Logistics robot control method and apparatus, electronic device, and storage medium

Abstract

A logistics robot control method and apparatus, an electronic device, and a storage medium. The logistics robot control method comprises: sending a sleep instruction to every logistics robot associated with a robot management system (RMS) (101); receiving a sleep instruction response result fed back by the logistics robots (102); on the basis of the sleep instruction response result, determining whether the logistics robots associated with the RMS have all transitioned to a sleep state (103); and if the logistics robots associated with the RMS have not all transitioned to the sleep state, continuing to send the sleep instruction until the logistics robots associated with the RMS have all transitioned to the sleep state (104).

Description

Logistics robot control method and device, electronic equipment and storage medium

[0001] This application claims priority to Chinese Patent Application No. 202411313829.7, filed September 19, 2024, and Chinese Patent Application No. 202411313834.8, filed September 19, 2024, the contents of which are incorporated herein by reference in their entirety. TECHNICAL FIELD

[0002] Embodiments of the present disclosure relate to the technical field of logistics warehousing, and in particular to a logistics robot control method and device, electronic equipment and storage medium. BACKGROUND

[0003] Generally, the logistics robots in the warehousing system have a working period, and during the non-working period, such as holidays, the logistics robots can not need to perform an impact task. In order to reduce the power consumption of the logistics robots, the logistics robots can be powered off. When working again, the logistics robots are manually powered on. Since the number of logistics robots in the warehousing system is usually large, the manual power-on method is time-consuming and laborious, which seriously reduces the working efficiency of the logistics robots. SUMMARY

[0004] The present disclosure provides a logistics robot control method and device, electronic equipment and storage medium.

[0005] The first aspect embodiment of the present disclosure provides a logistics robot control method, which comprises: sending a hibernation instruction to each logistics robot associated with a robot management system (RMS); receiving a hibernation instruction response result fed back by the logistics robot; determining whether all logistics robots associated with the RMS have been converted to a hibernation state based on the hibernation instruction response result; and continuing to send the hibernation instruction until all logistics robots associated with the RMS have been converted to the hibernation state, if all logistics robots associated with the RMS have not been converted to the hibernation state.

[0006] The second aspect embodiment of the present disclosure provides a logistics robot control method, which comprises: receiving a hibernation instruction sent by a robot management system (RMS); obtaining a state of the logistics robot; converting to a hibernation state in response to the hibernation instruction if the logistics robot is in an idle state; and entering the hibernation state after the robot is converted to the idle state if the logistics robot is in a task state.

[0007] A third aspect of the present disclosure provides a logistics robot control device, comprising a sending module, a first receiving module, a determining module and a first hibernation module. The sending module is configured to send a hibernation instruction to each logistics robot associated with a robot management system RMS. The first receiving module is configured to receive a hibernation instruction response result fed back by the logistics robot. The determining module is configured to determine whether all logistics robots associated with the RMS are converted to a hibernation state based on the hibernation instruction response result. The first hibernation module is configured to continue sending the hibernation instruction until all logistics robots associated with the RMS are converted to the hibernation state if all logistics robots associated with the RMS are not converted to the hibernation state.

[0008] A fourth aspect of the present disclosure provides a logistics robot control device, comprising a second receiving module, an obtaining module and a second hibernation module. The second receiving module is configured to receive a hibernation instruction sent by a robot management system RMS. The obtaining module is configured to obtain a state of a logistics robot. The second hibernation module is configured to convert to a hibernation state in response to the hibernation instruction if the logistics robot is in an idle state, and enter the hibernation state after the logistics robot is converted to the idle state if the logistics robot is in a task state.

[0009] A fifth aspect of the present disclosure provides an electronic device, comprising at least one processor, and a memory connected with the at least one processor in communication. The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method of the first aspect and the second aspect of the present disclosure.

[0010] A sixth aspect of the present disclosure provides a non-transitory computer readable storage medium storing computer instructions for causing a computer to perform the method of the first aspect and the second aspect of the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0011] FIG. 1 is a flowchart of a first logistics robot control method according to an embodiment of the present disclosure;

[0012] FIG. 2 is a flowchart of a logistics robot hibernation duration determination method according to an embodiment of the present disclosure;

[0013] FIG. 3 is a flowchart of a hibernation instruction sending method according to an embodiment of the present disclosure;

[0014] FIG. 4 is a flowchart of a second logistics robot control method according to an embodiment of the present disclosure;

[0015] FIG. 5 is a flowchart of a method for stopping charging according to an embodiment of the present disclosure;

[0016] FIG. 6 is a flowchart of a third method for controlling a logistics robot according to an embodiment of the present disclosure;

[0017] FIG. 7 is a flowchart of a fourth method for controlling a logistics robot according to an embodiment of the present disclosure;

[0018] FIG. 8 is a flowchart of a method for controlling a logistics robot according to an embodiment of the present disclosure;

[0019] FIG. 9 is a flowchart of a method for sending a hibernation instruction according to an embodiment of the present disclosure;

[0020] FIG. 10 is a flowchart of a method for sending a wake-up instruction according to an embodiment of the present disclosure;

[0021] FIG. 11 is a flowchart of a second method for sending a prompt according to an embodiment of the present disclosure;

[0022] FIG. 12 is a schematic diagram of a structure of a device for controlling a logistics robot according to an embodiment of the present disclosure;

[0023] FIG. 13 is a schematic diagram of a structure of another device for controlling a logistics robot according to an embodiment of the present disclosure;

[0024] FIG. 14 is a schematic diagram of a hardware composition of an electronic device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0025] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure. However, the present disclosure can be practiced without the specific details. In other instances, well-known methods, procedures, components, and circuits have not been described in detail so as not to obscure the present disclosure.

[0026] Generally, a logistics robot of a warehouse system has a working cycle, i.e., a working time and a non-working time. During the working time, the logistics robot needs to perform corresponding tasks, and during the non-working time, the logistics robot does not need to perform corresponding tasks. For example, during the non-working time, such as a holiday, in order to reduce the power consumption of the logistics robot, the logistics robot can be powered off. When the working time is re-entered, the logistics robot is manually powered on. Since the number of logistics robots in the warehouse system is large, the manual powering on of all logistics robots is time-consuming and laborious, which seriously reduces the working efficiency of the logistics robots.

[0027] To solve the above problems, the present disclosure converts the robots into a hibernation state by sending a hibernation instruction to each logistics robot associated with the RMS, so that when the logistics robots need to resume normal work, the RMS can send a wake-up instruction to all logistics robots converted into the hibernation state, without the need for manual restart of the robots, thereby reducing the power consumption of the logistics robots and effectively improving the work efficiency of the robots.

[0028] The present disclosure will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

[0029] In some examples, the first logistics robot control method provided by the embodiments of the present disclosure can be executed by a robot management system (RMS) of a warehouse system.

[0030] FIG. 1 is a flowchart of the first logistics robot control method provided by the embodiments of the present disclosure. As shown in FIG. 1, the first logistics robot control method provided by the embodiments of the present disclosure includes the following steps:

[0031] Step 101, sending a hibernation instruction to each logistics robot associated with the robot management system (RMS).

[0032] In some embodiments, the logistics robots in the warehouse system can be remotely controlled by the RMS or manually controlled by the staff. Wherein, the logistics robots only need to be bound to the RMS to associate the logistics robots with the RMS, and the RMS can control each robot associated therewith by issuing instructions.

[0033] In some examples, the logistics robots associated with the RMS can be robots coupled with the RMS. The RMS can be coupled with the robots in the warehouse system to control the operation of the robots. For example, the RMS can be connected to the robots in communication through a local area network (LAN), a wireless local area network (WLAN), and other networks to control the robots. It should be noted that the RMS can be coupled with all robots in the warehouse system or coupled with part of the robots, and the embodiments of the present disclosure do not limit this.

[0034] In some embodiments, the RMS makes the logistics robots act by issuing a task instruction, and then completes the carrying task corresponding to the task instruction. The RMS can also send a hibernation instruction to each logistics robot associated with the RMS to make the logistics robots associated with the RMS enter a hibernation state.

[0035] In some examples, the RMS can send the hibernation instruction to each logistics robot associated with the RMS through a preset port. The preset port can be a port customized according to requirements, for example, the preset port can be port 8899.

[0036] For example, a monitoring instance that monitors port 8899 can be created in the RMS, and whether the logistics robot enters the hibernation state can be determined by detecting whether there is a heartbeat packet transmission between the logistics robot and the port 8899 of the RMS. In the case where there is a heartbeat packet transmission on port 8899, it indicates that the logistics robot has not entered the hibernation state; in the case where there is no heartbeat packet transmission on port 8899, it indicates that the logistics robot has entered the hibernation state.

[0037] Step 102, receiving the hibernation instruction response result fed back by the logistics robot.

[0038] In some embodiments, the logistics robot can feed back the hibernation instruction response result to the RMS through port 8899.

[0039] In some embodiments, the hibernation instruction response result is used to indicate the state of the corresponding logistics robot; the state of the logistics robot is one of a task state and a hibernation state.

[0040] Illustratively, after the RMS sends the hibernation instruction to all logistics robots associated therewith, each logistics robot performs corresponding actions based on the received hibernation instruction. Because the state of the logistics robot when receiving the hibernation instruction is different, the action of the logistics robot in response to the hibernation instruction is also different. For example, in the case where the logistics robot is currently in an idle state, the logistics robot can enter the hibernation state in response to the hibernation instruction after receiving the hibernation instruction; in the case where the logistics robot is currently in a non-idle state (also referred to as a task state), the logistics robot can not necessarily enter the hibernation state directly after receiving the hibernation instruction, but determines based on the current task execution situation.

[0041] It should be noted that the logistics robot in the idle state is not in the stop state, but the logistics robot is currently not executing a task. The logistics robot in the task state is used to indicate that the logistics robot is executing a task, such as a warehousing task, a warehouse-out task, a charging task, a one-key collection task or other tasks, etc. issued by the RMS to the logistics robot, and the logistics robot entering the hibernation state during the execution of the task will affect the work efficiency of the warehouse system.

[0042] In some examples, when the logistics robot receives the hibernation instruction, the logistics robot is performing a corresponding task (such as a warehousing task, etc.), and the logistics robot does not immediately enter the hibernation state; at this time, there is still business data interaction between the logistics robot and the RMS. For example, the business data interaction can also be a response result of the hibernation instruction. That is, the response result of the hibernation instruction can be divided into business data interaction and no business data interaction; wherein the business data interaction indicates that the state of the logistics robot is a task state; and the no business data interaction indicates that the state of the logistics robot is a hibernation state.

[0043] In some embodiments, the response result of the hibernation instruction fed back by the logistics robot to the RMS can also be the state of the logistics robot itself, such as the hibernation state or the task state of the logistics robot.

[0044] That is, after the RMS sends the hibernation instruction to all logistics robots, the logistics robot in the task state does not immediately enter the hibernation state after receiving the hibernation instruction, but continues to perform the current task, and feeds back the response result of the hibernation instruction including the business data interaction to the RMS, or can also feed back the response result of the hibernation instruction of the task state to the RMS to inform the RMS that the logistics robot is currently in the task state and has not entered the hibernation state. For the idle state robot, after receiving the hibernation instruction, it can enter the hibernation state and feed back the response result of the hibernation instruction without business data interaction to the RMS, or can also feed back the response result of the hibernation instruction of the hibernation state to the RMS to inform the RMS that the logistics robot has entered the hibernation state.

[0045] Step 103, based on the response result of the hibernation instruction, determining whether all logistics robots associated with the RMS are converted to the hibernation state.

[0046] In some embodiments, in the case that there is at least one response result of the hibernation instruction indicating that the state of the corresponding logistics robot is a task state in the response result of the hibernation instruction, it is determined that all logistics robots associated with the RMS are not converted to the hibernation state.

[0047] In some examples, after all the logistics robots associated with the RMS feed back the corresponding sleep instruction response results to the RMS, the RMS determines whether there is one or more sleep instruction response results indicating that the logistics robots are in the task state among all the sleep instruction response results; and in the case that there is at least one sleep instruction response result indicating that the corresponding logistics robot is in the task state among the sleep instruction response results, it is determined that there is a logistics robot that has not been converted to the sleep state among all the logistics robots. In the case that all the sleep instruction response results indicate that the logistics robots are in the task state, it is determined that all the logistics robots have been converted to the sleep state. That is, the RMS determines whether there is one or more logistics robots in the task state among all the logistics robots associated therewith, and if there is one or more logistics robots in the task state, it is determined that all the logistics robots have not been converted to the sleep state; and if there is no logistics robot in the task state, it is determined that all the logistics robots have been converted to the sleep state.

[0048] For example, the logistics robot that is performing a task will not enter the sleep state in response to the sleep instruction, or the logistics robot that has a failure or an abnormality can also be unable to be converted to the sleep state, and the present embodiment of the disclosure does not limit the logistics robot that has not been converted to the sleep state.

[0049] Step 104, continue to send the sleep instruction in the case that all the logistics robots associated with the RMS have been converted to the sleep state, until all the logistics robots associated with the RMS have been converted to the sleep state.

[0050] In some examples, the RMS can continue to send the sleep instruction to the logistics robot in the task state through the 8899 port until the logistics robot in the task state ends the task state and enters the sleep state.

[0051] Exemplarily, in a case where there is at least one logistics robot which has not been converted into the hibernation state (hereinafter, the logistics robot which has not been converted into the hibernation state can be referred to as a first robot) among all logistics robots, the RMS can continue to send the hibernation instruction to the at least one first robot and receive the hibernation instruction response results fed back by the first robots, so as to further determine whether the first robots enter the hibernation state. For example, after the first robot receives the hibernation instruction sent by the RMS again, it is determined that the current task has been completed, can enter the hibernation state in response to the hibernation instruction, and feed back the hibernation instruction response result of the hibernation state to the RMS; or, after the first robot receives the hibernation instruction sent by the RMS again, it is determined that the abnormality has returned to normal, can enter the hibernation state in response to the hibernation instruction, and feed back the hibernation instruction response result of the hibernation state to the RMS. For another example, for part of the first robots, after receiving the hibernation instruction sent by the RMS again, they still cannot enter the hibernation state, can continue to feed back the hibernation instruction response result that the hibernation state has not been entered to the RMS, and the RMS receives the hibernation instruction response result again, sends the hibernation instruction to the first robot again, until the first robot enters the hibernation state.

[0052] The present disclosure proposes a logistics robot control method, which converts the robots into the hibernation state by sending the hibernation instruction to each logistics robot associated with the RMS, so that when the logistics robots need to return to normal work, the RMS only needs to send the wake-up instruction to all logistics robots which have been converted into the hibernation state, without the need for manual restart of the robots, thereby effectively improving the working efficiency of the robots.

[0053] FIG. 2 is a flowchart of a logistics robot hibernation duration determination method provided by an embodiment of the present disclosure. As shown in FIG. 2, after step 101, the method further includes steps 201 to 203.

[0054] In step 201, the power information of each logistics robot is acquired.

[0055] In some embodiments, the power information of the logistics robot can be acquired by the battery management unit of the logistics robot and sent to the RMS.

[0056] In some embodiments, when the logistics robot receives the hibernation instruction, a trigger mechanism can be set to trigger the battery management unit to acquire the power information of the logistics robot and send the power information to the RMS.

[0057] In some examples, the RMS can determine the current power value of the logistics robot based on the acquired power information, such as the current remaining power value. Wherein, the remaining power value can be specific power data, or can be a remaining power ratio, which is not limited in the embodiments of the present disclosure.

[0058] At step 202, the hibernation duration of the logistics robot with the lowest power is determined based on the power information of the logistics robot with the lowest power.

[0059] In some embodiments, the hibernation duration corresponding to each power can be determined according to historical data, and a query table of power and hibernation duration can be constructed. Then, the hibernation duration of the logistics robot with the lowest power is determined based on the power information of the logistics robot with the lowest power.

[0060] In some embodiments, the hibernation duration of the logistics robot with the lowest power can also be determined according to a mapping curve of power and hibernation duration.

[0061] In an embodiment, the RMS can first acquire and store the query table or the mapping curve of power and hibernation duration, and then determine the hibernation duration of the logistics robot with the lowest power based on the power information of the logistics robot with the lowest power.

[0062] In some examples, after acquiring the power information of each logistics robot, the RMS determines the logistics robot with the lowest power among the plurality of logistics robots and determines the hibernation duration corresponding to the logistics robot. The number of logistics robots with the lowest power can be one or more, which is not limited in the embodiments of the present disclosure.

[0063] In some examples, the hibernation duration is used to indicate the upper limit of the duration during which the logistics robot can be in the hibernation state. The hibernation duration corresponding to different power can be the same or different, which is not limited in the embodiments of the present disclosure. For example, the power of the logistics robot and the hibernation duration can be positively correlated, that is, the higher the power of the logistics robot, the longer the hibernation duration corresponding to the logistics robot.

[0064] It should be noted that the query table or the mapping curve of power and hibernation duration constructed by the embodiments of the present disclosure can indicate the hibernation duration corresponding to each power value, or can indicate the hibernation duration corresponding to each power interval, which is not limited in the embodiments of the present disclosure. For example, after acquiring the lowest power, the RMS can determine the hibernation duration corresponding to the power by querying the query table or the mapping curve of power and hibernation duration, or determine the hibernation duration corresponding to the power interval in which the power is located, thereby determining the hibernation duration of the logistics robot with the lowest power.

[0065] At step 203, the hibernation duration of the logistics robot with the lowest power is displayed on the control interface of the RMS.

[0066] In some embodiments, after sending the hibernation instruction to each logistics robot associated with the robot management system RMS, a logistics robot list can be displayed on the control interface of the RMS, and the state, power information and hibernation duration of each logistics robot can be displayed in the logistics robot list; for example, in the logistics robot list, the hibernation duration of the logistics robot with the lowest power is 2 hours, but the logistics robot wakes up after 10 hours, so the logistics robot with the lowest power is shut down due to power depletion after 2 hours and cannot receive the wake-up instruction, so the staff can conveniently determine the reason why the logistics robot with the lowest power is not woken up after the wake-up instruction is sent.

[0067] FIG. 3 is a flowchart of a hibernation instruction sending method provided by an embodiment of the present disclosure. As shown in FIG. 3, step 101 includes steps 301 to 303 as described below.

[0068] Step 301: In response to a hibernation instruction triggering signal, it is determined whether the RMS is provided with a one-key collection area.

[0069] In some embodiments, the RMS can be provided with or not provided with a one-key collection area. The one-key collection area refers to a preset area in the warehouse system. The one-key collection area is usually located in the center of the logistics warehouse or an easily accessible position. The area corresponding to the one-key collection area does not intersect with the task path of the logistics robot. The one-key collection area is provided to improve the efficiency, controllability and flexibility of logistics operations. For example, when the logistics robot needs to be upgraded, the logistics robot can be one-key collected to the one-key collection area to facilitate the staff to perform the upgrade operation on the logistics robot; for example, when the warehouse system has a task concentration, the logistics robot can also be one-key collected to the one-key collection area to facilitate the scheduling and management of the logistics robot.

[0070] In some embodiments, when the RMS is provided with a one-key collection area, the logistics robot needs to move to the one-key collection area when hibernating.

[0071] Step 302: In the case where the RMS is provided with a one-key collection area, a one-key collection instruction is sent to each logistics robot associated with the RMS; the one-key collection instruction is used to make the logistics robot move to the one-key collection area; and in response to all logistics robots arriving at the one-key collection area, a hibernation instruction is sent to each logistics robot associated with the RMS.

[0072] Exemplarily, the RMS is provided with a one-key collection area to indicate that at least one area in the warehouse system is marked as a one-key collection area in advance, and the one-key collection area is used to park all or a specified range of logistics robots recalled by the RMS, to facilitate subsequent inspection or maintenance operations.

[0073] In some examples, in the case that the RMS is provided with a one-key collection area and a one-key collection event is triggered, the RMS can send a one-key collection instruction to each logistics robot to schedule each logistics robot to move from a current location to the one-key collection area. The triggering of the one-key collection event can be triggered actively or automatically, for example, an operator can trigger the one-key collection event by a one-key collection button, and the embodiments of the present disclosure are not limited thereto.

[0074] In some embodiments, the RMS can also send a one-key collection instruction to the logistics robot through a custom port 8899.

[0075] In some embodiments, in the case that the RMS is provided with a one-key collection area, the RMS can send a hibernation instruction to the logistics robot, and the one-key collection instruction can be packaged and sent to the logistics robot together with the hibernation instruction.

[0076] In some embodiments, after receiving the one-key collection instruction, the logistics robot can move to the one-key collection area in response to the one-key collection instruction, and after moving to the one-key collection area, the logistics robot can feed back a one-key collection instruction response result to the RMS, the one-key collection instruction response result being used to indicate whether the logistics robot reaches the one-key collection area.

[0077] In some examples, in the case that a one-key collection event is triggered and there is a hibernation requirement, the RMS can send a one-key collection instruction and a hibernation instruction to each logistics robot at the same time. After receiving the one-key collection instruction and the hibernation instruction, the logistics robot can first move to the one-key collection area in response to the one-key collection instruction, and after moving to the one-key collection area, the logistics robot can enter a hibernation state in response to the hibernation instruction, and feed back a hibernation instruction response result to the RMS.

[0078] In some examples, in the case that a one-key collection event is triggered and there is a hibernation requirement, the RMS can first send a one-key collection instruction to each logistics robot to schedule each logistics robot to move to the one-key collection area. After each logistics robot moves to the one-key collection area, the logistics robot can feed back a one-key collection instruction response result to the RMS. The RMS can determine that all logistics robots reach the one-key collection area based on the one-key collection instruction response result fed back by each logistics robot, and then send a hibernation instruction to each logistics robot to instruct each logistics robot to enter a hibernation state.

[0079] In some embodiments, for example, after the logistics robot reaches the one-key collection area, the logistics robot can send a one-key collection instruction response result to the RMS to indicate that the logistics robot has reached the one-key collection area. In the case that the logistics robot does not reach the one-key collection area, the logistics robot does not send a one-key collection instruction response result to the RMS. Therefore, the one-key collection instruction response result can include information that the RMS receives or does not receive from the logistics robot that the logistics robot reaches the one-key collection area.

[0080] For example, the RMS does not receive the information sent by the logistics robot that it has arrived at the one-key collection area, which can include that the logistics robot has not arrived at the one-key collection area, or the logistics robot has arrived at the one-key collection area but has not successfully sent a one-key collection instruction response result to the RMS due to an abnormality or the like.

[0081] In some embodiments, in the case where the RMS sends a one-key collection instruction to the logistics robot and there is a logistics robot in a charging state, the logistics robot in the charging state will also stop charging in response to the one-key collection instruction and move to the one-key collection area.

[0082] It should be noted that the task execution priority of the one-key collection instruction is higher than the execution priority of other tasks (such as the charging task). That is, the logistics robot, in the process of executing other tasks, receives a one-key collection instruction sent by the RMS, can pause the current task execution, and move to the one-key collection area in response to the one-key collection instruction.

[0083] In some embodiments, after all logistics robots arrive at the one-key collection area, a hibernation instruction is sent to the logistics robots to ensure that the logistics robots hibernate in the designated one-key collection area.

[0084] Step 303, in the case where the RMS does not set a one-key collection area, obtaining the state of the logistics robot; in the case where there is a logistics robot in a charging state, sending a stop charging instruction to the logistics robot in the charging state; in response to the logistics robot in the charging state stopping charging, sending a hibernation instruction to each logistics robot associated with the RMS.

[0085] In some embodiments, in the case where the logistics robot is in a charging state, the logistics robot needs to end the charging operation before being converted to a hibernation state. Therefore, before sending a hibernation instruction to the logistics robot, the state of the logistics robot can be obtained. Since there is no one-key collection area at this time, that is, the RMS will not send a one-key collection instruction to the logistics robot to make the logistics robot stop charging; therefore, in the case where there is a logistics robot in a charging state, a stop charging instruction can be sent to the logistics robot in the charging state to make the logistics robot stop charging.

[0086] In some examples, when there is no one-key collection area in the warehouse system, no one-key collection event is triggered, and the RMS does not issue a one-key collection instruction to the logistics robots. Before issuing the sleep instruction, the RMS can first obtain the state of each logistics robot to determine whether there is a logistics robot that is performing a charging task, so as to avoid conflicts between the charging operation and the sleep operation. For example, whether the charging state logistics robot needs to stop charging and transition to the sleep state is related to the current power of the charging state logistics robot.

[0087] For example, when the charging time of the logistics robot in the charging state is long, the current power of the logistics robot can be high, and when the charging time of the logistics robot in the charging state is short, the current power of the logistics robot can be low. In the case where the current power of the logistics robot is low, entering the sleep state can cause the logistics robot to shut down due to insufficient power. Therefore, the RMS can dynamically obtain the current power of each logistics robot in the charging state, and compare the current power of each logistics robot with a preset power threshold. In the case where the current power of the logistics robot has exceeded the preset power threshold, the RMS can directly send a sleep instruction to the logistics robot to control the logistics robot to enter the sleep state. In the case where the current power of the logistics robot does not reach the preset power threshold, the logistics robot can continue to perform the charging operation until the power of the logistics robot reaches the preset power threshold, and the RMS can control the logistics robot to stop charging and send a sleep instruction to the logistics robot to instruct each logistics robot to enter the sleep state.

[0088] In some embodiments, in the case where the logistics robot is in the charging state and the power of the logistics robot is lower than the preset power threshold, a delayed stop charging instruction can also be sent to the logistics robot in the charging state to make the logistics robot stop charging after the power reaches the preset power threshold. The preset power threshold can be a preset fixed value, such as a power value corresponding to a sleepable duration of 2 hours. The preset power threshold can also be a variable value that changes with the sleep duration, such as when the warehouse system starts work after one night, that is, the sleep duration is 12 hours, the preset power threshold at this time can be a power value corresponding to a sleepable duration of 12 hours; such as when the warehouse system starts work after one day, that is, the sleep duration is 24 hours, the preset power threshold at this time can be a power value corresponding to a sleepable duration of 24 hours. The calculation method of the power value corresponding to the sleepable duration is as shown in step 202.

[0089] In some embodiments, in response to the logistics robot in the charging state stopping charging, a sleep instruction is sent to each logistics robot associated with the RMS, including sending a sleep-in-place instruction to each logistics robot associated with the RMS, the sleep-in-place instruction being used to make the logistics robot sleep at a preset sleep point.

[0090] In some embodiments, the in-place in the in-place sleep instruction refers to a sleep position specified in the RMS of the in-place storage system. For example, a plurality of sleep positions can be preset, and when the logistics robot receives the sleep instruction and can enter the sleep state, the sleep path can be planned by the RMS to make the logistics robot go to the nearest sleep position to sleep.

[0091] In some examples, the RMS can control the logistics robots to sleep at the current positions, or can schedule the logistics robots to move to the preset sleep positions and then control the logistics robots to sleep, and the embodiments of the present disclosure are not limited thereto. For example, the RMS can determine the sleep positions corresponding to the logistics robots respectively according to the travel distances between the current positions of the logistics robots and the sleep positions. After determining the sleep positions, the RMS plans sleep paths for the logistics robots to schedule the logistics robots to move from the current positions to the corresponding sleep positions. After the logistics robots reach the sleep positions, the logistics robots enter the sleep state in response to the sleep instruction.

[0092] In some embodiments, after step 104, the logistics robot control method provided by the present disclosure further includes: the RMS associates the states of all logistics robots, adds the logistics robots not in the sleep state to a sleep list, and sends a sleep instruction to each logistics robot in the sleep list.

[0093] In some embodiments, after all logistics robots enter the sleep state, one or more logistics robots can be woken up abnormally, and at this time, the states of the logistics robots can be polled to determine whether the logistics robots are still in the sleep state. In the case that the logistics robots are not in the sleep state, the logistics robots not in the sleep state can be added to the sleep list, and then a sleep instruction is sent to each logistics robot in the sleep list to make the logistics robots woken up abnormally re-enter the sleep state.

[0094] For example, the RMS can dynamically poll the states of the logistics robots, such as the RMS can obtain the states of the logistics robots every preset time to ensure that the logistics robots are in the sleep state. For the logistics robots woken up abnormally, a sleep instruction can be re-sent to control the logistics robots to enter the sleep state.

[0095] In some embodiments, after step 104, the logistics robot control method provided by the present disclosure further includes: storing the business data before the logistics robots turn to the sleep state.

[0096] In some embodiments, the business data before the logistics robots turn to the sleep state includes task data that the logistics robots have received and not completed, etc.

[0097] The present disclosure provides a logistics robot control method, which converts the logistics robot into a hibernation state by sending a hibernation instruction to each logistics robot associated with the RMS. Thus, when the logistics robot needs to resume normal work, the logistics robot only needs to be awakened, without manually restarting the robot, thereby effectively improving the work efficiency of the robot.

[0098] The present disclosure also provides a second logistics robot control method, which can be executed by a logistics robot associated with the RMS in a warehouse system.

[0099] FIG. 4 is a flowchart of the second logistics robot control method provided by the present disclosure. As shown in FIG. 4, the second logistics robot control method provided by the present disclosure includes the following steps:

[0100] Step 401: Receive a hibernation instruction sent by a robot management system (RMS).

[0101] In some embodiments, the logistics robot can receive the instruction of the RMS and execute the task corresponding to the instruction, or feed back the information of the logistics robot corresponding to the instruction, by being bound to the RMS of the warehouse system.

[0102] In some embodiments, the logistics robot can receive the hibernation instruction sent by the RMS through the 8899 port of the RMS.

[0103] Step 402: Obtain the state of the logistics robot.

[0104] In some embodiments, the state of the logistics robot can include a task state, a no-task state, a hibernation state, an emergency stop state, a charging state, etc. The no-task state can also be referred to as an idle state, which is used to indicate that the logistics robot is currently not assigned a corresponding task to be executed by the RMS.

[0105] Step 403: In the case that the logistics robot is in an idle state, convert into a hibernation state in response to the hibernation instruction; in the case that the logistics robot is in a task state, enter the hibernation state after the robot is converted into the idle state.

[0106] In some embodiments, when the logistics robot is in the idle state and receives the hibernation instruction, the logistics robot can directly enter the hibernation state, without interrupting the task being executed by the logistics robot.

[0107] In some embodiments, the logistics robot receives the sleep instruction when it is in a task state, and the logistics robot does not respond to the sleep instruction. For example, the logistics robot can directly discard the sleep instruction, continue to execute the task being executed, and after the task being executed by the logistics robot is completed and the logistics robot is in an idle state, the logistics robot receives the sleep instruction sent by the RMS and can respond to the sleep instruction to enter the sleep state. For another example, the logistics robot can also not discard the sleep instruction, and continue to execute the task being executed, and after the logistics robot is in the idle state, respond to the sleep instruction to enter the sleep state.

[0108] In some embodiments, according to the setting of the RMS, the logistics robot can sleep in place or move to a one-key collection area to sleep.

[0109] In some embodiments, after step 401, the second logistics robot control method provided by the embodiments of the present disclosure further includes: sending the power information of the logistics robot to the RMS, so that the RMS determines the sleepable duration of the logistics robot with the lowest power based on the power information of the logistics robot with the lowest power.

[0110] In some embodiments, as shown in steps 201 to 203, after the logistics robot receives the sleep instruction, the logistics robot can set a trigger mechanism to trigger the battery management unit to obtain the power information of the logistics robot and send the power information to the RMS. The RMS can determine the sleepable duration of the logistics robot with the lowest power based on the power information of the logistics robot with the lowest power, so that after the wake-up instruction is sent, the staff can conveniently determine the reason why the logistics robot with the lowest power is not woken up.

[0111] FIG. 5 is a flowchart of a method for stopping charging provided by the embodiments of the present disclosure. As shown in FIG. 5, before step 401 described above, the second logistics robot control method provided by the embodiments of the present disclosure further includes:

[0112] Step 501: determining whether a one-key collection instruction sent by the RMS is received.

[0113] For example, in the case where the one-key collection instruction sent by the RMS is received, step 502 is executed; in the case where the one-key collection instruction sent by the RMS is not received, step 503 is executed.

[0114] In some embodiments, as shown in step 301, the RMS can set or not set a one-key collection area. The one-key collection area refers to an area where the logistics robot associated with the RMS in the warehouse system is located when the logistics robot is not in a task state. The position corresponding to the one-key collection area does not intersect with the task path of the logistics robot.

[0115] In some embodiments, when the RMS is provided with a key collection area, the RMS needs to send a key collection instruction to the logistics robot before the logistics robot is in hibernation. When the logistics robot receives the key collection instruction, the logistics robot moves to the key collection area in response to the key collection instruction.

[0116] Step 502, in response to the key collection instruction, move to the key collection area and send a key collection instruction response result to the RMS.

[0117] Step 503, determine whether the state of the logistics robot is a charging state.

[0118] Step 504, in response to the stop charging instruction sent by the RMS, stop charging when the state of the logistics robot is a charging state.

[0119] It should be noted that steps 501 to 540 have been described in the above embodiments (such as steps 301 to 303), and to avoid repetition, they will not be described here.

[0120] In some embodiments, when the logistics robot needs to start working again, the hibernating logistics robot needs to be woken up. Based on this, the third logistics robot control method is also provided in the embodiments of the present disclosure, which can be executed by the RMS.

[0121] FIG. 6 is a flowchart of the third logistics robot control method provided by the embodiments of the present disclosure, as shown in FIG. 6, the third logistics robot control method provided by the embodiments of the present disclosure includes:

[0122] Step 601, send a wake-up instruction to the logistics robot associated with the robot management system (RMS) in a hibernation state, so that the logistics robot in the hibernation state is converted to a wake-up state.

[0123] In some embodiments, the logistics robot in the hibernation state refers to the logistics robot converted to the hibernation state according to the first logistics robot control method provided by the embodiments of the present disclosure.

[0124] In some examples, when the logistics robot needs to be woken up, the RMS can send a wake-up instruction to each logistics robot in a hibernation state to control each logistics robot to convert from the hibernation state to the wake-up state, and the robot in the wake-up state can receive the task issued by the RMS.

[0125] In some embodiments, the above step 601 includes: adding the logistics robot in the hibernation state associated with the RMS to a wake-up list; and sending a wake-up instruction to the logistics robot in the wake-up list.

[0126] In some embodiments, the logistics robots in the wake-up list are logistics robots that are converted to the hibernation state according to the first logistics robot control method provided by the embodiments of the present disclosure.

[0127] In some embodiments, the RMS can create a wake-up list, then obtain the state of each logistics robot, and add the logistics robots in the hibernation state to the wake-up list.

[0128] In some embodiments, the RMS can send the wake-up instruction to each logistics robot in the wake-up list in a serial order, or send the wake-up instruction to all logistics robots in the wake-up list at the same time.

[0129] In some embodiments, since the robots in the wake-up list can be converted from the hibernation state to the wake-up state due to manual awakening or the like, the sending of the wake-up instruction to the logistics robots in the wake-up list includes polling the logistics robots in the wake-up list and removing the logistics robots in the wake-up list that are not in the hibernation state.

[0130] In some embodiments, in order to improve the work efficiency of the logistics robots, after sending the wake-up instruction to the logistics robots in the hibernation state associated with the RMS, the third logistics robot control method provided by the embodiments of the present disclosure further includes initializing the corresponding logistics robots in the wake-up state by using the business data stored before the hibernation state.

[0131] In some examples, the hibernating logistics robots also need to be awakened in the case of re-starting the logistics robots; based on this, the embodiments of the present disclosure further provide a fourth logistics robot control method, which can be executed by the logistics robots.

[0132] FIG. 7 is a flowchart of the fourth logistics robot control method provided by the embodiments of the present disclosure, as shown in FIG. 7, the fourth logistics robot control method provided by the embodiments of the present disclosure includes:

[0133] Step 701, receiving a wake-up instruction sent by the RMS.

[0134] Step 702, in response to the wake-up instruction, converting from the hibernation state to the wake-up state.

[0135] In some examples, the logistics robots convert from the hibernation state to the wake-up state in response to the wake-up instruction sent by the RMS after receiving the wake-up instruction; when the logistics robots cannot be converted to the wake-up state due to failure or abnormality, the logistics robots can report abnormality information to the RMS, so that the RMS displays abnormality prompt information through the control interface, thereby facilitating the operation personnel to perform abnormality processing on the logistics robots.

[0136] In some examples, the system emergency stop of the RMS is triggered, and the logistics robot in the site will enter the emergency stop state. For example, the RMS will be triggered by mistake in the case that the staff passes through the safety light barrier or mistakenly touches the emergency stop touch point on the RMS control interface, which in turn causes the logistics robot associated with the RMS to be converted to the emergency stop state. In the case that the logistics robot is in the emergency stop state, the logistics robot is still consuming a large amount of electric energy, and if the staff does not handle it in time, the logistics robot may be powered off due to low power after the system emergency stop for a period of time. Therefore, when the system emergency stop of the RMS is triggered by mistake, not only energy is wasted, but also the working efficiency of the logistics robot is reduced due to the need to manually restart the logistics robot when the state of the logistics robot is restored.

[0137] To solve the above problems, the logistics robot control method provided by the embodiments of the present disclosure can send a sleep instruction to the logistics robot after the RMS issues an emergency stop instruction, so that the logistics robot is converted from the emergency stop state to the sleep state, thereby effectively saving the energy of the logistics robot; and when the logistics robot needs to restore normal work, only the wake-up instruction needs to be sent to all logistics robots converted to the sleep state after the system emergency stop state is released, thereby effectively improving the working efficiency of the robot.

[0138] FIG. 8 is a flowchart of a logistics robot control method provided by an embodiment of the present disclosure. As shown in FIG. 8, the above step 101 includes the following steps 801 to 802:

[0139] Step 801: Start the first timing in response to the RMS issuing an emergency stop instruction to the logistics robot associated with the RMS.

[0140] In some embodiments, the emergency stop instruction issued by the RMS can be triggered by the staff by manually pressing the emergency stop button after encountering an emergency situation; can be triggered by the staff through the emergency stop touch point of the RMS control interface due to actual needs; or can be triggered by the staff passing through the safety light barrier or mistakenly touching the emergency stop touch point on the RMS control interface. The embodiments of the present disclosure do not limit the triggering mode of the emergency stop instruction.

[0141] In some examples, after the emergency stop event is triggered, the RMS can generate an emergency stop instruction in response to the emergency stop event being triggered, and send the emergency stop instruction to each logistics robot. For example, a worker can trigger an emergency stop event by pressing an emergency stop switch, and the RMS sends an emergency stop instruction to a second robot in the warehouse system in response to the emergency stop event being triggered. The second robot can be completely identical to the first robot described above, or can not be completely identical. For example, the second robot can be all the robots associated with the RMS in the warehouse system, or can be part of the robots associated with the RMS. That is, the emergency stop instruction can control all logistics robots in the warehouse system to stop running, or can control logistics robots in a specified area of the warehouse system to stop running, and the embodiments of the present disclosure do not limit this.

[0142] In some embodiments, after the RMS sends the emergency stop instruction, a logistics robot associated with the RMS (hereinafter referred to as a second robot) receives the emergency stop instruction and converts to an emergency stop state. The emergency stop state means that the logistics robot keeps the posture at the current time and does not move.

[0143] For example, the first logistics robot is executing a task of carrying a shelf and moving in parallel before the emergency stop, and after receiving the emergency stop instruction sent by the RMS, the first logistics robot keeps still at the original position, that is, the first logistics robot keeps lifting the shelf but stops moving. For another example, the second logistics robot is executing a task of jacking up a shelf or putting down a shelf before the emergency stop, and after receiving the emergency stop instruction sent by the RMS, the second logistics robot keeps still at the original position, that is, the second logistics robot stops the task of jacking up the shelf or putting down the shelf. For another example, the third logistics robot is in a rest area or performing a charging task in a charging area before the emergency stop, and after receiving the emergency stop instruction sent by the RMS, the third logistics robot keeps still at the original position, and the logistics robot that is performing the charging task continues to charge.

[0144] In some examples, after the RMS sends the emergency stop instruction to each second robot, the RMS can start a first timing to obtain a first timing duration. The first timing duration is the duration that the second robot stops running based on the emergency stop instruction.

[0145] At step 802, a sleep instruction is sent to the logistics robot in response to the first timing duration reaching a first preset duration.

[0146] In some examples, in the case where the first timing duration reaches the first preset duration, it indicates that the duration that the logistics robot stops running is relatively long, and in order to avoid the consumption of electric energy caused by the logistics robot continuing to stop, the RMS can send a sleep instruction to the logistics robot in the emergency stop state (i.e., the second robot) to control each second robot to convert from the emergency stop state to a sleep state.

[0147] In some embodiments, the hibernation instruction is used to make the logistics robot transition from the emergency stop state to the hibernation state.

[0148] In some embodiments, the first timing duration can be set according to historical experience or actual demand. For example, the first timing duration can be one hour, two hours, half an hour or other durations, which are not limited in the present disclosure.

[0149] In some embodiments, the logistics robot can be remotely controlled by the RMS or manually controlled by the staff. Wherein, the logistics robot only needs to be bound with the RMS, and the logistics robot is associated with the RMS, and the RMS can control each robot associated therewith by issuing instructions.

[0150] In some embodiments, the RMS makes the logistics robot act by issuing a task instruction, and then completes the carrying task corresponding to the task instruction. For example, the RMS sends a hibernation instruction to each logistics robot associated with the RMS, so that the logistics robot associated with the RMS enters the hibernation state.

[0151] In some embodiments, taking the RMS sending a hibernation instruction to each logistics robot associated with the RMS as an example, the RMS can send a hibernation instruction to each logistics robot associated with the RMS through a custom port. Wherein, a monitoring instance of the monitoring port can also be created in the RMS, and whether the logistics robot enters the hibernation state can be determined by whether there is a heartbeat packet transmission between the logistics robot and the RMS port. If there is a heartbeat packet transmission, it indicates that the logistics robot has not entered the hibernation state. On the contrary, it indicates that the logistics robot has entered the hibernation state.

[0152] The present disclosure proposes a logistics robot control method, which can send a hibernation instruction to the logistics robot after a first preset duration after the RMS issues an emergency stop instruction, so that the logistics robot transitions from the emergency stop state to the hibernation state, effectively saving the energy of the logistics robot; and when the logistics robot needs to resume normal work, only needs to send a wake-up instruction to all logistics robots that have transitioned to the hibernation state after the system emergency stop state is released, effectively improving the work efficiency of the robot.

[0153] In some embodiments, after step 801, the logistics robot control method provided by the embodiments of the present disclosure further includes: in response to the cancel emergency stop instruction sent by the RMS to the logistics robot, sending a first wake-up instruction to the logistics robot, the first wake-up instruction being used to make the logistics robot transition from the hibernation state to the wake-up state.

[0154] In some embodiments, in the case that the RMS sends the cancel emergency stop instruction to the logistics robot, it indicates that the emergency situation causing the system emergency stop has been properly handled. At this time, the RMS can automatically issue a first wake-up instruction to make the logistics robot transition from the hibernation state to the wake-up state; and then the logistics robot in the wake-up state can receive the task issued by the RMS, thereby effectively improving the work efficiency of the logistics robot.

[0155] In some embodiments, the cancel emergency stop instruction can be manually issued by the staff by clicking the cancel emergency stop touch point on the RMS control interface, or by the staff by pressing the emergency stop button to reset the emergency stop button.

[0156] In some examples, after the second robot stops running based on the emergency stop instruction, the user can trigger an emergency stop recovery event by resetting the switch, the RMS generates a cancel emergency stop instruction (also referred to as an emergency stop reset instruction) in response to the emergency stop recovery event being triggered, and sends the cancel emergency stop instruction to the second robot, and the second robot can recover from the stopped running state to the original state based on the cancel emergency stop instruction. The reset switch and the above-mentioned emergency stop switch can be the same switch or different switches, and the embodiments of the present disclosure do not limit this.

[0157] For example, since the second robot has been converted from the emergency stop state to the hibernation state, after the second robot receives the cancel emergency stop instruction, the second robot is still in the hibernation state and cannot continue to execute the task issued by the RMS. Therefore, the RMS can continue to send the first wake-up instruction to the second robot to control the second robot to transition from the current hibernation state to the wake-up state.

[0158] FIG. 9 is a flowchart of a hibernation instruction sending method provided by the embodiments of the present disclosure. As shown in FIG. 9, after the above-mentioned step 801, the logistics robot control method provided by the embodiments of the present disclosure further includes:

[0159] Step 901, in response to receiving the second wake-up instruction, determining whether the RMS has sent a cancel emergency stop instruction.

[0160] In some embodiments, the second wake-up instruction refers to a wake-up instruction manually issued by the staff by clicking the wake-up touch point on the RMS control interface.

[0161] In some embodiments, after the system emergency stop, the RMS control interface does not display the hibernation touch point, but only displays the wake-up touch point. The hibernation instruction is automatically issued when the RMS sends the emergency stop instruction.

[0162] In some embodiments, in the case that the emergency situation causing the system emergency stop has been properly handled, the RMS will automatically or manually send a cancel emergency stop instruction to the logistics robot to make the logistics robot exit the emergency stop state.

[0163] In some embodiments, in the case that the RMS has sent the cancel emergency stop instruction, indicating that the emergency situation causing the system to stop has been properly handled, the logistics robot can be normally awakened. If the logistics robot after being normally awakened is located on the identification point for determining the position of the logistics robot, the logistics robot after being awakened can automatically scan the identification code on the identification point and report its position information to the RMS. If the logistics robot after being normally awakened is not located on the identification point for determining the position of the logistics robot, the staff needs to move the logistics robot to the nearest identification point and manually restart the logistics robot. The logistics robot after being restarted can automatically scan the identification code on the identification point and report its position information to the RMS.

[0164] Step 902, in the case that the RMS has not sent the cancel emergency stop instruction, start the second timing.

[0165] Step 903, in response to the length of the second timing reaching the second preset length, send a sleep instruction to the logistics robot.

[0166] In some embodiments, in the case that the RMS has not sent the cancel emergency stop instruction, indicating that the emergency situation causing the system to stop has not been properly handled, the logistics robot needs to continue in the sleep state. However, since the staff has manually issued a second awakening instruction by clicking the awakening contact on the RMS control interface, the logistics robot has been awakened. Therefore, after the second preset length, the RMS needs to send a sleep instruction to the logistics robot to make the logistics robot continue to sleep.

[0167] In some examples, the second preset length is the same as or different from the first preset length. For example, the second preset length can be less than the first preset length, so that the RMS can send the sleep instruction faster and the logistics robot can enter the sleep state faster.

[0168] FIG. 10 is a flowchart of a method for sending an awakening instruction according to an embodiment of the present disclosure. As shown in FIG. 10, after sending the first awakening instruction to the logistics robot, the method for controlling the logistics robot according to an embodiment of the present disclosure further includes:

[0169] Step 1001, acquire the state of the logistics robot.

[0170] In some embodiments, after sending the first awakening instruction to the logistics robot, the state of the logistics robot is divided into an awakened state and an unawakened state.

[0171] In some examples, the wake-up state includes a power-off state caused by low battery level, and a state in which the logistics robot cannot normally communicate with the RMS due to the logistics robot not being on the identification point. The non-wake-up state also includes a hibernation state and an abnormal state. For example, when the logistics robot has a communication failure and cannot timely receive the first wake-up instruction sent by the RMS, the logistics robot can still remain in the hibernation state. In the case where the logistics robot is in the non-wake-up state, the wake-up instruction needs to be continuously sent to the logistics robot until the logistics robot is converted from the hibernation state to the wake-up state.

[0172] In some embodiments, the state of the logistics robot can be determined by whether there is a heartbeat packet transmission between the logistics robot and the 8899 port of the RMS. For example, in the case where there is a heartbeat packet transmission between the logistics robot and the 8899 port of the RMS, it indicates that the logistics robot is in the wake-up state and can normally communicate with the RMS; in the case where there is no heartbeat packet transmission between the logistics robot and the 8899 port of the RMS, it indicates that the logistics robot is in the non-wake-up state and the logistics robot cannot normally communicate with the RMS.

[0173] Step 1002, in the case where there is a logistics robot that has not been converted to the wake-up state, the wake-up instruction is continuously sent to the logistics robot that has not been converted to the wake-up state within a third preset time period until all the logistics robots are converted to the wake-up state.

[0174] In some embodiments, as shown in the above step 1001, when the logistics robot receives the first wake-up instruction sent by the RMS, the master control device of the logistics robot can be executing other tasks and cannot timely execute the wake-up instruction to wake up the logistics robot; at this time, the wake-up instruction needs to be continuously sent to the logistics robot until the logistics robot is converted from the hibernation state to the wake-up state.

[0175] In some embodiments, the third preset time period can be set according to requirements, for example, the third preset time period can be set to one minute, or two minutes, three minutes, etc., which is not limited in the present disclosure.

[0176] In some examples, the RMS can dynamically obtain the state of each logistics robot and has determined whether each logistics robot has been converted from the hibernation state to the wake-up state. In the case where the logistics robot has not been woken up, the RMS also needs to further wake up, such as the RMS can continue to send the wake-up instruction to the logistics robot that has not been woken up within a third preset time period until all the logistics robots are converted to the wake-up state, so as to ensure the working efficiency of the warehouse system.

[0177] In some embodiments, the logistics robot has not been woken up after the third preset time length, and the logistics robot needs to report abnormal information to the RMS; after the RMS receives the abnormal information, the RMS can send a first prompt through the control interface to enable the staff to quickly obtain the abnormal state of the logistics robot that needs to be converted to the wake-up state, and then manually wake up the logistics robot in the abnormal state.

[0178] In some embodiments, there are still logistics robots that have not been converted to the wake-up state after the third preset time length, and the abnormal information reported by the logistics robots that have not been converted to the wake-up state is received, and a first prompt is sent through the control interface of the RMS, and the first prompt is used to prompt the abnormal state of the logistics robots that have not been converted to the wake-up state.

[0179] That is, the RMS sends a wake-up instruction (i.e., a first wake-up instruction) to the logistics robot for multiple times to wake up the logistics robot in the sleep state. When the wake-up time length of the RMS (i.e., the time length of sending the wake-up instruction) reaches the third preset time length, the logistics robot is still not woken up, which indicates that the logistics robot may be abnormal and thus cannot be woken up. In this case, the RMS can send abnormal prompt information through the control interface, or can send the abnormal prompt information (i.e., a first prompt) through the control interface based on the abnormal information reported by the logistics robot that has not been woken up, to remind the staff to perform abnormal processing on the logistics robot that has not been woken up, so as to avoid affecting the work efficiency of the warehouse system due to the un-woken-up logistics robot.

[0180] FIG. 11 is a flow diagram of a second prompt sending method provided by an embodiment of the present disclosure. As shown in FIG. 11, after step 801, the logistics robot control method provided by the embodiment of the present disclosure further includes:

[0181] Step 1101: Determine whether the position information of all logistics robots can be obtained.

[0182] In some examples, a plurality of identification codes can be arranged in the warehouse system, and the logistics robot needs to scan each identification code to determine the current position when moving in the warehouse. For example, the logistics robot can send the scanned identification code to the RMS, and the RMS determines the position information of the logistics robot based on the identification code. It should be noted that the position where the identification code is arranged in the warehouse can be referred to as an identification point, and the position where the identification code is not arranged can be referred to as a non-identification point.

[0183] In some embodiments, after the logistics robot is woken up, if it is located at an identification point, it will automatically scan the identification code of the identification point to report the position information of itself to the RMS, so that the RMS can arrange tasks for the corresponding logistics robot based on the position information. However, when the logistics robot that is not located at an identification point is woken up, it cannot report its own position information to the RMS by scanning the identification code.

[0184] That is, in the case that the logistics robot is woken up, the logistics robot can be located at the identification point provided with the identification code, or can be located at other positions (such as non-identification points) without the identification code. In the case that the logistics robot is located at the identification point, the logistics robot can report its own position information to the RMS by scanning the identification code on the identification point, and the RMS can obtain the position information of the logistics robot. In the case that the logistics robot is located at the non-identification point, the logistics robot cannot report its own position information to the RMS by scanning the identification code when it is woken up, and the RMS cannot obtain the position information of the logistics robot.

[0185] In some embodiments, a list of logistics robots that have reported the position information to the RMS can be automatically generated and displayed on the control interface of the RMS. For example, in the case that the timing duration reaches the third preset duration after the RMS issues the wake-up instruction, the RMS can display the list of logistics robots that have reported the position information on the control interface; the RMS can also display the list of logistics robots that are woken up but have not reported the position information on the control interface of the RMS.

[0186] Step 1102, in the case that the position information of all logistics robots cannot be obtained, a second prompt is issued; the second prompt is used to prompt the staff to move the logistics robots not on the identification code to the identification code and manually restart, so that the logistics robots not on the identification code report the position information to the RMS by scanning the identification code.

[0187] In some embodiments, the second prompt can be displayed on the control interface of the RMS in the form of a list of logistics robots that are woken up but have not reported the position information, as shown in step 1101.

[0188] In some examples, among all the logistics robots associated with the RMS, one or more logistics robots are not located at the identification point after being woken up, and the RMS cannot obtain the position information of the at least one logistics robot, so that the logistics robot cannot be subsequently assigned a task. Therefore, in the case that the position information of the logistics robot cannot be obtained, the RMS can display a second prompt through the control interface, and the second prompt can include each logistics robot whose position information cannot be obtained, so as to facilitate the operation personnel to handle the exception. For example, the operation personnel can move the logistics robot to the identification point position provided with the identification code, so that the logistics robot can report its position information to the RMS again by scanning the identification code.

[0189] In some embodiments, the logistics robots that are woken up but not joined in the RMS include logistics robots that have tasks before the emergency stop and are not at the identification points, and logistics robots that have no tasks and are not at the identification points. Among them, the logistics robots that have tasks and are not at the identification points can include logistics robots that are executing tasks of carrying shelves and marching, logistics robots that are located at charging areas and are not at the identification points, and logistics robots that are marching empty and are not at the identification points. The logistics robots that have no tasks and are not at the identification points can include logistics robots that are staying at shelf areas or rest areas and are not at the identification points.

[0190] In some examples, after the logistics robots that are executing tasks of carrying shelves and marching and are not at the identification points are woken up, they are lifted up without being put down, and manual or control hand manipulators are needed to move the logistics robots to the nearest identification points, shut down and restart the logistics robots, make the logistics robots report the current position information to the RMS by scanning the identification codes, and wait for new task assignments. After the logistics robots that are located at the charging areas and are not at the identification points are woken up, manual or control hand manipulators are needed to move the logistics robots to the nearest identification points, make the logistics robots join the RMS by scanning the identification codes, and wait for new task assignments. After the logistics robots that are in the process of lifting or putting down shelves and are not at the identification points are woken up, manual or control hand manipulators are needed to move the logistics robots and the shelves together to the nearest identification points, make the logistics robots report the current position information to the RMS by scanning the identification codes, and wait for new task assignments. After the logistics robots that are marching empty and are not at the identification points are woken up, manual or control hand manipulators are needed to move the logistics robots to the nearest identification points, make the logistics robots report the current position information to the RMS by scanning the identification codes, and wait for new task assignments.

[0191] In some embodiments, after the logistics robots that are charging receive the emergency stop instruction sent by the RMS, they will remain stationary at the charging position but continue to charge. At this time, the logistics robots do not stop charging, and the logistics robots that are charging cannot enter the sleep state, thereby failing to guarantee system safety.

[0192] Based on this, in some embodiments, the step 802 includes: in response to the length of the first timing reaching the first preset length, acquiring the state of the logistics robot; and in the case that the logistics robot is in the charging state, sending a sleep instruction to the logistics robot in the charging state. The sleep instruction is used to make the logistics robot in the charging state stop charging and convert to the sleep state.

[0193] It should be noted that the state of the logistics robot can be acquired using the method shown in step 1001, which will not be described here.

[0194] In some embodiments, if the logistics robot in the charging state ends charging at the time when the emergency stop instruction is issued, the logistics robot in the charging state can shut down within the first preset time period due to low power, and therefore, by means of the logistics robot stopping charging after the first preset time period after the emergency stop instruction is issued, the logistics robot can have sufficient power when in the hibernation state and will not shut down due to low power, and the system safety after the emergency stop signal is issued can be ensured.

[0195] To implement the first logistics robot control method applied to the RMS provided in the embodiments of the present disclosure, the embodiments of the present disclosure provide a logistics robot control device.

[0196] FIG. 12 is a structural schematic diagram of a logistics robot control device provided in the embodiments of the present disclosure. As shown in FIG. 12, the logistics robot control device 1200 includes a sending module 1201, a first receiving module 1202, a determining module 1203, and a first hibernation module 1204. Wherein:

[0197] The sending module 1201 is configured to send a hibernation instruction to each logistics robot associated with a robot management system RMS.

[0198] The first receiving module 1202 is configured to receive a hibernation instruction response result fed back by the logistics robot.

[0199] The determining module 1203 is configured to determine whether all logistics robots associated with the RMS are converted to the hibernation state based on the hibernation instruction response result.

[0200] The first hibernation module 1204 is configured to continue sending the hibernation instruction until all logistics robots associated with the RMS are converted to the hibernation state, in the case that all logistics robots associated with the RMS are not converted to the hibernation state.

[0201] In some embodiments, the hibernation instruction response result is used to indicate the state of the corresponding logistics robot, and the state of the logistics robot is one of a task state and a hibernation state.

[0202] In some embodiments, the determining module 1203 is configured to determine that all logistics robots associated with the RMS are not converted to the hibernation state, in the case that at least one hibernation instruction response result in the hibernation instruction response result indicates that the state of the corresponding logistics robot is the task state.

[0203] In some embodiments, the logistics robot control device 1200 further comprises a first hibernation duration determination module configured to: acquire power information of each logistics robot; determine the hibernation duration of the logistics robot with the lowest power based on the power information of the logistics robot with the lowest power; and display the hibernation duration of the logistics robot with the lowest power on the control interface of the RMS.

[0204] In some embodiments, the determination module 1203 is configured to determine whether the RMS is provided with a one-key collection area in response to the hibernation instruction trigger signal. The sending module 1201 is configured to send a one-key collection instruction to each logistics robot associated with the RMS in the case that the RMS is provided with a one-key collection area, and the one-key collection instruction is used to make the logistics robot move to the one-key collection area. The sending module 1201 is configured to send a hibernation instruction to each logistics robot associated with the RMS in response to all logistics robots reaching the one-key collection area.

[0205] In some embodiments, the sending module 1201 is further configured to acquire the state of the logistics robot in the case that the RMS is not provided with a one-key collection area. The sending module 1201 is further configured to send a stop charging instruction to the logistics robot in the charging state in the case that there is a logistics robot in the charging state among all logistics robots associated with the RMS. The sending module 1201 is further configured to send a hibernation instruction to each logistics robot associated with the RMS in response to the logistics robot in the charging state stopping charging.

[0206] In some embodiments, the sending module 1201 is configured to send an in-place hibernation instruction to each logistics robot associated with the RMS, and the in-place hibernation instruction is used to make the logistics robot hibernate at a preset hibernation point.

[0207] In some embodiments, the logistics robot control device 1200 further comprises a hibernation list adding module configured to: poll the state of all logistics robots associated with the RMS, and add the logistics robot not in the hibernation state to a hibernation list; and send a hibernation instruction to each logistics robot in the hibernation list.

[0208] In some embodiments, the logistics robot control device 1200 further comprises a storage module configured to store business data before the logistics robot turns to the hibernation state.

[0209] In some embodiments, the sending module 1201 is further configured to send a wake-up instruction to the logistics robot in the hibernation state to make the logistics robot in the hibernation state turn to the wake-up state.

[0210] In some embodiments, the sending module 1201 is configured to add the logistics robot in the sleep state associated with the RMS to a wake-up list; and send a wake-up instruction to the logistics robot in the wake-up list.

[0211] In some embodiments, the sending module 1201 is configured to poll the logistics robots in the wake-up list, and remove the logistics robots in the wake-up list that are not in the sleep state.

[0212] In some embodiments, the logistics robot control device 1200 further comprises an initialization module configured to initialize the corresponding logistics robot in the wake-up state by using the business data stored before the sleep state.

[0213] In some embodiments, the sending module 1201 is configured to start a first timing in response to sending the emergency stop instruction to the logistics robot associated with the RMS; and send a sleep instruction to the logistics robot in response to the duration of the first timing reaching a first preset duration; wherein the sleep instruction is used to make the logistics robot transition from the emergency stop state to the sleep state.

[0214] In some embodiments, the sending module 1201 is configured to send a first wake-up instruction to the logistics robot in response to the RMS sending a cancel emergency stop instruction to the logistics robot, the first wake-up instruction being used to make the logistics robot transition from the sleep state to the wake-up state; and wherein the wake-up instruction comprises the first wake-up instruction.

[0215] In some embodiments, the sending module 1201 is configured to determine whether the RMS has sent a cancel emergency stop instruction in response to receiving a second wake-up instruction; wherein the wake-up instruction comprises the second wake-up instruction; start a second timing in the case that the RMS has not sent the cancel emergency stop instruction; and send a sleep instruction to the logistics robot in response to the duration of the second timing reaching a second preset duration.

[0216] In some embodiments, the sending module 1201 is further configured to obtain the state of the logistics robot; and continuously send the first wake-up instruction to the logistics robot that has not transitioned to the wake-up state within a third preset duration until all the logistics robots have transitioned to the wake-up state in the case that there is a logistics robot that has not transitioned to the wake-up state.

[0217] In some embodiments, the logistics robot control device 1200 further comprises a prompt module configured to receive abnormal information reported by the logistics robot that has not transitioned to the wake-up state in the case that there is a logistics robot that has not transitioned to the wake-up state after the third preset duration; and issue a first prompt through a control interface of the RMS; wherein the first prompt is used to prompt the abnormal state of the logistics robot that has not transitioned to the wake-up state.

[0218] In some embodiments, the prompting module is further configured to: determine whether the position information of all the logistics robots can be acquired; and issue a second prompt in a case where the position information of all the logistics robots cannot be acquired; wherein the second prompt is used to prompt the staff to move the logistics robot not on the identification code to the identification code and manually restart, so that the logistics robot not on the identification code reports the position information to the RMS by scanning the identification code.

[0219] In some embodiments, the sending module 1201 is configured to: acquire the state of the logistics robot in response to the time length of the first timing reaching the first preset time length; and send a hibernation instruction to the logistics robot in the charging state in a case where the logistics robot is in the charging state; wherein the hibernation instruction is used to make the logistics robot in the charging state stop charging and convert to a hibernation state.

[0220] To implement the second logistics robot control method applied to the logistics robot provided in the embodiments of the present disclosure, the embodiments of the present disclosure further provide another logistics robot control device.

[0221] FIG. 13 is a structural schematic diagram of another logistics robot control device provided in the embodiments of the present disclosure. As shown in FIG. 13, the logistics robot control device 1300 includes a second receiving module 1301, an acquisition module 1302, and a second hibernation module 1303. Wherein:

[0222] The second receiving module 1301 is configured to: receive a hibernation instruction sent by a robot management system RMS;

[0223] The acquisition module 1302 is configured to: acquire the state of the logistics robot;

[0224] The second hibernation module 1303 is configured to: convert to a hibernation state in response to the hibernation instruction in a case where the logistics robot is in an idle state; and enter the hibernation state after the robot converts to the idle state in a case where the logistics robot is in a task state.

[0225] In some embodiments, the logistics robot control device 1300 further includes a second hibernation time length determination module, which is configured to: send the power information of the logistics robot to the RMS, so that the RMS determines the hibernable time length of the logistics robot with the lowest power based on the power information of the logistics robot with the lowest power.

[0226] In some embodiments, the logistics robot control apparatus 1300 further comprises a charging state determining module configured to: determine whether a one-key set instruction sent by the RMS is received; in the case where the one-key set instruction sent by the RMS is received, move to a one-key set area and send a one-key set instruction response result to the RMS in response to the one-key set instruction; in the case where the one-key set instruction sent by the RMS is not received, determine whether the state of the logistics robot is a charging state; in the case where the state of the logistics robot is the charging state, stop charging in response to a stop charging instruction sent by the RMS.

[0227] In some embodiments, the second receiving module 1301 is further configured to: receive a wake-up instruction sent by the robot management system RMS; and convert from a hibernation state to a wake-up state in response to the wake-up instruction.

[0228] It should be noted that the logistics robot control apparatus provided in the above embodiments is only used as an example for illustrating the division of the above program modules, and in actual applications, the above processes can be completed by different program modules according to needs, that is, the internal structure of the logistics robot control apparatus is divided into different program modules to complete all or part of the above processes. In addition, the logistics robot control apparatus provided in the above embodiments and the logistics robot control method provided in the embodiments of the present disclosure belong to the same concept, and the specific implementation process is detailed in the method embodiments, which will not be described here.

[0229] The embodiments of the present disclosure further provide a logistics robot control system comprising an RMS and at least two logistics robots associated with the RMS. Wherein:

[0230] The RMS is configured to: send a hibernation instruction to each logistics robot associated with the RMS; receive a hibernation instruction response result fed back by the logistics robot; determine whether all logistics robots associated with the RMS have all converted to a hibernation state based on the hibernation instruction response result; and continue to send the hibernation instruction until all logistics robots associated with the RMS have all converted to the hibernation state in the case where all logistics robots associated with the RMS have not all converted to the hibernation state.

[0231] The logistics robot is configured to: receive a hibernation instruction sent by the RMS; obtain the state of the logistics robot; convert to a hibernation state in response to the hibernation instruction in the case where the logistics robot is in an idle state; and enter the hibernation state after the robot is converted to the idle state in the case where the logistics robot is in a task state.

[0232] FIG. 14 is a schematic diagram of a hardware structure of an electronic device according to an embodiment of the present disclosure. As shown in FIG. 14, the electronic device 1400 includes at least one processor 1402, and a memory 1401 connected to the at least one processor 1402. The memory 1401 stores instructions executable by the at least one processor 1402. The instructions are executed by the at least one processor 1402 to implement the steps of the first or second method for controlling a logistics robot according to an embodiment of the present disclosure.

[0233] In some examples, the electronic device can be specifically a control device according to an embodiment of the present disclosure, and the electronic device can implement the corresponding procedures implemented by the control device in the various methods according to an embodiment of the present disclosure. For brevity, details are not described herein.

[0234] In some examples, the electronic device can be specifically a network device according to an embodiment of the present disclosure, and the electronic device can implement the corresponding procedures implemented by the network device in the various methods according to an embodiment of the present disclosure. For brevity, details are not described herein.

[0235] In some examples, the electronic device further includes a communication interface 1403. The various components in the electronic device are coupled together by a bus system 1404. It can be understood that the bus system 1404 is used to realize the connection communication between the components. The bus system 1404 includes not only a data bus, but also a power supply bus, a control bus, and a status signal bus. However, for the purpose of clarity, various buses are marked as the bus system 1404 in FIG. 14.

[0236] In some examples, the memory 1401 can be a volatile memory or a nonvolatile memory, and also can include both volatile and nonvolatile memory. Among them, the nonvolatile memory can be a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), a ferromagnetic random access memory (FRAM), a Flash memory, a magnetic surface memory, an optical disc, or a Compact Disc Read-Only Memory (CD-ROM). The magnetic surface memory can be a disk memory or a tape memory. The volatile memory can be a Random Access Memory (RAM) used as an external cache. By way of example and not limitation, many forms of RAM can be used, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDR SDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), Sync Link Dynamic Random Access Memory (SLDRAM), and Direct Rambus Random Access Memory (DRRAM).The memory 1201 described in the embodiments of the present disclosure is intended to include, but is not limited to, these and any other suitable type of memory.

[0237] The method disclosed in the embodiments of the present disclosure can be applied to the processor 1402 or implemented by the processor 1402. The processor 1402 can be an integrated circuit chip having a processing capability. In the implementation process, each step of the above method can be completed by the integrated logic circuit of hardware in the processor 1402 or the instruction in the form of software. The processor 1402 described above can be a general processor, a DSP, or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, etc. The processor 1402 can implement or execute the disclosed methods, steps and logic block diagrams in the embodiments of the present disclosure. The general processor can be a microprocessor or any conventional processor, etc. In combination with the steps of the method disclosed in the embodiments of the present disclosure, the hardware decoding processor can be directly embodied to complete the execution, or the combination of hardware and software modules in the decoding processor can be used to complete the execution. The software module can be located in the storage medium, which is located in the memory 1401, and the processor 1402 reads the information in the memory 1401 to complete the steps of the above method in combination with the hardware thereof.

[0238] In some examples, the electronic device can be implemented by one or more ASICs (Application Specific Integrated Circuits), DSPs, PLDs (Programmable Logic Devices), CPLDs (Complex Programmable Logic Devices), FPGAs, general-purpose processors, controllers, MCUs, microprocessors, or other electronic elements, for executing the foregoing method.

[0239] The embodiments of the present disclosure further provide a non-transitory computer-readable storage medium storing computer instructions, which are used to make the computer execute the steps of the first kind of logistics robot control method or the second kind of logistics robot control method disclosed in the embodiments of the present disclosure.

[0240] In some examples, the computer-readable storage medium can be applied to the control device in the embodiments of the present disclosure, and the computer instructions make the computer execute the corresponding processes implemented by the control device in the various methods of the embodiments of the present disclosure. For brevity, the details are not described here.

[0241] In some examples, the computer readable storage medium can be applied to the network device in the embodiments of the present disclosure, and the computer instructions cause the computer to execute the corresponding processes implemented by the network device in the various methods of the embodiments of the present disclosure. For brevity, details are not repeated here.

[0242] In several embodiments provided by the present disclosure, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division. In actual implementation, another division manner can be used, for example, a plurality of units or components can be combined, or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the components or units shown or discussed can be indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or in other forms.

[0243] The units described above as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, that is, they can be located in one place or distributed on a plurality of network units; some or all of the units can be selected according to actual needs to achieve the purpose of the embodiments.

[0244] In addition, each functional unit in each embodiment of the present disclosure can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the integrated unit can be realized in the form of hardware or in the form of hardware plus software functional unit.

[0245] Those skilled in the art can understand that all or part of the steps of the above-mentioned method embodiments can be completed by program instruction related hardware, and the foregoing program can be stored in a computer readable storage medium. When the program is executed, the steps of the method embodiments are executed; and the foregoing storage medium includes mobile storage equipment, ROM, RAM, magnetic disk or optical disk and various media that can store program codes.

[0246] Alternatively, the above-mentioned integrated units of the present disclosure, if implemented in the form of software function modules and sold or used as independent products, can also be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the embodiments of the present disclosure can be embodied in the form of a software product in essence or in the form of a part of the prior art that contributes to the present disclosure. The computer software product is stored in a storage medium, and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in the various embodiments of the present disclosure. The aforementioned storage medium includes: mobile storage devices, ROM, RAM, magnetic disks or optical disks, and various media that can store program codes.

[0247] The above is only a specific implementation of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed by the present disclosure, which should be covered within the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be subject to the protection scope of the claims.

Claims

1. A logistics robot control method, comprising: sending a sleep instruction to each logistics robot associated with a robot management system (RMS) ; receiving a sleep instruction response result fed back by the logistics robot; determining whether all logistics robots associated with the RMS are converted to a sleep state based on the sleep instruction response result; continuing to send the sleep instruction until all logistics robots associated with the RMS are converted to the sleep state if all logistics robots associated with the RMS are not converted to the sleep state.

2. The method of claim 1, wherein, The sleep instruction response result is used to indicate the state of the corresponding logistics robot; the state of the logistics robot is a task state or a sleep state.

3. The method of claim 2, wherein, The determination of whether all logistics robots associated with the RMS are converted to the sleep state based on the sleep instruction response result comprises: if at least one sleep instruction response result in the sleep instruction response result indicates that the state of the corresponding logistics robot is the task state, it is determined that all logistics robots associated with the RMS are not converted to the sleep state.

4. The method according to any one of claims 1 to 3, wherein, After the sleep instruction is sent to each logistics robot associated with the RMS, the method further comprises: obtaining power information of each logistics robot; determining the sleepable duration of the logistics robot with the lowest power based on the power information of the logistics robot with the lowest power; and displaying the sleepable duration of the logistics robot with the lowest power on a control interface of the RMS.

5. The method according to any one of claims 1 to 4, wherein, The sending of the sleep instruction to each logistics robot associated with the RMS comprises: determining whether the RMS is provided with a one-key collection area in response to a sleep instruction trigger signal; if the RMS is provided with the one-key collection area, sending a one-key collection instruction to each logistics robot associated with the RMS; wherein the one-key collection instruction is used to instruct the logistics robot to move to the one-key collection area; in response to all logistics robots reaching the one-key collection area, sending the sleep instruction to each logistics robot associated with the RMS. 6.The method of claim 5, further comprising: if the RMS is not provided with the one-key collection area, obtaining the state of the logistics robot; if there is a logistics robot in a charging state among all logistics robots associated with the RMS, sending a stop charging instruction to the logistics robot in the charging state; in response to the logistics robot in the charging state stopping charging, sending the sleep instruction to each logistics robot associated with the RMS.

7. The method of claim 6, wherein, The sending of the sleep instruction to each logistics robot associated with the RMS in response to the logistics robot in the charging state stopping charging comprises: sending an in-place sleep instruction to each logistics robot associated with the RMS; wherein the in-place sleep instruction is used to instruct the logistics robot to sleep at a preset sleep point.

8. The method of any one of claims 1-7, wherein, After all logistics robots associated with the RMS are converted to the sleep state, the method further comprises: polling states of all logistics robots associated with the RMS, adding logistics robots not in the sleep state to a sleep list; sending a sleep instruction to each logistics robot in the sleep list.

9. The method of any one of claims 1-8, wherein, after all logistics robots associated with the RMS are converted to the sleep state, the method further comprises: storing business data before the logistics robots are converted to the sleep state.

10. The method of any one of claims 1-9, after all logistics robots associated with the RMS are converted to the sleep state, the method further comprises: sending a wake-up instruction to the logistics robots in the sleep state to convert the logistics robots in the sleep state to the wake-up state.

11. The method of claim 10, wherein, the sending of the wake-up instruction to the logistics robots in the sleep state associated with the RMS comprises: adding the logistics robots in the sleep state associated with the RMS to a wake-up list; sending a wake-up instruction to the logistics robots in the wake-up list.

12. The method of claim 11, wherein, the sending of the wake-up instruction to the logistics robots in the wake-up list comprises: polling the logistics robots in the wake-up list, removing logistics robots not in the sleep state from the wake-up list.

13. The method of claim 10, wherein, after the sending of the wake-up instruction to the logistics robots in the sleep state associated with the RMS, the method further comprises: initializing the corresponding logistics robots in the wake-up state with the business data stored before the sleep state.

14. The method of any one of claims 1-13, wherein, the sending of the sleep instruction to the plurality of logistics robots associated with the RMS comprises: starting a first timer in response to the sending of the emergency stop instruction to the logistics robots associated with the RMS; sending a sleep instruction to the logistics robots in response to a duration of the first timer reaching a first preset duration; wherein the sleep instruction is used to convert the logistics robots from the emergency stop state to the sleep state.

15. The method of claim 14, wherein the features are characterized by, after the sending of the sleep instruction to the logistics robots, the method further comprises: sending a first wake-up instruction to the logistics robots in response to the RMS sending a cancel emergency stop instruction to the logistics robots; wherein the wake-up instruction comprises the first wake-up instruction.

16. The method of claim 14, wherein, the sending of the sleep instruction to the plurality of logistics robots associated with the RMS comprises: determining whether the RMS has sent a cancel emergency stop instruction in response to receiving a second wake-up instruction; wherein the wake-up instruction comprises the second wake-up instruction; starting a second timer in the case that the RMS has not sent a cancel emergency stop instruction; sending a sleep instruction to the logistics robots in response to a duration of the second timer reaching a second preset duration.

17. The method of claim 15, wherein, after the sending of the first wake-up instruction to the logistics robots, the method further comprises: obtaining a state of the logistics robots; in the case that there are logistics robots not converted to the wake-up state, continuously sending the first wake-up instruction to the logistics robots not converted to the wake-up state within a third preset duration until all the logistics robots are converted to the wake-up state.

18. The method of claim 17, wherein, the method further comprises: if there is still a logistics robot that has not been converted into the wake-up state after the third preset time length, receiving abnormal information reported by the logistics robot that has not been converted into the wake-up state; issuing a first prompt through a control interface of the RMS, wherein the first prompt is used to prompt an abnormal state of the logistics robot that has not been converted into the wake-up state.

19. The method of claim 15, wherein, after the first wake-up instruction is sent to the logistics robot, the method further comprises: determining whether position information of all the logistics robots can be acquired; if the position information of all the logistics robots cannot be acquired, issuing a second prompt, wherein the second prompt is used to prompt a staff to move a logistics robot that is not on the identification code to the identification code and manually restart, so that the logistics robot that is not on the identification code reports position information to the RMS by scanning the identification code.

20. The method of any one of claims 14-19, wherein, in response to the time length of the first timing reaching the first preset time length, sending a sleep instruction to the logistics robot, comprising: in response to the time length of the first timing reaching the first preset time length, acquiring a state of the logistics robot; if the logistics robot is in a charging state, sending a sleep instruction to the logistics robot in the charging state, wherein the sleep instruction is used to make the logistics robot in the charging state stop charging and convert into a sleep state.

21. A logistics robot control method, comprising: receiving a sleep instruction sent by a robot management system (RMS); acquiring a state of a logistics robot; in a case where the logistics robot is in an idle state, converting into a sleep state in response to the sleep instruction; in a case where the logistics robot is in a task state, entering the sleep state after the logistics robot converts into the idle state.

22. The method of claim 21, wherein, after the sleep instruction sent by the robot management system (RMS) is received, the method further comprises: sending power information of the logistics robot to the RMS, so that the RMS determines a sleepable time length of the logistics robot with the lowest power based on the power information of the logistics robot with the lowest power.

23. The method of claim 21, wherein, before the sleep instruction sent by the robot management system (RMS) is received, the method further comprises: determining whether a one-key collection instruction sent by the RMS is received; in a case where the one-key collection instruction sent by the RMS is received, moving to a one-key collection area and sending a one-key collection instruction response result to the RMS in response to the one-key collection instruction; in a case where the one-key collection instruction sent by the RMS is not received, determining whether the state of the logistics robot is a charging state; in a case where the state of the logistics robot is the charging state, stopping charging in response to a stop charging instruction sent by the RMS.

24. The method according to any one of claims 21-23, further comprising: receiving a wake-up instruction sent by a robot management system (RMS); in response to the wake-up instruction, converting from the sleep state to the wake-up state.

25. A logistics robot control device, comprising: a sending module configured to send a sleep instruction to each logistics robot associated with a robot management system (RMS); The first receiving module is configured to receive a hibernation instruction response result fed back by the logistics robot; The determining module is configured to determine whether all the logistics robots associated with the RMS are converted to the hibernation state based on the hibernation instruction response result; The first hibernation module is configured to continue to send the hibernation instruction until all the logistics robots associated with the RMS are converted to the hibernation state in the case that all the logistics robots associated with the RMS are not converted to the hibernation state.

26. A logistics robot control device, comprising: The second receiving module is configured to receive a hibernation instruction sent by a robot management system (RMS); The obtaining module is configured to obtain a state of the logistics robot; The second hibernation module is configured to convert to a hibernation state in response to the hibernation instruction in the case that the logistics robot is in an idle state, and enter the hibernation state after the logistics robot is converted to the idle state in the case that the logistics robot is in a task state.

27. An electronic device, comprising: at least one processor; and a memory connected with the at least one processor in communication; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1 to 24.

28. A non-transitory computer readable storage medium having stored thereon computer instructions, wherein, The computer instructions are used to enable the computer to perform the method of any one of claims 1 to 24. The computer instructions are used to enable the computer to perform the method of any one of claims 1 to 24.

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