereby ensuring that the number of security trigger devices in the security trigger device group associated with each security control unit and the number of mobile devices in the mobile device group are less than or equal to their maximum number of connectable nodes.

[0325] FIG25 is a schematic diagram of another secure transmission system provided by an embodiment of the present disclosure. As shown in FIG25 , the secure transmission system includes a secure control system 100, multiple secure triggering devices 30, and multiple mobile devices 20. Specifically, the secure control system 100 includes p security control units, the multiple secure triggering devices 30 include n workstation electrical cabinets, and the multiple mobile devices 20 include n AGVs.

[0326] In some embodiments, each of the p security control units includes two interfaces, a first interface A1 and a second interface A2.

[0327] In some embodiments, the first interface A1 of each security control unit is used to couple with each security trigger device in the corresponding security trigger device group through the first switching network 31; the second interface A2 of each security control unit is used to couple with each mobile device in the corresponding mobile device group through the second switching network 53.

[0328] As shown in FIG25 , the first interface A1 of each safety control unit and the n workstation cabinets are respectively connected to the first switching network 31 , and the second interface A2 of each safety control unit and the m AGVs are respectively connected to the second switching network 32 .

[0329] In some embodiments, the first switching network 31 includes at least one first switch, and the second switching network 32 includes at least one second switch. The number of first switches is related to the number of the plurality of security control units and the number of the plurality of security triggering devices, and the number of second switches is related to the number of the plurality of security control units.

[0330] In some examples, each security control unit may correspond to at least one first switch and at least one second switch. For example, the first security control unit may be coupled to each first security trigger device via one (or more) first switches, and coupled to each first mobile device via one (or more) second switches, although this is not limited in the present disclosure.

[0331] In some examples, when the number of interfaces of the first switch is determined, the number of devices that each first switch can connect to can be determined. Therefore, the number of first switches can be determined based on the number of security control units and security trigger devices that need to be connected to the first switch.

[0332] For example, multiple security control units may share a first switch (or a second switch), or different security control units may use different first switches (or second switches), which is not limited in the embodiments of the present disclosure.

[0333] In some embodiments, the first security control unit 111 is further configured to: establish a secure connection with each first security trigger device in the first security trigger device group through the first switching network 31; and establish a secure connection with each first mobile device in the first mobile device group through the second switching network 32.

[0334] As shown in Figure 25, n workstation electrical cabinets can safely transmit the safety trigger signal to the corresponding safety control unit through the first switching network. The safety control unit can generate corresponding safety control instructions based on the safety trigger signal, and transmit the safety control instructions to the corresponding AGV through the second switching network to achieve safe control of the AGV.

[0335] In some embodiments, the first safety control unit 111 is configured to generate a first safety control signal based on a first safety trigger signal sent by each first safety trigger device in a first safety trigger device group corresponding to the first safety control unit, and transmit the first safety control signal to each second safety control unit. The second safety control unit 112 is configured to generate a second safety control signal based on a second safety trigger signal sent by each second safety trigger device in a second safety trigger device group corresponding to the second safety control unit, and transmit the first safety control signal to the first safety control unit.

[0336] In some embodiments, the first security control unit 111 can receive the first security trigger signal sent by each first security trigger device in the first security trigger device group through the first interface A1 of the first security control unit 111 and the corresponding first switch; and send the first security control signal to the second security control unit 112 through the second interface of the first security control unit 111 and the corresponding second switch.

[0337] In some embodiments, multiple security control units are connected in parallel, and each security control unit is connected to the first switching network through a first interface and is connected to the second switching network through a second interface.

[0338] As shown in Figure 25, p safety control units are connected in parallel. Safety control unit 1, safety control unit 2, ..., safety control unit p are connected to the first switching network 31 through their respective first interfaces, and to the second switching network 32 through their respective second interfaces, thereby achieving parallel connection between the p safety control units.

[0339] Because multiple safety control units are connected in parallel, each can more quickly transmit its generated safety control instructions directly to the corresponding mobile device via its corresponding second switch, thereby controlling the mobile device's emergency stop or reset. Furthermore, each safety control unit can directly receive the safety trigger signal from its corresponding safety trigger device via its corresponding first switch and transmit its generated safety control signal directly to other safety control units via its corresponding second switch, thereby shortening signal transmission time and improving transmission efficiency.

[0340] It should be noted that the first safety control unit 111 is any one of the multiple safety control units. Therefore, the first safety control unit can be used as an example for illustrative explanation. The processing process of other safety control units is similar to that of the first safety control unit. To avoid repetition, the embodiment of this disclosure will not be repeated.

[0341] In some examples, each safety control unit can receive a safety trigger signal sent by each safety trigger device in its corresponding safety trigger device group, perform logical processing on each safety trigger signal, and then send it to each safety control unit separately. For example, a first safety control unit generates a first safety control signal based on the first safety trigger signal sent by each first safety trigger device and sends it to a second safety control unit. A second safety control unit generates a second safety control signal based on the second safety trigger signal sent by each second safety trigger device and sends it to the first safety control unit. When there are multiple second safety control units, in addition to sending the second safety control signal to the first safety control unit, the second safety control unit also needs to send the second safety control signal to the other second safety control units. In other words, the multiple safety control units transmit their generated safety control signals to each other.

[0342] For example, as shown in FIG. 25 , each safety control unit may send the safety control signal generated by itself to other safety control units through the second switching network 32 .

[0343] Exemplarily, the safety trigger signal includes an emergency stop signal and a reset signal. The first safety trigger signal includes a first emergency stop signal and a first reset signal, and the second safety trigger signal includes a second emergency stop signal and a second reset signal.

[0344] In some embodiments, the first safety control unit 111 is configured to: perform a first logical operation on the first emergency stop signal sent by each first safety trigger device in the first safety trigger device group to generate a first emergency stop control signal; perform a second logical operation on the first reset signal sent by each first safety trigger device in the first safety trigger device group to generate a first reset control signal.

[0345] Exemplarily, the first safety control signal includes a first emergency stop control signal and a first reset control signal.

[0346] FIG26 is a schematic diagram of a security control scenario provided by an embodiment of the present disclosure.

[0347] As shown in Figure 26, workstation electrical cabinet 1, workstation electrical cabinet 2 to workstation electrical cabinet n1 in the first safety trigger device group respectively send emergency stop signals (i.e., the first emergency stop signal) and reset signals (i.e., the first reset signal) to the first safety control unit 111. After receiving n1 emergency stop signals and n1 reset signals, the first safety control unit 111 can perform a first logical operation on the n1 emergency stop signals to obtain a first emergency stop control signal, and perform a second logical operation on the n1 reset signals to obtain a first reset control signal; and send the first emergency stop control signal and the first reset control signal to each second safety control unit 112 respectively.

[0348] That is, after receiving n1 first emergency stop signals and n1 reset signals, the first safety control unit 111 may respectively perform a first logic operation on the n1 first emergency stop signals and a second logic operation on the n1 reset signals.

[0349] Correspondingly, the second safety control unit 112 can also receive the emergency stop signals and reset signals respectively sent by the n2 workstation cabinets in the second safety trigger device group, and obtain the second emergency stop control signal after performing a first logical operation on the n2 emergency stop signals, and obtain the second reset control signal after performing a second logical operation on the n2 reset signals; and send the second emergency stop control signal and the second reset control signal to each first safety control unit 111.

[0350] Exemplarily, the first emergency stop signal includes an emergency stop data signal, and the emergency stop data signal is used to indicate whether the first emergency stop signal is used for emergency stop control. For example, whether the first emergency stop signal is used for emergency stop control can be determined based on the level of the emergency stop data signal.

[0351] In some examples, when the emergency stop data signal of the first emergency stop signal is at a low level (such as changing from a high level to a low level), the first emergency stop signal can be used for emergency stop control; when the emergency stop data signal of the first emergency stop signal is at a high level (such as changing from a low level to a high level), the first emergency stop signal is used for non-emergency stop control or control of releasing the emergency stop state.

[0352] In some examples, when the emergency stop data signal of the first emergency stop signal is at a low level (eg, 0) and the first emergency stop signal is used for emergency stop control, the first logical operation may be an AND operation.

[0353] For example, the first safety control unit 111 can perform an AND operation on the n1 first emergency stop signals to generate a first emergency stop control signal. When the first emergency stop control signal is at a low level, it is determined that the first emergency stop control signal can cause each first mobile device to emergency stop. In other words, when the emergency stop signal sent by any of the n1 workstation electrical cabinets is at a low level, the first emergency stop control signal generated by the first safety control unit can cause each first mobile device to emergency stop.

[0354] Exemplarily, the first emergency stop signal further includes an emergency stop status signal, which is used to indicate whether the transmission of the first emergency stop signal is normal. When the transmission of the emergency stop status signal is abnormal, the first emergency stop control signal can also control the first mobile device to stop suddenly.

[0355] In some examples, the emergency stop status signal of the first emergency stop signal is used to indicate whether the first safety control unit 111 normally receives the first emergency stop signal. If the first emergency stop signal is normally received by the first safety control unit 111, the emergency stop status signal of the first emergency stop signal is ON; if the first emergency stop signal is not normally received by the first safety control unit 111, that is, the first emergency stop signal is lost, the emergency stop status signal of the first emergency stop signal is OFF.

[0356] Exemplarily, the first reset signal includes a reset data signal, and the reset data signal is used to indicate whether the first reset signal is used for reset control. For example, whether the first reset signal is used for reset control can be determined based on the level of the reset data signal.

[0357] In some examples, when the reset data signal of the first reset signal is at a high level (such as changing from a low level to a high level), the first reset signal can be used for reset control; when the reset data signal of the first reset signal is at a low level (such as changing from a high level to a low level), the first emergency stop signal is used for non-reset control.

[0358] In some examples, when the reset data signal of the first reset signal is at a high level (eg, 1) and the first reset signal is used for reset control, the second logical operation may be an OR operation.

[0359] For example, the first safety control unit 111 can perform an OR operation on the n1 first reset signals to generate a first reset control signal. When the first reset control signal is at a high level, it is determined that the first reset control signal can control the first mobile device to reset (resume operation). In other words, when the reset signal sent by any of the n1 workstation electrical cabinets is at a high level, the first reset control signal generated by the first safety control unit can control the first mobile device to reset.

[0360] Exemplarily, the first reset signal further includes a reset state signal, which is used to indicate whether the transmission of the first reset signal is normal. When the reset state signal is abnormally transmitted, the first reset control signal cannot control the first mobile device to resume operation.

[0361] In some examples, the reset state signal of the first reset signal is used to indicate whether the first safety control unit 111 has normally received the first reset signal. If the first reset signal is normally received by the first safety control unit 111, the reset state signal of the first emergency stop signal is ON; if the first reset signal is not normally received by the first safety control unit 111, that is, the first reset signal is lost, the reset state signal of the first reset signal is OFF.

[0362] In some embodiments, the first safety control unit 111 is configured to: generate a safety control instruction based on the first safety control signal and at least one second safety control signal, and control the emergency stop or reset of each first mobile device in the first mobile device group corresponding to the first safety control unit 111 based on the safety control instruction.

[0363] In some embodiments, each second safety control unit 112 is configured to: generate a safety control instruction based on the first safety control signal and at least one second safety control signal, and control the emergency stop or reset of each second mobile device in the second mobile device group corresponding to the second safety control unit 112 based on the safety control instruction.

[0364] In some examples, any one of at least one second safety control unit (such as the current second safety control unit) can generate a corresponding second safety control signal (such as the current second safety control signal), and receive the first safety control signal sent by the first safety control unit, as well as the second safety control signals sent by other second safety control units, and then generate a safety instruction based on the current second safety control signal, the other second safety control signals and the first safety control signal.

[0365] It should be noted that the current second safety control unit is any second safety control unit in the at least one second safety control unit, and the other second safety control units are all second safety control units in the at least one second safety control unit except the current second safety control unit. The at least one second safety control signal includes the current second safety control signal and the other second safety control signals.

[0366] In some examples, the safety instruction generated by the second safety control unit may be the same as the safety instruction generated by the first safety control unit.

[0367] In some embodiments, the first safety control unit 111 may send a safety control instruction to each first mobile device in the first mobile device group through the second interface and the corresponding second switch to control each first mobile device to stop or reset urgently.

[0368] In some examples, among p safety control units, after each safety control unit generates its own corresponding safety control signal and receives (p-1) safety control signals sent by other safety control units, it can generate safety control instructions based on these p safety control signals to control the emergency stop and reset of each mobile device in its corresponding mobile device group.

[0369] In some embodiments, the first safety control unit is configured to: generate a first system control signal based on the first safety control signal and at least one second safety control signal, and send the first system control signal to the second safety control unit; and generate a safety control instruction based on the first system control signal.

[0370] In some embodiments, the first system control signal includes a system emergency stop signal. When the first safety control signal and / or the at least one second safety control signal include an emergency stop control signal, the first system control signal is a system emergency stop signal.

[0371] For example, when the first safety control signal is an emergency stop control signal, or one (or more) second safety control signals among at least one second safety control signal are emergency stop control signals, the first system control signal is a system emergency stop signal; or, when the first safety control signal is an emergency stop control signal, and one (or more) second safety control signals among at least one second safety control signal are emergency stop control signals, the first system control signal is also a system emergency stop signal.

[0372] In some examples, the first safety control signal generated by the first safety control unit 111 may be an emergency stop control signal for emergency stop control. For example, when the first emergency stop control signal in the first safety control signal is at a low level, the first safety control signal can be used for emergency stop control, and the first safety control signal is an emergency stop control signal. Accordingly, at least one of the second safety control signals generated by each second safety control unit 112 may also include an emergency stop control signal.

[0373] For example, if each of the p safety control units receives an emergency stop signal from among the p safety control signals, the first system control signal is a system emergency stop signal. The safety control unit can generate an emergency stop control instruction based on the system emergency stop signal, and the emergency stop control instruction is used to stop the operation of each mobile device corresponding to each safety control unit.

[0374] In some embodiments, if a system emergency stop signal exists in the first system control signal and / or at least one second system control signal, and / or a signal indicating abnormal connection status exists in the first connection status signal and / or at least one second connection status signal, an emergency stop control instruction is generated to control the emergency stop of each first mobile device in the first mobile device group; and each first mobile device in the first mobile device group is controlled to emergency stop based on the emergency stop control instruction.

[0375] For example, each safety control unit may further send its corresponding connection status signal to each other safety control unit, wherein the connection status signal of the safety control unit is used to indicate whether the connection status between each safety control unit is normal.

[0376] In some examples, when the connection status of any of the P safety control units is abnormal, each mobile device can be controlled to stop operating. In other words, when the connection status of any of the safety control units is abnormal, an emergency stop event can also be triggered, and each safety control unit can generate an emergency stop control command to control the corresponding mobile device to stop operating.

[0377] In some examples, when there is a system emergency stop signal in the first system control signal and / or at least one second system control signal, and / or when there is a connection status abnormality signal in the first connection status signal and / or at least one second connection status signal, an emergency stop event can be triggered. Therefore, an emergency stop control instruction can be generated to control each mobile device to stop running.

[0378] In some examples, when the first safety control signal is an emergency stop control signal or a signal of an abnormal connection status, an emergency stop control instruction can be generated; or, if one (or more) second safety control signals in at least one second safety control signal are emergency stop control signals or signals of an abnormal connection status, an emergency stop control instruction can also be generated; or, if the first safety control signal is an emergency stop control signal or a signal of an abnormal connection status, and one (or more) second safety control signals in at least one second safety control signal are emergency stop control signals or signals of an abnormal connection status, an emergency stop control instruction can also be generated.

[0379] That is to say, when the connection status of any safety control unit in the p safety control units is abnormal or an emergency stop control signal is generated, each safety control unit in the p safety controls can generate an emergency stop control instruction to control the corresponding mobile device to stop running, thereby further ensuring the output consistency of each safety control unit.

[0380] The safety control system provided by the embodiment of the present disclosure includes multiple safety control units, each of which is used to control a group of mobile devices and to receive safety trigger signals sent by each safety trigger device in the corresponding safety trigger device group; each safety control unit can generate a safety control signal based on the safety trigger signal sent by each safety trigger device in the corresponding safety trigger device group, and after receiving the safety control signals sent by other safety control units, generate a safety control instruction based on each safety control signal, and control each mobile device in the corresponding mobile device group to stop or reset suddenly based on the safety control instruction. Therefore, the safety control system provided by the embodiment of the present disclosure can achieve the control needs of large-scale mobile devices through the joint control of multiple safety control units, and is more suitable for large-scale storage systems. At the same time, each safety control unit can send each other the safety control signals generated by each safety control unit, ensuring the consistency and reliability of the output of each safety control unit, thereby improving the safety of the safety control system.

[0381] In some embodiments, each safety control unit includes a merge channel and a system channel, wherein the merge channel includes a reset channel, an emergency stop 1 channel, and an emergency stop 2 channel, and the system channel includes a system emergency stop channel and a safety connection channel.

[0382] In some examples, the reset channel is used to receive and process reset signals sent by each workstation cabinet. For example, the reset channel can perform an OR operation on the reset signals sent by each workstation cabinet to obtain a reset control signal. The emergency stop 1 channel is used to receive and process emergency stop signals sent by each workstation cabinet. For example, the emergency stop 1 channel can perform an AND operation on the emergency stop signals sent by each workstation cabinet to obtain an emergency stop control signal. The emergency stop 2 channel is redundant to the emergency stop 1 channel. If the emergency stop control signals output by the emergency stop 1 and emergency stop 2 channels are inconsistent, it indicates an abnormality in the transmission process, and emergency stop processing is required.

[0383] In some examples, the system emergency stop channel is used to generate a system control signal and send it to other safety control units; the safety connection channel is used to send connection status signals from each safety control unit to other safety control units. Therefore, when the system control signal generated by any safety control unit is an emergency stop control signal, all other safety control units can receive it and control their corresponding mobile devices to stop operating. Alternatively, when the connection status of any safety control unit is abnormal, all other safety control units can receive the abnormality signal and control their corresponding mobile devices to stop operating.

[0384] FIG27 is a schematic diagram of an interaction between safety control units provided by an embodiment of the present disclosure. It should be noted that FIG27 illustrates the interaction process between the first safety control unit 111 and the second safety control unit 112. The interaction process between any other two safety control units in the safety control system 100 can also refer to FIG27.

[0385] As shown in FIG27 , the first safety control unit 111 can send signals from the reset channel, the emergency stop 1 channel, and the emergency stop 2 channel to the second safety control unit 112, respectively. Each channel includes a data signal (Data) and a status signal (Status). For example, the data signal of the reset channel can be obtained by performing an OR operation based on the reset signal sent by each first safety trigger device, the data signal of the emergency stop 1 channel can be obtained by performing an AND operation based on the emergency stop signal sent by the emergency stop 1 channel of each first safety trigger device, and the data signal of the emergency stop 2 channel can be obtained by performing an AND operation based on the emergency stop signal sent by the emergency stop 2 channel of each first safety trigger device.

[0386] As shown in Figure 27, the system emergency stop channel of the first safety control unit 111 can send the system emergency stop signal determined by the first safety control unit 111 to the second safety control unit 112, and the safety connection channel of the first safety control unit 111 can send the connection status signal of the first safety control unit 111 to the second safety control unit 112.

[0387] Similarly, the second safety control unit 112 may also send signals of its reset channel, emergency stop 1 channel, emergency stop 2 channel, system emergency stop channel, and safety connection channel to the first safety control unit.

[0388] The safety control system provided by the embodiment of the present disclosure can receive the information when any safety control unit determines that an emergency stop event is triggered, and can control all mobile devices to stop running, thereby achieving safety control of all mobile devices.

[0389] FIG28 is a schematic diagram of another safety control scenario provided by an embodiment of the present disclosure. As shown in FIG28 , the first safety control unit 111 includes an emergency stop function module 51 .

[0390] As shown in Figure 28, the first safety control unit 111 performs logical processing on the reset signals and emergency stop signals sent by the n1 workstation cabinets. For example, the first safety control unit 111 can perform an OR operation on the reset signals sent by each workstation cabinet and other safety control units, and perform an AND operation on the emergency stop signals sent by each workstation cabinet and other safety control units to obtain an emergency stop control signal. Then, based on the emergency stop control signal, the status data of the emergency stop 1 channel, the status data of the emergency stop 2 channel, and the connection status signals and emergency stop control signals of each second safety control unit 112, an emergency stop control instruction is generated, and each first mobile device in the first mobile device group is controlled to emergency stop according to the emergency stop control instruction.

[0391] That is to say, each safety control unit logically processes the emergency stop signal and reset signal of the corresponding workstation electrical cabinet, as well as the emergency stop signal and reset signal input by other safety control units, and sends them to other safety control units. At the same time, the system emergency stop signal and connection status signal of the system channel of each safety control unit will also be sent to other safety control units.

[0392] After generating the system emergency stop signal, the first safety control unit 111 can determine the emergency stop control instruction to be output based on the system emergency stop signal of the first safety control unit, as well as the connection status signals and system emergency stop signals of other safety control units (i.e., at least one second safety control unit). In other words, the system emergency stop signal generated by each safety control unit can be connected in series with the connection status signals and system emergency stop signals of other safety control units to determine the emergency stop control instruction output by each safety control unit, thereby ensuring the consistency of the emergency stop control instructions output by each safety control unit and realizing output interlocking between each safety control unit. Therefore, when the emergency stop of any workstation electrical cabinet is triggered, each safety control unit can obtain and generate the corresponding emergency stop control instruction, thereby realizing emergency stop control of the mobile equipment controlled by each safety control unit and ensuring the consistency and reliability of safety actions.

[0393] The embodiment of the present disclosure can achieve output interlocking between the safety control units by sending the emergency stop control signal and connection status signal output by the system to each other, so as to ensure the output consistency and reliability of each safety control unit.

[0394] FIG29 is a schematic diagram of another security control method provided by an embodiment of the present disclosure. It should be noted that the security control method shown in FIG29 can be implemented by the security control system 100 in the above embodiment. As shown in FIG29 , the method includes steps 2910 to 2930 as shown below.

[0395] In step 2910 , the first safety control unit generates a first safety control signal according to the first safety trigger signal sent by each first safety trigger device in the first safety trigger device group corresponding to the first safety control unit, and sends the first safety control signal to each second safety control unit.

[0396] It should be noted that the function implemented by step 2910 is the same as the functions implemented by step 2310 and step 2320 in the above embodiment.

[0397] In step 2920 , the second safety control unit generates a second safety control signal according to the second safety trigger signal sent by each second safety trigger device in the second safety trigger device group corresponding to the second safety control unit, and sends the second safety control signal to the first safety control unit.

[0398] In step 2930 , the first safety control unit generates a safety control instruction based on the first safety control signal and at least one second safety control signal, and controls each first mobile device in the first mobile device group corresponding to the first safety control unit to stop or reset based on the safety control instruction.

[0399] In some examples, in step 2330, the first security control unit sends a target security control signal to each first mobile device in the first mobile device group based on the first security control signal, including: the first security control unit generates a target security control signal based on the first security control signal, and sends the target security control signal to each first mobile device in the first mobile device group.

[0400] The first safety control unit generates a target safety control signal based on the first safety control signal, including: the first safety control unit generates the target safety control signal based on the first safety control signal and at least one second safety control signal. The target safety control signal can also be called a safety control instruction. When the target safety control signal is a safety control instruction, the safety control instruction carries the target safety control signal, and the effect achieved by the target safety control signal is the same as that achieved by the safety control instruction. In this method embodiment, the target safety control signal is the safety control instruction in the above embodiment.

[0401] It should be noted that the specific process of the above steps 2910 to 2930 has been described in detail in the above-mentioned safety control system embodiment, and the technical effects that can be achieved are similar to the technical effects that can be achieved by the above-mentioned safety control system. To avoid repetition, they will not be repeated here.

[0402] In some embodiments, the first safety control signal includes a first emergency stop control signal and a first reset control signal; step 2910 includes: the first safety control unit performs a first logical operation on the first emergency stop signal sent by each first safety trigger device in the first safety trigger device group to generate a first emergency stop control signal; the first safety control unit performs a second logical operation on the first reset signal sent by each first safety trigger device in the first safety trigger device group to generate a first reset control signal.

[0403] In some embodiments, step 2930 includes: the first safety control unit generates a first system control signal based on the first safety control signal and at least one second safety control signal, and sends the first system control signal to the second safety control unit; wherein, when there is an emergency stop control signal in the first safety control signal and / or at least one second safety control signal, the first system control signal is a system emergency stop signal; the first safety control unit generates a safety control instruction based on the first system control signal.

[0404] In some embodiments, the method also includes: the first safety control unit receives the second system control signal and the second connection status signal sent by each second safety control unit; step 2930 includes: the first safety control unit generates a safety control instruction based on the first system control signal, the first connection status signal corresponding to the first safety control unit, and the second system control signal and the second connection status signal corresponding to each second safety control unit.

[0405] In some embodiments, step 2930 includes: if there is a system emergency stop signal in the first system control signal and / or at least one second system control signal, and / or there is a signal of abnormal connection status in the first connection status signal and / or at least one second connection status signal, then an emergency stop control instruction is generated to control the emergency stop of each first mobile device in the first mobile device group; wherein the safety control instruction includes an emergency stop control instruction, and the emergency stop control instruction is used to control the emergency stop of each first mobile device in the first mobile device group.

[0406] In some embodiments, each security control unit includes a first interface and a second interface; the first interface of each security control unit is configured to couple to each security trigger device in the corresponding security trigger device group via a first switching network; and the second interface of each security control unit is configured to couple to each mobile device in the corresponding mobile device group via a second switching network. The method further includes: the first security control unit establishing a secure connection with each first security trigger device in the first security trigger device group via the first switching network, and establishing a secure connection with each first mobile device in the first mobile device group via the second switching network.

[0407] In some embodiments, multiple security control units are connected in parallel, and each security control unit is connected to the first switching network through a first interface and is connected to the second switching network through a second interface.

[0408] In some embodiments, the first switching network includes at least one first switch, and the second switching network includes at least one second switch; the number of first switches is related to the number of multiple security control units and the number of multiple security trigger devices, and the number of second switches is related to the number of multiple security control units.

[0409] In some embodiments, the method also includes: the first safety control unit receives a first safety trigger signal sent by each first safety trigger device in the first safety trigger device group through the first interface of the first safety control unit and the corresponding first switch; the first safety control unit sends a first safety control signal to each second safety control unit through the second interface of the first safety control unit and the corresponding second switch, and sends a safety control instruction to each first mobile device in the first mobile device group to control each first mobile device to stop or reset suddenly.

[0410] In some embodiments, the sum of the number of first security triggering devices in the first security triggering device group and the number of first mobile devices in the first mobile device group is less than or equal to the maximum number of connectable nodes of the first security control unit.

[0411] In some embodiments, the safety trigger device comprises a workstation electrical cabinet.

[0412] Figure 30 is a schematic diagram of an electronic device provided in an embodiment of the present disclosure. In some embodiments, the electronic device includes one or more processors and a memory. The memory is configured to store 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 security control method in the above-described embodiment.

[0413] As shown in FIG30 , the electronic device 1000 includes a processor 1001 and a memory 1002 . Exemplarily, the electronic device 1000 may further include a communication interface 1003 and a communication bus 1004 .

[0414] The processor 1001, the memory 1002 and the communication interface 1003 communicate with each other via a communication bus 1004. The communication interface 1003 is used to communicate with other devices such as clients or other servers.

[0415] In some embodiments, the processor 1001 is used to execute the program 1005, specifically, the relevant steps in the above-mentioned security control method embodiment. Specifically, the program 1005 may include program code, which includes computer-executable instructions.

[0416] For example, the processor 1001 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 the present disclosure. The electronic device 1000 may include one or more processors of the same type, such as one or more CPUs, or different types of processors, such as one or more CPUs and one or more ASICs.

[0417] In some embodiments, the memory 1002 is used to store the program 1005. The memory 1002 may include a high-speed RAM memory, and may also include a non-volatile memory (NVM), such as at least one disk memory.

[0418] Program 1005 can be specifically called by processor 1001 to enable electronic device 1000 to perform operations of the security control method.

[0419] An embodiment of the present disclosure provides a computer-readable storage medium storing at least one executable instruction. When the executable instruction is executed on the electronic device 1000, the electronic device 1000 executes the security control method in the above embodiment.

[0420] The executable instructions can be specifically used to enable the electronic device 1000 to perform operations of the security control method.

[0421] For example, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, and the like.

[0422] In some embodiments, an embodiment of the present disclosure provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer executes the security control method described in any of the above embodiments.

[0423] In some embodiments, the present disclosure further provides a computer program, which, when executed by a processor, can implement the security control method described in any of the above embodiments.

[0424] The beneficial effects that can be achieved by the electronic device, computer-readable storage medium, computer program product, and computer program provided by the embodiments of the present disclosure can refer to the beneficial effects of the security control method provided above and will not be repeated here.

[0425] It should be noted that, in the application, relational terms such as first and second, etc. are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or apparatus comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0426] Each embodiment in this specification is described in a related manner. Similar portions between the embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences from other embodiments. In particular, the device embodiments are generally similar to the method embodiments, so their description is relatively simple. For related portions, refer to the description of the method embodiments.

[0427] The logic and / or steps represented in the flowchart or otherwise described herein may be considered, for example, as an ordered list of executable instructions for implementing logical functions, and may be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device).

[0428] For the purposes of this specification, a "computer-readable medium" can be any apparatus that can contain, store, communicate, propagate, or transport the program for use by or in connection with an instruction execution system, apparatus, or device.

[0429] More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection having one or more wires (electronic device), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic device, and a portable compact disc read-only memory (CDROM).

[0430] In addition, the computer readable medium may even be paper or other suitable medium on which the program can be printed, because the program can be obtained electronically, for example, by optically scanning the paper or other medium, and then editing, interpreting, or processing it in other suitable ways as necessary, and then storing it in a computer memory. It should be understood that various parts of the present disclosure can be implemented in hardware, software, firmware, or a combination thereof.

[0431] In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used: a discrete logic circuit having logic gate circuits for implementing logic functions on data signals, an application-specific integrated circuit having suitable combinational logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0432] The above-described embodiments of the present disclosure do not limit the scope of protection of the present disclosure.

Claims

1. A security control method, applied to a security transmission system, wherein the security transmission system comprises a mobile device and a security control system, the method comprising: When the network between the mobile device and the safety control system is disconnected, the safety control mechanism in the mobile device controls the actuator in the mobile device to stop running; When the network between the mobile device and the safety control system is restored, if it is determined that the conditions for resuming operation are met, the safety control mechanism controls the actuator to resume operation; wherein, the conditions for resuming operation include that the safety control mechanism obtains a reset signal and / or the time from the network being disconnected to the network being restored is less than a first preset time.

2. The method according to claim 1, wherein: The safety control mechanism in the mobile device controls the execution mechanism in the mobile device to stop running, including: The safety control mechanism outputs a stop operation instruction to the execution mechanism; The execution mechanism stops operating according to the stop operation instruction.

3. The method according to claim 2, wherein: The actuator includes a delay module, a control module, a drive module and a motor; The execution mechanism stops running according to the stop running instruction, including: The control module outputs a speed reduction instruction to the drive module according to the stop operation instruction output by the safety control unit; The driving module drives the motor to decelerate according to the speed reduction instruction; The delay module starts timing according to the stop operation instruction output by the safety control unit; When the timing duration of the delay module reaches a second preset duration, the delay module outputs a power-off instruction to the driving module; wherein the first preset duration is less than or equal to the second preset duration; The drive module drives the motor to power off and brake according to the power-off instruction, and outputs fault information.

4. The method according to claim 3, further comprising: When the network between the mobile device and the safety control system is restored, the safety control mechanism obtains a safety control signal; wherein the safety control signal includes the reset signal and / or the emergency stop signal; If the safety control signal is the reset signal, it is determined that the resuming operation condition is met; wherein the reset signal is a reset signal sent by the safety control system, or the reset signal is a reset signal generated by the safety control mechanism; The safety control mechanism controls the actuator to resume operation, including: the safety control mechanism controls the actuator to resume operation based on the reset signal.

5. The method according to claim 4, wherein: The safety control mechanism controls the actuator to resume operation based on the reset signal, including: Based on the reset signal obtained, the safety control mechanism outputs a first level and outputs a recovery operation instruction to the execution mechanism; The execution mechanism resumes operation according to the resumption operation instruction.

6. The method according to claim 4, wherein: The method further comprises: If the safety control signal is the emergency stop signal, the safety control mechanism controls the actuator to continue to stop running; After the network between the mobile device and the safety control system is restored, if the safety control mechanism obtains the reset signal, the safety control mechanism controls the actuator to resume operation based on the reset signal.

7. The method according to claim 6, wherein: If the safety control signal is the emergency stop signal, the safety control mechanism controls the actuator to continue to stop running, including: When the network between the mobile device and the safety control system is restored, the safety control mechanism outputs a second level based on the emergency stop signal, and controls the actuator to continue to stop running.

8. The method according to claim 7, wherein: After the network between the mobile device and the safety control system is restored, if the safety control mechanism obtains the reset signal sent by the safety control system, the safety control mechanism controls the actuator to resume operation based on the reset signal, including: After the network between the mobile device and the safety control system is restored, the safety control mechanism changes the output of the safety control mechanism from the second level to the first level based on the reset signal obtained, and outputs a recovery operation instruction to the execution mechanism; The execution mechanism resumes operation according to the resumption operation instruction.

9. The method according to claim 8, wherein: The execution mechanism resumes operation according to the resumption instruction, including: The control module outputs a power-on instruction to the drive module according to the recovery operation instruction output by the safety control mechanism; The driving module clears the fault information according to the power-on instruction, and drives the motor to power on and resume operation.

10. The method according to claim 2, wherein: The time from the network disconnection to the network recovery is less than the first preset time, and the actuator includes a delay module, a control module, a drive module and a motor; The execution mechanism stops running according to the stop running instruction, including: The control module outputs a speed reduction instruction to the drive module according to the stop operation instruction output by the safety control mechanism; The driving module drives the motor to decelerate according to the speed reduction instruction; The delay module starts timing according to the stop operation instruction output by the safety control mechanism.

11. The method according to claim 10, wherein: The safety control mechanism controls the actuator to resume operation, including: The security control mechanism outputs a network recovery instruction to the delay module and the control module; If the time duration from the start of timing to the receipt of the network recovery instruction by the delay module does not reach a second preset time duration, the delay module stops timing according to the network recovery instruction; wherein the first preset time duration is less than or equal to the second preset time duration; The control module outputs an acceleration instruction to the driving module according to the network recovery instruction; The driving module drives the motor to resume operation according to the acceleration instruction.

12. The method according to any one of claims 1 to 11, wherein: The security control system includes a plurality of security control units, each of the plurality of security control units being used to control a group of mobile devices; The plurality of safety control units include a first safety control unit and at least one second safety control unit; the method further includes: The first safety control unit generates a first safety control signal based on a first safety trigger signal sent by a first safety trigger device; The first safety control unit sends the first safety control signal to each of the second safety control units; The first security control unit sends a target security control signal to each first mobile device in the first mobile device group corresponding to the first security control unit based on the first security control signal; The second security control unit sends the target security control signal to each second mobile device in the second mobile device group corresponding to the second security control unit based on the first security control signal.

13. The method according to claim 12, wherein: The target safety control signal is the first safety control signal, and the first safety control unit generates a first safety control signal based on the first safety trigger signal sent by the first safety trigger device, including: When determining that a safety event is triggered, the first safety control unit generates the first safety control signal based on the first safety trigger signal.

14. The method according to claim 13, wherein: The security control system further includes a wireless transmitter, which is coupled to the plurality of security control units; the first security control unit sends a target security control signal to each first mobile device in a first mobile device group corresponding to the first security control unit based on the first security control signal, including: The first security control unit sends the first security control signal to each of the first mobile devices in the first mobile device group corresponding to the first security control unit through the wireless transmitter.

15. The method according to claim 14, wherein: The first safety control unit sends the first safety control signal to each of the second safety control units, including: The first safety control unit sends the first safety control signal to the second safety control unit through the wireless transmitter; The second security control unit sends the target security control signal to each second mobile device in the second mobile device group corresponding to the second security control unit based on the first security control signal, including: The second security control unit receives the first security control signal through the wireless transmitter, and sends the first security control signal to each of the second mobile devices in the second mobile device group corresponding to the second security control unit through the wireless transmitter.

16. The method according to claim 14, wherein: The safety control system further includes a switch, and the switch is coupled to the plurality of safety control units; the first safety control unit sends the first safety control signal to each of the second safety control units, including: The first security control unit sends the target security control signal to the second security control unit through the switch; The second security control unit sends the target security control signal to each second mobile device in the second mobile device group corresponding to the second security control unit based on the first security control signal, including: The second security control unit receives the first security control signal through the switch, and sends the first security control signal to each of the second mobile devices in the second mobile device group corresponding to the second security control unit through the wireless transmitter.

17. The method according to claim 16, wherein: The first interfaces of the plurality of security control units are respectively coupled to the wireless transmitter, and the second interfaces of the plurality of security control units are respectively coupled to the switch; the first security control unit sends a target security control signal to each first mobile device in the first mobile device group corresponding to the first security control unit based on the first security control signal, including: The first security control unit sends the first security control signal to the wireless transmitter through the first interface of the first security control unit, so that the wireless transmitter sends the first security control signal to each of the first mobile devices in the first mobile device group; The first safety control unit sends the first safety control signal to each of the second safety control units, including: The first security control unit sends the first security control signal to the switch through the second interface of the first security control unit, so that the switch sends the first security control signal to the second security control unit; The second security control unit sends the target security control signal to each second mobile device in the second mobile device group corresponding to the second security control unit based on the first security control signal, including: The second security control unit receives the first security control signal through the switch and the second interface of the second security control unit, and sends the first security control signal to the wireless transmitter through the first interface of the second security control unit, so that the wireless transmitter sends the first security control signal to each of the second mobile devices in the second mobile device group.

18. The method according to claim 13, wherein: The security control system further includes a wireless transmitter, and the second security control unit is coupled to the wireless transmitter through the first security control unit; the first security control unit sends a target security control signal to each first mobile device in the first mobile device group corresponding to the first security control unit based on the first security control signal, including: The first security control unit sends a signal to each of the first mobile devices in the first mobile device group corresponding to the first security control unit through the wireless transmitter. The first mobile device sends the first security control signal; The second security control unit sends the target security control signal to each second mobile device in the second mobile device group corresponding to the second security control unit based on the first security control signal, including: The second security control unit receives the first security control signal sent by the first security control unit, and sends the first security control signal to each of the second mobile devices in the second mobile device group through the first security control unit and the wireless transmitter.

19. The method according to claim 18, wherein: The first interface of the first safety control unit is coupled to the wireless transmitter, and the second interface of the first safety control unit is coupled to the first interface of the second safety control unit; The first security control unit sends a target security control signal to each first mobile device in a first mobile device group corresponding to the first security control unit based on the first security control signal, including: The first security control unit sends the first security control signal to each first mobile device in the first mobile device group through the first interface of the first security control unit and the wireless transmitter; The first safety control unit sends the first safety control signal to each of the second safety control units, including: The first safety control unit sends the first safety control signal to the second safety control unit through the second interface of the first safety control unit; The second security control unit sends the target security control signal to each second mobile device in the second mobile device group corresponding to the second security control unit based on the first security control signal, including: The second security control unit receives the first security control signal through the first interface of the second security control unit, and sends the first security control signal to each of the second mobile devices in the second mobile device group through the first security control unit and the wireless transmitter.

20. The method according to claim 19, wherein: The plurality of safety control units further includes a third safety control unit; The first interface of the third safety control unit is coupled to the second interface of the second safety control unit; the method further includes: The second safety control unit sends the first safety control signal to the third safety control unit through the second interface of the second safety control unit; The third security control unit receives the first security control signal through the first interface of the third security control unit, and sends the first security control signal to each third mobile device in the third mobile device group corresponding to the third security control unit through the second security control unit, the first security control unit and the wireless transmitter.

21. The method according to claim 13, wherein: The safety control system further includes a wireless transmitter, the first safety control unit is coupled to the second safety control unit, and the first safety control unit and the second safety control unit are respectively coupled to the wireless transmitter; The first safety control unit sends the first safety control signal to each of the second safety control units, including: The first security control unit sends the first security control signal to each of the first mobile devices in the first mobile device group corresponding to the first security control unit through the wireless transmitter; The second security control unit sends the target security control signal to each second mobile device in the second mobile device group corresponding to the second security control unit based on the first security control signal, including: The second security control unit receives the first security control signal sent by the first security control unit, and sends the first security control signal to each of the second mobile devices in the second mobile device group through the wireless transmitter.

22. The method according to claim 21, wherein: The first interface of the first safety control unit is coupled to the wireless transmitter, the second interface of the first safety control unit is coupled to the first interface of the second safety control unit, and the second interface of the second safety control unit is coupled to the wireless transmitter; The first security control unit sends a target security control signal to each first mobile device in a first mobile device group corresponding to the first security control unit based on the first security control signal, including: The first security control unit sends the first security control signal to each of the first mobile devices in the first mobile device group through the first interface of the first security control unit and the wireless transmitter; The first safety control unit sends the first safety control signal to each of the second safety control units, including: The first safety control unit sends the first safety control signal to the second safety control unit through the second interface of the first safety control unit; The second security control unit sends the target security control signal to each second mobile device in the second mobile device group corresponding to the second security control unit based on the first security control signal, including: The second security control unit receives the first security control signal through the first interface of the second security control unit, and sends the first security control signal to each of the second mobile devices in the second mobile device group through the second interface of the second security control unit and the wireless transmitter.

23. The method according to claim 22, wherein: The plurality of safety control units further include a third safety control unit, and the second safety control unit further includes a third interface; the third interface of the second safety control unit is coupled to the first interface of the third safety control unit, and the second interface of the third safety control unit is coupled to the wireless transmitter; the method further includes: The second safety control unit sends the first safety control signal to the third safety control unit through a third interface of the second safety control unit; The third safety control unit receives the target safety control signal through the first interface of the third safety control unit, and transmits the target safety control signal to each third mobile device in the third mobile device group corresponding to the third safety control unit through the second interface of the third safety control unit and the wireless transmitter. The device is configured to send the first safety control signal.

24. The method according to any one of claims 13, wherein: The secure transmission system further includes at least one secure triggering device; The at least one safety triggering device comprises a first safety triggering device coupled to the first safety control unit; the method further comprises: When the first safety trigger detects a trigger operation, the first safety trigger generates the first safety trigger signal and sends the first safety trigger signal to the first safety control unit; The first safety control unit receives the first safety trigger signal, and determines that the safety event is triggered according to the first safety trigger signal; wherein the safety event includes an emergency stop event and / or a reset event.

25. The method of claim 12, wherein: Each of the plurality of safety control units is used to receive a safety trigger signal sent by each safety trigger device in the corresponding safety trigger device group; The first safety control unit is any safety control unit among the multiple safety control units, and the at least one second safety control unit is a safety control unit among the multiple safety control units except the first safety control unit; The method further comprises: The second safety control unit generates a second safety control signal according to a second safety trigger signal sent by each second safety trigger device in a second safety trigger device group corresponding to the second safety control unit, and sends the second safety control signal to the first safety control unit; The first safety control unit generates a first safety control signal based on a first safety trigger signal sent by a first safety trigger device, including: The first safety control unit generates the first safety control signal based on the first safety trigger signal sent by each of the first safety trigger devices in the first safety trigger device group corresponding to the first safety control unit.

26. The method according to claim 25, wherein: The first security control unit sends a target security control signal to each first mobile device in a first mobile device group corresponding to the first security control unit based on the first security control signal, including: The first safety control unit generates the target safety control signal based on the first safety control signal and at least one of the second safety control signals, and sends the target safety control signal to each first mobile device in the first mobile device group corresponding to the first safety control unit to control the emergency stop or reset of each first mobile device in the first mobile device group corresponding to the first safety control unit.

27. The method according to claim 26, wherein: The first safety trigger signal includes a first emergency stop signal and a first reset signal; the first safety control unit generates the first safety control signal based on the first safety trigger signal sent by each of the first safety trigger devices in the first safety trigger device group corresponding to the first safety control unit, including: The first safety control unit performs a first logic operation on the first emergency stop signal sent by each of the first safety trigger devices in the first safety trigger device group to generate a first emergency stop control signal; The first safety control unit performs a second logic operation on the first reset signal sent by each of the first safety trigger devices in the first safety trigger device group to generate a first reset control signal; wherein the first safety control signal includes the first emergency stop control signal and the first reset control signal.

28. The method according to claim 27, wherein: The first safety control unit generates the target safety control signal based on the first safety control signal and at least one of the second safety control signals, including: The first safety control unit generates a first system control signal according to the first safety control signal and at least one of the second safety control signals, and sends the first system control signal to the second safety control unit; wherein, when an emergency stop control signal exists in the first safety control signal and / or at least one of the second safety control signals, the first system control signal is a system emergency stop signal; The first safety control unit generates the target safety control signal based on the first system control signal.

29. The method according to claim 28, further comprising: The first safety control unit receives a second system control signal and a second connection status signal sent by each second safety control unit in the at least one second safety control unit; The first safety control unit generates the target safety control signal based on the first system control signal, including: The first safety control unit generates the target safety control signal based on the first system control signal, the first connection status signal corresponding to the first safety control unit, and the second system control signal and the second connection status signal corresponding to each of the second safety control units.

30. The method of claim 29, wherein: The first safety control unit generates the target safety control signal based on the first system control signal, the first connection status signal corresponding to the first safety control unit, and the second system control signal and the second connection status signal corresponding to each of the second safety control units, including: If a system emergency stop signal exists in the first system control signal and / or at least one of the second system control signals, and / or a signal indicating abnormal connection status exists in the first connection status signal and / or at least one of the second connection status signals, the first safety control unit generates an emergency stop control signal for controlling the emergency stop of each of the first mobile devices in the first mobile device group; wherein the target safety control signal includes the emergency stop control signal.

31. The method of claim 25, wherein: Each of the plurality of security control units comprises a first interface and a second interface; the first interface of each of the security control units is used to couple with each of the security trigger devices in the corresponding security trigger device group through a first switching network; The second interface of each of the security control units is used to couple with each of the mobile devices in the corresponding mobile device group through a second switching network; the method further includes: The first security control unit establishes a secure connection with each of the first security triggering devices in the first security triggering device group through the first switching network, and establishes a secure connection with each of the first mobile devices in the first mobile device group through the second switching network.

32. The method according to claim 31, wherein: The multiple safety control units are connected in parallel, and each of the safety control units is connected to the first switching network through the first interface and is connected to the second switching network through the second interface.

33. The method of claim 32, wherein: The first switching network includes at least one first switch, and the second switching network includes at least one second switch; the number of the first switches is related to the number of the multiple safety control units and the number of the multiple safety trigger devices, and the number of the second switches is related to the number of the multiple safety control units.

34. The method of claim 33, further comprising: The first security control unit receives the first security trigger signal sent by each of the first security trigger devices in the first security trigger device group through the first interface of the first security control unit and the corresponding first switch; The first safety control unit sends the first safety control signal to each of the second safety control units, including: The first safety control unit sends the first safety control signal to each second safety control unit through the second interface of the first safety control unit and the corresponding second switch, and sends the target safety control signal to each first mobile device in the first mobile device group to control each first mobile device to stop suddenly or reset.

35. The method of claim 25, wherein: A sum of the number of the first security triggering devices in the first security triggering device group and the number of the first mobile devices in the first mobile device group is less than or equal to a maximum number of connectable nodes of the first security control unit.

36. The method of claim 25, wherein: The safety triggering device includes a workstation electrical cabinet.

37. A secure transmission system, comprising a security control system and a mobile device; wherein: The mobile device comprises a safety control mechanism and an execution mechanism; the safety control mechanism is configured as follows: When the network between the mobile device and the safety control system is disconnected, controlling the actuator to stop running; When the network between the mobile device and the safety control system is restored, if it is determined that the conditions for resuming operation are met, the actuator is controlled to resume operation; wherein, the conditions for resuming operation include that the safety control mechanism obtains a reset signal and / or the time from the network disconnection to the network recovery is less than a first preset time.

38. The secure transmission system of claim 37, wherein: The security control system comprises a plurality of security control units, each of which is used to control a group of mobile devices; the plurality of security control units comprises a first security control unit and at least one second security control unit; the first security control unit is configured as follows: Based on the first safety trigger signal sent by the first safety trigger device, generate a first safety control signal, and send the first safety control signal to each second safety control unit; Based on the first security control signal, sending the target security control signal to each first mobile device in the first mobile device group corresponding to the first security control unit; The second security control unit is configured to send the target security control signal to each second mobile device in the second mobile device group corresponding to the second security control unit based on the first security control signal.

39. The secure transmission system of claim 38, wherein: The target safety control signal is the first safety control signal; the first safety control unit is configured as: When it is determined that the safety event is triggered, the first safety control signal is generated based on the first safety trigger signal, and the first safety control signal is sent to the second safety control unit.

40. The secure transmission system of claim 37, wherein: Each of the plurality of safety control units is used to receive a safety trigger signal sent by each safety trigger device in the corresponding safety trigger device group; The first safety control unit is any safety control unit among the multiple safety control units, and the at least one second safety control unit is a safety control unit among the multiple safety control units except the first safety control unit; The first safety control unit is configured to generate the first safety control signal based on the first safety trigger signal sent by each of the first safety trigger devices in the first safety trigger device group corresponding to the first safety control unit; The second safety control unit is configured to generate a second safety control signal according to a second safety trigger signal sent by each second safety trigger device in a second safety trigger device group corresponding to the second safety control unit, and send the second safety control signal to the first safety control unit.

41. The secure transmission system of claim 40, wherein: The first safety control unit is configured as follows: Based on the first safety control signal and at least one of the second safety control signals, the target safety control signal is generated, and the target safety control signal is sent to each first mobile device in the first mobile device group corresponding to the first safety control unit to control each first mobile device in the first mobile device group corresponding to the first safety control unit to emergency stop or reset.

42. A mobile device, comprising a safety control mechanism and an execution mechanism; wherein: The safety control mechanism is configured as follows: When the network between the mobile device and the safety control system is disconnected, controlling the actuator in the mobile device to stop running; When the network between the mobile device and the safety control system is restored, if it is determined that the conditions for resuming operation are met, the actuator is controlled to resume operation; wherein, the conditions for resuming operation include that the safety control mechanism obtains a reset signal and / or the time from the network disconnection to the network recovery is less than a first preset time.

43. An electronic device comprising: one or more processors; and A memory configured to: store one or more programs; Wherein, when the one or more programs are executed by the one or more processors, the one or more processors implement the security control method according to any one of claims 1-36.

44. A computer-readable storage medium storing computer instructions, which, when executed by a processor, implement the security control method described in any one of claims 1 to 36.

45. A computer program product, comprising a computer program, which, when executed by a processor, implements the security control method according to any one of claims 1 to 36.

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