Charging anomaly handling method and apparatus, and warehousing system

Abstract

Embodiments of the present disclosure relate to the field of intelligent warehousing, and provide a charging anomaly handling method and apparatus, and a warehousing system. The method comprises: when a transporting device satisfies a charging condition, a management system allocating a first target charging device to the transporting device on the basis of a real-time state of at least one charging device; during movement of the transporting device toward the first target charging device, acquiring a real-time state of the first target charging device; and on the basis of the real-time state of the first target charging device, or on the basis of feedback information of the first target charging device and / or feedback information of the transporting device, performing charging anomaly handling.

Description

Charging anomaly handling methods, devices and storage systems

[0001] This application claims application number 202411918539.5, filed on December 24, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to the field of intelligent warehousing technology, and in particular to a charging anomaly handling method, apparatus and warehousing system. Background Technology

[0003] In smart warehousing, the normal operating status of handling equipment is crucial to the operational efficiency of the warehousing system; therefore, it is essential to ensure that the handling equipment has sufficient power. From the moment the handling equipment generates a charging demand until charging is completed, various abnormal situations may occur that prevent the handling equipment from charging normally. If the handling equipment cannot charge normally, it may affect other handling equipment in the warehousing system, thereby reducing the operational efficiency of the warehousing system. Summary of the Invention

[0004] This disclosure provides a charging anomaly handling method, apparatus, and storage system.

[0005] A first aspect of this disclosure provides a charging anomaly handling method applied to a management system, comprising: when a transport device meets charging conditions, assigning a first target charging device to the transport device based on the real-time status of at least one charging device; acquiring the real-time status of the first target charging device during the transport device's movement toward the first target charging device; and performing charging anomaly handling based on the real-time status of the first target charging device, or based on feedback information from the first target charging device and / or feedback information from the transport device.

[0006] A second aspect of this disclosure provides a charging anomaly handling apparatus, including an allocation module, a determination module, and a processing model. The allocation module is configured to: allocate a first target charging device to the transport equipment based on the real-time status of at least one charging device, provided that the transport equipment meets charging conditions. The determination module is configured to: acquire the real-time status of the first target charging device during the transport equipment's movement toward the first target charging device. The processing module is configured to: perform charging anomaly handling based on the real-time status of the first target charging device, or based on feedback information from the first target charging device and / or feedback information from the transport equipment.

[0007] A third aspect of this disclosure provides a warehousing system, including: a management system, at least one handling device, and at least one charging device, wherein the management system is used to execute the method in any implementation of the first aspect of this disclosure; the at least one handling device and the at least one charging device are used to perform a charging task.

[0008] A fourth aspect of this disclosure provides an electronic device, including: a processor and a memory; the memory for storing computer-executable instructions; and the processor for reading instructions from the memory and executing the instructions to implement the method in any of the implementations of the first aspect.

[0009] A fifth aspect of this disclosure provides a computer-readable storage medium storing computer instructions configured to cause the computer to perform the method in any implementation of the first aspect.

[0010] A sixth aspect of this disclosure provides a computer program product including a computing program stored on a computer-readable storage medium. The computer program includes program instructions that, when executed by a computer, cause the computer to perform the method in any implementation of the first aspect described above. Attached Figure Description

[0011] Figure 1 shows a schematic diagram of a warehousing system provided in an embodiment of the present disclosure;

[0012] Figure 2 is a schematic diagram of a charging anomaly handling method provided in an embodiment of this disclosure;

[0013] Figure 3 is a schematic diagram of another charging anomaly handling method provided in an embodiment of this disclosure;

[0014] Figure 4A is a flowchart of the charging anomaly handling method;

[0015] Figure 4B is a flowchart of the charging station allocation process;

[0016] Figure 4C is a flowchart for determining whether a charging station is occupied or disabled;

[0017] Figure 4D is a flowchart of robot anomaly handling;

[0018] Figure 5 is a schematic diagram of a charging anomaly handling device provided in an embodiment of this disclosure;

[0019] Figure 6 is a schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure. Detailed Implementation

[0020] Numerous specific details are set forth in the following description to provide a full understanding of this disclosure. However, this disclosure can be implemented in many other ways than those described herein, and those skilled in the art can make similar extensions without departing from the spirit of this disclosure. Therefore, this disclosure is not limited to the specific implementations disclosed below.

[0021] The terminology used in one or more embodiments of this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the one or more embodiments of this disclosure. The singular forms “a,” “the,” and “the” as used in one or more embodiments of this disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used in one or more embodiments of this disclosure refers to and includes any or all possible combinations of one or more associated listed items.

[0022] It should be understood that although the terms first, second, etc., may be used to describe various information in one or more embodiments of this disclosure, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, first may also be referred to as second without departing from the scope of one or more embodiments of this disclosure, and similarly, second may also be referred to as first. Depending on the context, the word “if” as used herein may be interpreted as “when”, “in response to a determination”, or “when…”.

[0023] Warehouse robots are crucial material handling equipment in warehousing systems, and their normal operation is vital to the system's efficiency. Therefore, ensuring sufficient battery power is essential. From the moment a robot requests charging until charging is complete, various abnormal situations can arise that prevent normal charging. Abnormal charging not only causes low-battery robots to malfunction, but also leads to robots that have pre-occupied charging stations shutting down due to prolonged inability to charge, resulting in all robots in the warehouse being unable to charge in a timely manner. The causes of abnormal charging are complex due to the numerous stages and long durations of the charging cycle, the high complexity of the site, and the involvement of various environments and other equipment. Therefore, accurate identification of the causes of charging abnormalities is crucial. Furthermore, in specific situations at charging stations, reassigning robots unsuitable for reassignment will also reduce the overall operational efficiency of the warehousing system.

[0024] This disclosure provides a charging anomaly handling method, and also relates to a charging anomaly handling device, a storage system, a computing device, a computer program product, and a computer-readable storage medium, which will be described in detail in the following embodiments.

[0025] The charging anomaly handling method provided in this disclosure can allocate charging equipment to the handling equipment based on the real-time status of the charging equipment, avoiding the allocation of unavailable charging equipment to the handling equipment, thus preventing invalid allocation. Furthermore, during the charging task performed by the handling equipment, the real-time status of the charging equipment is processed to prevent the handling equipment from failing to charge after moving to the charging equipment. In addition, if an anomaly occurs in the handling equipment and / or the target charging equipment, the anomaly is processed according to the anomaly situation to prevent charging failure of the handling equipment, thereby improving the charging success rate of the handling equipment and the overall operating efficiency of the warehousing system.

[0026] Figure 1 is a schematic diagram of a warehousing system provided in an embodiment of this disclosure.

[0027] As shown in Figure 1, the warehousing system 100 includes a management system 101, at least one handling device 102, and at least one charging device 103. The management system 101 may be a Robot Management System (RMS). The handling device 102 may be an intelligent warehousing device in the warehousing system, such as a picking and handling device, i.e., a robot.

[0028] In some embodiments, the handling equipment may include robots that handle boxes and / or goods, such as RoboShuttle (RS) robots. RS robots can move target goods and / or boxes from a target location on a fixed shelf to another location, or they can move target goods and / or boxes from other locations to a target location on a fixed shelf.

[0029] In some embodiments, the handling equipment may also include robots that handle shelves and / or carriers, such as lurking robots (also known as P-robots). P-robots can handle mobile shelves (also known as portable shelves) and / or movable carriers. For example, a P-robot can move a mobile shelf to a picking area, or move a mobile shelf to a location below a fixed shelf or to another location, based on a handling task sent by a server.

[0030] In some embodiments, the handling equipment may also include four-way and / or six-way robots, such as the X-series robots. The X-series robots are storage and retrieval robots that can move horizontally in four directions and / or horizontally and vertically in six directions along tracks within an automated storage and retrieval system.

[0031] In some embodiments, the handling equipment may also include sorting robots, such as S-series robots. S-series robots are used to sort goods / cargo according to their different types.

[0032] In some embodiments, the handling equipment may also be a forklift robot, such as an F-series robot; or it may be a mobile handling robot, such as an M-series robot.

[0033] It should be noted that the handling equipment involved in the embodiments of this disclosure can be any of the robots mentioned above, and the embodiments of this disclosure do not limit the type of handling equipment.

[0034] In some embodiments, the charging device may be a charging station, charging pile, charging device, charging point, or other equipment in a warehousing system. A single charging device may charge one handling device or multiple handling devices simultaneously; this disclosure does not limit the scope of the charging device.

[0035] In some examples, a charging device can correspond to at least one charging point, which is used to dock transport equipment waiting to be charged. That is, the transport equipment can dock at the charging point and wait for the charging device to charge it. Specifically, when a charging device corresponds to one charging point, it can charge one transport device; when a charging device corresponds to multiple charging points, it can charge multiple transport devices simultaneously. For example, if a charging device corresponds to multiple charging points and includes multiple charging ports, it can charge multiple transport devices simultaneously.

[0036] It should be noted that the charging device can charge the transport equipment through a physical interface or through wireless charging. This embodiment does not limit the charging method of the charging device.

[0037] In some examples, the management system 101 may be deployed on a server or on a terminal device. This embodiment does not limit this. The terminal device may include at least one of a personal computer, a laptop, a smartphone, a tablet computer, and a portable wearable device. The server may include a standalone server or a server cluster consisting of multiple servers. This embodiment does not limit this.

[0038] For example, the management system 101 can be coupled to the handling device 102 and the charging device 103 respectively, and is used to control the operation of the handling device 102 and the charging device 103. For example, the management system 101 can control the handling device 102 to move and perform corresponding handling tasks, and the management system 101 can also control the charging device 103 to perform charging tasks on the handling device, etc.

[0039] For example, the management system 101 communicates with the handling equipment 102 and the charging equipment 103 for data communication. The management system 101 may communicate with the handling equipment 102 and the charging equipment 103 via a local area network (LAN), a wireless local area network (WLAN), or other networks.

[0040] In the embodiments of this disclosure, the management system 101, the handling equipment 102, and the charging equipment 103 in the warehousing system can communicate. The management system can obtain the current status of the handling equipment and the charging equipment. The management system 101 can control or manage the handling equipment 102, and can allocate charging equipment to the handling equipment 102. The handling equipment 102 can report the charging task execution status and abnormal situations to the management system 101. The management system 101 can allocate new charging equipment to the handling equipment 102 based on the real-time location of the handling equipment 102, the task execution status, and abnormal situations, or handle abnormal situations accordingly. This disclosure does not limit this aspect.

[0041] In the embodiments of this disclosure, the management system can obtain the real-time status of the charging device and determine whether it is necessary to reassign the target charging device to the transport equipment based on the real-time status of the charging device. Furthermore, the target charging device can send its own abnormal information to the management system so that the management system can be aware of the abnormal situation of the target charging device and then handle the abnormality so that the target charging device can complete the current charging task and avoid affecting the normal charging process of the transport equipment.

[0042] Figure 2 is a schematic diagram of a charging anomaly handling method provided in an embodiment of this disclosure. This method is applied to a management system in a warehouse system. As shown in Figure 2, the charging anomaly handling method includes the following steps:

[0043] Step 201: If the transport equipment meets the charging conditions, assign a first target charging device to the transport equipment based on the real-time status of at least one charging device.

[0044] In some embodiments, the condition for the handling equipment to meet the charging requirements may include: the current battery level of the handling equipment is lower than a preset battery level by the management system. For example, the handling equipment may report its current battery level to the management system, which compares the current battery level with the preset battery level. If the current battery level is lower than the preset battery level, the management system determines that the handling equipment meets the charging requirements. In this case, the handling equipment meeting the charging requirements indicates that the equipment's battery level is too low and therefore needs to be charged. Thus, the management system needs to allocate charging equipment for it.

[0045] In some embodiments, the condition for the handling equipment to meet the charging requirements may further include: the current power level of the handling equipment is sufficient to complete the current task being performed (such as a handling task, a moving task, an inspection task, or a calibration task), and it is unable to perform the next task (such as a handling task, a moving task, an inspection task, or a calibration task). For example, the handling equipment may report its current power level to the management system. Based on the current power level of the handling equipment and the historical power consumption of the handling equipment's current and next tasks, the management system determines that the handling equipment meets the charging requirements and needs to allocate charging equipment if the current power level is lower than the historical power consumption.

[0046] In some embodiments, the management system records and saves the power consumption information of the handling equipment when performing the handling task according to the type or information of the handling task. If the current task performed by the handling equipment matches the task type or information in the historical record, the power consumption in the historical record can be compared with the current power of the handling equipment to determine whether the handling equipment needs to perform a charging operation.

[0047] For example, if the current battery level of the handling equipment is less than the battery level consumed by the handling equipment in the historical records for performing the current task, it indicates that the handling equipment cannot complete the current task, and therefore, the handling equipment needs to be charged.

[0048] For example, if the current battery level of the transport equipment is greater than or equal to the battery level consumed by the equipment in the historical records for performing the current task, but less than the battery level consumed by the equipment for performing the current task and the next task together, it indicates that the current battery level of the transport equipment is sufficient to complete the current task, but it is insufficient to complete the next task after completing the current task. In this case, the transport equipment can be charged after completing the current task and then continue to complete the next task after charging; alternatively, the transport equipment can be pre-charged before completing the current task, so that it can continue to complete the current task and the subsequent task (i.e., the next task) after charging.

[0049] In some embodiments, the management system determines that the handling equipment needs charging based on its current battery level, provided that the equipment meets charging conditions, and then assigns a first target charging device to the handling equipment. The warehousing system includes at least one charging device, and the first target charging device is one of the at least one charging devices that performs the charging operation on the handling equipment.

[0050] For example, the robot management system responds to the robot's charging needs by allocating a charging station for the robot.

[0051] For example, the robot reports its current battery level to the robot management system. The robot management system determines whether the robot meets the charging conditions or whether the robot needs to be charged based on preset charging conditions, and then allocates a charging station to the robot.

[0052] In some embodiments, the real-time status of the charging device may include an available status and an unavailable status.

[0053] In some examples, a charging device being in an available state means that the charging device can currently be assigned to the handling equipment for charging, i.e., the charging device can currently perform the charging task normally. In other words, in an available state, the charging device is not in a state of: no idle / unavailable, hardware malfunction, disconnected, offline, disabled, or occupied.

[0054] In some examples, an unavailable charging device indicates that it is currently unsuitable for allocation to the handling equipment for charging, meaning the charging device is currently unable to perform the charging task normally. In other words, in an unavailable state, the charging device can be in at least one of the following states: no available / unavailable, hardware malfunction, disconnected, offline, disabled, or occupied.

[0055] For example, an available state can also be called a normal state, and an unavailable state can also be called a disabled state; this disclosure does not restrict this.

[0056] In some embodiments, at least one charging device is all the charging devices in the warehousing system, and the real-time status of at least one charging device is the real-time status of each charging device. The management system can obtain the real-time status of each charging device and, based on the real-time status of each charging device in the warehousing system, assign a first target charging device to the handling equipment.

[0057] In some embodiments, the real-time status of the charging equipment can be obtained by the management system based on the real-time operating status of the warehousing system. For example, the management system can obtain the current status and future status of each charging equipment and each handling equipment in the warehousing system, and determine the real-time status of each charging equipment based on the status of each charging equipment and each handling equipment, thereby determining whether each charging equipment can perform the charging task.

[0058] In some embodiments, the real-time status of a charging device can also be determined by the charging device itself based on its current status and the tasks to be executed and / or the tasks currently being executed assigned to it by the management system. For example, after determining its own real-time status, each charging device can report its real-time status to the management system for use by the management system when assigning target charging devices to the handling equipment.

[0059] In some examples, the real-time status of the charging device can be either normal or abnormal. The management system can assign a first target charging device to the handling equipment based on the real-time status of at least one charging device in the warehousing system. This assignment can be made among charging devices whose real-time status is normal, thereby improving the effectiveness of the charging device assignment.

[0060] In other examples, the management system assigns a first target charging device to the transport equipment based on the real-time status of at least one charging device. This assignment can be made among the charging devices that can charge the transport equipment, thus avoiding the assignment of charging devices that cannot charge the transport equipment, which would render the charging device assignment invalid.

[0061] In some other embodiments, the management system may further include allocating a first target charging device to a transport device based on the real-time status of at least one transport device: excluding charging devices that are not available / unavailable, have hardware malfunctions, are disconnected, or are offline, and allocating the first target charging device from among the charging devices whose real-time status is available.

[0062] In some embodiments, after determining a first target charging device for the transport equipment, a first charging task is generated based on the location coordinates of the transport equipment, the location coordinates of the first target charging device, and the power level of the transport equipment. The first charging task includes the identifier of the transport equipment, the identifier of the first target charging device, and a first target charging path; the first charging task is then sent to the first target charging device and the transport equipment.

[0063] In some embodiments, after the management system assigns a first target charging device to the transport equipment, the management system can generate a first charging task based on the location coordinates of the transport equipment, the location coordinates of the first target charging device, and the power level of the transport equipment. The location coordinates of the transport equipment are the current location coordinates of the transport equipment, the location coordinates of the first target charging device are the location coordinates of the first target charging device stored in the management system, and the power level of the transport equipment is the current power level of the transport equipment.

[0064] In some embodiments, the first charging task corresponds to the identifier of the transport device, the identifier of the first target charging device, and the first target charging path.

[0065] In some embodiments, after the management system assigns a first target charging device to the transport equipment, a first target charging path can be planned for the transport equipment based on the location coordinates of the transport equipment and the location coordinates of the first target charging device, so that after receiving the first charging task, the transport equipment moves to the first target charging device for charging according to the first target charging path.

[0066] In some embodiments, the management system can determine the amount of charge the handling equipment needs based on its current battery level and a battery threshold, where the battery threshold can be a charging upper limit in the charging logic. For example, the charging amount can be less than or equal to the difference between the battery threshold and the current battery level.

[0067] In some embodiments, after generating a first charging task, the management system sends the first charging task to the transport device and the corresponding first target charging device, so that the transport device and the first target charging device respond to the first charging task and execute the first charging task. For example, the transport device can move from its current position coordinates to the position coordinates of the first target charging device according to the first target charging path in the first charging task, so that the first target charging device can charge the transport device based on the first charging task.

[0068] For example, after the management system assigns a charging station to the robot, it generates a charging task and sends it to the robot and the corresponding charging station.

[0069] Step 202: During the process of the transport equipment moving towards the first target charging device, the real-time status of the first target charging device is acquired.

[0070] In some embodiments, the real-time status of the first target charging device may be an available status or an unavailable status.

[0071] In some embodiments, the real-time status may also be a normal status or a disabled status, or a normal status or an abnormal status, etc., which are not limited in this disclosure.

[0072] In some embodiments, the management system can obtain the real-time status of the first target charging device by detecting the status of the first target charging device, or by detecting the first target charging device and then reporting the result to the management system.

[0073] In some embodiments, after the management system sends the first charging task to the transport equipment and the first target charging equipment, it can also obtain the real-time status of the first target charging equipment in real time. That is, during the process of the transport equipment moving to the first target charging equipment, the management system can perform corresponding processing in a timely manner based on the real-time status of the first target charging equipment.

[0074] In some embodiments, the management system may acquire the real-time status of the first target charging device at specific points in time during the movement of the transport equipment towards the first target charging device. For example, the management system may acquire the real-time status of the first target charging device at fixed points in time or at fixed time intervals, and this disclosure does not limit this.

[0075] For example, during the process of a robot performing a charging task, the robot management system determines the real-time status of all charging stations in the warehouse system to determine whether the charging station assigned to the robot is available.

[0076] Step 203: Based on the real-time status of the first target charging device, or based on the feedback information from the first target charging device and / or the feedback information from the transport device, perform charging anomaly handling.

[0077] In some examples, the management system can perform charging anomaly handling based on the real-time status of the first target charging device. The real-time status of the first target charging device includes an available state and an unavailable state. Charging anomaly handling can include canceling the current charging task and reassigning the charging device to the transport equipment. The process of performing charging anomaly handling based on the real-time status of the first target charging device is described below.

[0078] In some embodiments, the management system performs charging anomaly handling based on the real-time status of the first target charging device. This may involve reassigning a target charging device to the transport device when the real-time status of the first target charging device indicates that the first target charging device cannot charge the transport device.

[0079] In some embodiments, the management system performs charging anomaly handling based on the real-time status of the first target charging device. This can be based on whether the first target charging device is in an available or unavailable state, and the corresponding charging anomaly handling can be performed accordingly.

[0080] In some embodiments, the management system performs charging anomaly handling based on the real-time status of the first target charging device. This can be achieved by changing the real-time status of the first target charging device from available to unavailable before the management system receives arrival information from the transport device, and then issuing a charge cancellation command to the transport device. The charge cancellation command instructs the transport device to cancel its current charging task (i.e., the first charging task). After issuing the charge cancellation command, the management system can further determine the real-time status of at least one second charging device based on the location coordinates of the transport device and the location coordinates of at least one second charging device other than the first target charging device; and assign a second target charging device to the transport device from among the second charging devices whose real-time status is available.

[0081] In some embodiments, when the first target charging device is assigned as the charging device corresponding to the transport device, the real-time status of the first target charging device is available. However, during the process of the transport device moving towards the first target charging device, before reaching the first target charging device, the real-time status of the first target charging device may change from available to unavailable. In this case, the management system needs to reassign the target charging device to the transport device so that the transport device can be charged in a timely manner.

[0082] In some embodiments, when the real-time status of the first target charging device changes from an available state to an unavailable state, the management system may issue a cancellation charging task instruction to the handling equipment to cancel the first charging task.

[0083] In some embodiments, after issuing a command to cancel the charging task, the management system needs to reassign a target charging device to the handling equipment. That is, based on the real-time status of other charging devices in the warehousing system besides the first target charging device, a second target charging device is assigned to the handling equipment.

[0084] In some embodiments, based on the real-time status of other charging devices in the warehousing system besides the first target charging device, assigning a second target charging device to the handling device can be done by assigning the second target charging device to the handling device from among the charging devices whose real-time status is available, so as to ensure that the second target charging device currently assigned to the handling device can charge the handling device and avoid invalid allocation of charging devices.

[0085] For example, during the robot's charging task, the robot management system determines the status of all charging stations in the site in real time, including the real-time status of the charging station assigned to the robot. If the real-time status of the charging station is unavailable, the robot is reassigned a charging station.

[0086] For example, the robot management system also needs to reallocate charging stations to robots based on the real-time status of at least one charging station. Among the charging stations whose real-time status is available, the robot is assigned a charging station for charging.

[0087] In other words, during the process of the transport equipment (hereinafter also referred to as the target transport equipment) moving to the first target charging equipment, the real-time status of the first target charging equipment may or may not change. The management system can determine whether to perform charging anomaly processing based on the changes in the real-time status of the first target charging equipment.

[0088] For example, if the management system assigns the first target charging device as the charging device for the target transport device, and the real-time status of the first target charging device is available, and the first target charging device remains available throughout the process of the target transport device moving to the first target charging device, then the management system does not need to perform charging anomaly handling. After the target transport device reaches the first target charging device, the first target charging device charges the target transport device based on the first charging task.

[0089] For example, during the process of the target transport device moving to the first target charging device, if the real-time status of the first target charging device changes from available to unavailable, the first target charging device cannot continue to charge the target transport device, and the management system needs to perform charging anomaly handling. To ensure that the target transport device can be charged normally, the management system can cancel the current first charging task and reassign a charging device (referred to as a second target charging device) to the target transport device from other charging devices (i.e., at least one second charging device) besides the first target charging device. The second target charging device can be any of the at least one second charging devices whose real-time status is available, or it can be the charging device among the at least one second charging devices whose real-time status is available and which is closest to the current position of the target transport device. This embodiment of the present disclosure does not limit this.

[0090] The charging anomaly handling method provided in this embodiment cancels the current charging task and reassigns a charging device to the transport equipment when the real-time status of the first target charging device assigned to the transport equipment becomes unavailable. This avoids assigning unavailable charging devices to the transport equipment, thus achieving the effectiveness of charging device allocation and improving the success rate of charging the transport equipment.

[0091] In other examples, the management system may also perform charging anomaly handling based on feedback information from the first target charging device and / or the handling device. The process of performing charging anomaly handling based on feedback information from the first target charging device and / or the handling device is described below.

[0092] In some embodiments, performing charging anomaly handling based on feedback information from the first target charging device and / or the transport device includes: determining whether the transport device is abnormal if the management system does not receive arrival information from the transport device within a first time period; and sending a cancellation charging task instruction to the transport device if the transport device is abnormal, wherein the cancellation charging task instruction is used to cancel the current charging task.

[0093] In some embodiments, the first duration may be a duration preset according to user needs; or, the first duration may be the average time taken for the transport device to reach the corresponding charging device, obtained by the management system based on the execution status of historical charging tasks; or, the first duration may also be a duration determined based on the distance between the transport device and the first target charging device, and the moving speed of the transport device, which is not limited in this embodiment.

[0094] In some embodiments, after the transport device arrives at the corresponding charging device, it can report the arrival information to the management system, that is, inform the management system that it has arrived at the target charging device and can start charging.

[0095] In some embodiments, if the management system does not receive arrival information from the handling equipment within a first time period, it indicates that the movement of the handling equipment has taken too long, and it is necessary to determine whether the handling equipment is malfunctioning.

[0096] In some examples, the target transport device can collect location markers along its travel path using a data acquisition device, and determine whether its current location is the charging point corresponding to the first target charging device. Once it is determined that the target transport device has reached the charging point, it can send arrival information to the management system. The management system can start timing from the start of the first charging task. If no arrival information is received from the transport device after the first time period has elapsed, it indicates that the transport device has not reached the charging point within the first time period. In this case, it suggests a possible anomaly in the target transport device, requiring further anomaly handling.

[0097] For example, the first duration can be set to 120 seconds. If the robot management system does not receive feedback information that the robot has arrived at the charging station within 120 seconds after issuing the charging task, it will determine whether the robot is abnormal.

[0098] In some embodiments, if the transport equipment fails to reach the first target charging device within a first time period, the management system determines whether the transport equipment is malfunctioning based on its current status. The failure of the transport equipment to reach the first target charging device may include the transport equipment not arriving at the charging point or charging location corresponding to the first target charging device.

[0099] In some embodiments, a transport equipment malfunction can be defined as the transport equipment remaining stationary for an extended period of time. For example, if the transport equipment remains stationary for 30 consecutive seconds, then the transport equipment is determined to be malfunctioning.

[0100] In some embodiments, the malfunction of the transport equipment may be due to the transport equipment taking a detour, resulting in the transport equipment traveling too far to reach the first target charging device, causing the transport equipment to fail to arrive within a first time period. In other words, the path may be too far, causing the transport equipment to fail to reach the first target charging device within a first time period.

[0101] In some embodiments, if the handling equipment malfunctions, indicating that the handling equipment cannot continue to perform the charging task, the management system issues a command to cancel the charging task to the handling equipment.

[0102] In some embodiments, abnormalities of the handling equipment may also include: the handling equipment going offline / losing its positioning; emergency stop status, such as accidental triggering by staff, triggering by a light grid, or a normal emergency stop that takes too long; loss of battery data of the handling equipment; and excessively high / low battery temperature of the handling equipment.

[0103] In some embodiments, if the handling equipment malfunctions, the management system will cancel the current charging task, that is, send a cancel charging task instruction to the handling equipment to cancel the first charging task.

[0104] In other words, if the management system determines that the target transport equipment has malfunctioned due to at least one of the following abnormal situations: failure of the transport equipment to reach the first target charging equipment within a first time period, network disconnection, emergency stop triggering, or battery malfunction, it can send a command to cancel the charging task to the target transport equipment to cancel the first charging task.

[0105] In some embodiments, after sending a command to cancel the charging task to the transport equipment, the management system changes the state of the first target charging device to idle, that is, the first charging task of the first target charging device is terminated within the management system.

[0106] For example, if a robot fails to arrive at a charging station for an extended period after receiving a charging task, it can be determined whether the robot is malfunctioning. If the robot is malfunctioning, the charging task can be canceled.

[0107] In some examples, the management system can configure the working status of each charging device, which can be divided into idle and non-idle states. Specifically, when a charging device is not assigned a charging task, its working status can be configured as idle. After a charging device is assigned a charging task, it cannot be assigned to other handling devices, so its working status can be configured as non-idle. For example, after the management system assigns a first target charging device to a target handling device, it can update the working status of the first target charging device from idle to non-idle, meaning the first target charging device cannot be assigned to other handling devices. Alternatively, after the first target charging device's first charging task is canceled, or after the first target charging device completes charging the target handling device, its working status can be updated from non-idle back to idle, thus facilitating its continued assignment to other handling devices for charging.

[0108] In some embodiments, when a command to cancel the charging task is sent, the abnormality level of the handling equipment is determined; if the abnormality level is greater than a preset level, a first prompt message is displayed, which is used to indicate that the abnormality of the handling equipment requires manual handling.

[0109] In some embodiments, when the management system determines that the handling equipment is malfunctioning and sends a command to cancel the charging task to the handling equipment, it can further determine the malfunction level of the handling equipment and compare the malfunction level with a preset level. If the malfunction level of the handling equipment is greater than the preset level, a first prompt message is displayed. The first prompt message indicates that the malfunction of the handling equipment requires manual handling.

[0110] For example, multiple anomaly levels can be defined for handling equipment. Different anomaly levels correspond to different anomaly situations, and the corresponding anomaly handling operations may also differ. For instance, anomalies of handling equipment can be divided into multiple anomaly levels according to the degree of impact on the handling equipment, the difficulty of handling the anomaly, and the handling method.

[0111] In some examples, the preset level can be a level obtained by comprehensive statistical analysis of historical anomalies. For example, the preset level can be level 2. If the anomaly level of the handling equipment is greater than or equal to level 2, it indicates that the handling equipment is abnormal and cannot perform the charging task, and displays a prompt message that the handling equipment is abnormal and requires manual handling (i.e., the first prompt message).

[0112] For example, if a robot goes offline, the robot needs to be manually removed; if a robot loses its location, the brake release button needs to be manually pressed, and the robot needs to be pushed a distance or pushed over the QR code to try to recover. The level of this anomaly is 2.

[0113] For example, for an emergency stop of the robot, a continuous alarm is required, and the abnormality level is 1. In this case, the robot can recover on its own. For example, if it is triggered by a light grid, it can recover after an obstacle in front of the light grid or the staff moves; or if it is triggered by mistake, the staff can recover it in time; or, for a normal trigger, it can recover when the staff does not need it to stop suddenly.

[0114] For example, if a robot loses battery data, it needs to be manually restarted. If the problem persists after restarting, the robot can be removed from the system and reported to technical personnel for analysis. This anomaly is classified as category 3.

[0115] For example, if the robot battery temperature is too high / too low, the robot needs to be moved away from the charging station to cool down before the charging task is issued (warning for low robot battery temperature, below 2 degrees; warning for high robot temperature, above 47 degrees). The level of this type of anomaly is 3.

[0116] In some embodiments, if the abnormality level of the handling equipment is determined to be greater than a preset level, the management system displays a first prompt message on the display interface to indicate that the abnormality of the handling equipment requires manual handling.

[0117] In some examples, the warehousing system may also include an output device, which can be a display device or an audio device. If the anomaly level of the handling equipment is determined to be greater than a preset level, the management system may send a first anomaly alert to the output device to prompt it to output the first alert message. The output device may display the first alert message on a display interface via a display device, or it may play the first alert message via an audio device; this embodiment of the present disclosure does not limit this approach.

[0118] In some embodiments, when the anomaly level is less than or equal to a preset level, or when it is determined that the handling equipment has returned to normal, a second target charging device is assigned to the handling equipment based on the real-time status of at least one charging device.

[0119] In some embodiments, if the anomaly level of the handling equipment is less than or equal to a preset level, it indicates that the anomaly of the handling equipment can recover on its own. Therefore, a second target charging device can be reassigned to the handling equipment based on the real-time status of at least one charging device. The second target charging device can be a first target charging device, and the real-time status of the first target charging device is either available or normal.

[0120] In some embodiments, when the management system receives a signal from the transport equipment indicating that it has returned to normal, it can determine that the transport equipment has returned to normal and thus can reassign a target charging device to the transport equipment, that is, based on the real-time status of at least one charging device, a second target charging device can be assigned to the transport equipment.

[0121] For example, if a robot fails to reach a charging station for an extended period while performing a charging task, the charging task will be cancelled. If the robot's anomaly level is greater than or equal to 2, the monitoring system will report an anomaly requiring manual intervention. After manual intervention, charging stations can be reassigned.

[0122] For example, if a robot fails to reach a charging station for an extended period while performing a charging task, and the robot's anomaly level is detected to be less than 2, the charging task will be canceled and a charging station will be reassigned.

[0123] The charging anomaly handling method provided in this embodiment detects and judges the anomaly of the handling equipment when it fails to reach its assigned charging equipment for an extended period, and takes appropriate action based on the anomaly level. If the anomaly affects the handling equipment's task execution, the anomaly can be reported for manual handling; if the anomaly does not affect the handling equipment's task execution, the charging equipment can be reassigned to the handling equipment to improve its charging success rate and avoid impacting the overall operational efficiency of the warehousing system.

[0124] In some embodiments, charging anomaly handling is performed based on feedback information from the first target charging device and / or feedback information from the transport device, including: before the management system receives arrival information from the transport device, determining the anomaly type of the first target charging device based on the anomaly information of the first target charging device; and if the anomaly type is a recoverable anomaly, performing recovery handling on the first target charging device based on the anomaly information.

[0125] In some embodiments, when the exception type is an unrecoverable exception, a command to cancel the charging task is sent to the handling equipment; a first mark is added to the first target charging device, and a second prompt message is displayed. The first mark is used to identify the exception of the first target charging device, and the second prompt message is used to indicate that the exception of the first target charging device requires manual handling.

[0126] In some embodiments, after displaying the second prompt information, a second target charging device is assigned to the transport device among the second charging devices whose real-time status is available at least one second charging device.

[0127] In some embodiments, at least one second charging device may include or may not include a first target charging device, and this disclosure does not limit this.

[0128] In some embodiments, the first flag may be a temporarily abnormal flag. The temporarily abnormal flag does not affect the charging device from being assigned a charging task. In other words, even if the charging device is marked with the first flag, it can still be used as a device to be assigned a charging task. That is, adding the first flag will not cause its real-time state to be determined as unavailable.

[0129] In some embodiments, if a first target charging device is marked with a first tag and the number or identifier of the first target charging device is deleted in the management system, the first target charging device is not in the list of charging devices reassigned by the management system for the transport equipment.

[0130] In other words, after a first target charging device corresponding to a target handling device is marked with a first tag, the first target charging device cannot be reassigned to that target handling device. The management system needs to reassign the charging device to the target handling device from other charging devices that have not been marked with the first tag. The management system can reassign the first target charging device marked with the first tag to other handling devices (i.e., other handling devices besides the target handling device). One handling device can correspond to at least one charging device marked with an anomaly tag, and one charging device can also be configured with at least one robot anomaly tag; this disclosure does not limit this aspect.

[0131] In some embodiments, before the transport equipment arrives at the first target charging equipment, the management system detects an anomaly in the first target charging equipment. Based on the anomaly information, the management system determines whether it is recoverable. For recoverable anomalies, recovery processing can be performed. For unrecoverable anomalies, the current charging task is canceled, a cancellation command for the charging task is sent to the transport equipment, a first mark is added to the first target charging equipment, a second prompt message is displayed on the display interface, and a second target charging equipment is reassigned to the transport equipment.

[0132] In some embodiments, determining whether an anomaly is recoverable or unrecoverable can be based on whether the anomaly of the first target charging device can be recovered to allow the charging task to continue. For recoverable anomalies, the malfunction of the first target charging device will not affect its ability to perform the charging task, or it can still perform the charging task after recovery. Examples include task reception failure, the emergency stop button being pressed, or the charging position being occupied by a faulty robot. Unrecoverable anomalies can be hardware malfunctions of the first target charging device itself, such as short circuits, motor failures, hardware damage, or software corruption. These malfunctions affect the execution of the charging task. Therefore, when the anomaly of the first target charging device is determined to be unrecoverable, the charging task needs to be canceled, and the charging device needs to be marked as faulty to prompt personnel for repair.

[0133] For example, if a charging station experiences a motor malfunction, hardware damage, or software failure, the management system will cancel the current charging task and mark the charging station as abnormal after detecting the abnormal information. The system will display a message indicating that the charging station is abnormal and requires manual handling. Staff can directly repair the charging station, remove it from the storage system, or delete it from the management system for maintenance.

[0134] In some embodiments, performing recovery processing on the first target charging device based on the anomaly information includes at least one of the following: when the anomaly information indicates that the first target charging device has failed to receive the charging task, resending the charging task to the first target charging device; when the number of times the anomaly information indicating that the first target charging device has failed to receive the charging task exceeds a preset threshold, adding a first mark to the first target charging device and displaying a second prompt message, wherein the first mark is used to identify the anomaly of the first target charging device and the second prompt message is used to indicate that the anomaly of the first target charging device requires manual handling; when the anomaly information indicates that the first target charging device is unreachable and the number of times the anomaly information is received exceeds a preset threshold, adding a first mark to the first target charging device and displaying a second prompt message, wherein the second prompt message is used to indicate that the anomaly of the first target charging device requires manual handling.

[0135] In some embodiments, the error message indicating that the first target charging device failed to receive the charging task may be due to the management system sending the first charging task to the first target charging device but not receiving any feedback from the first target charging device regarding the first charging task, or the management system being unable to send the first charging task to the first target charging device. The management system can determine whether the task sending was successful. If the task sending is determined to have failed, the management system can resend the first charging task.

[0136] For example, the management system can issue a charging task (i.e., a first charging task) to a first target charging device. After receiving the first charging task, the first target charging device can send feedback information to the management system indicating that it has received the first charging task. For instance, if the management system does not receive feedback information from the first target charging device within a preset time threshold after sending the first charging task to the first target charging device for the first time, it can send the first charging task to the first target charging device a second time, and so on, until the management system receives feedback information from the first target charging device indicating that it has received the first charging task.

[0137] In some examples, the management system can record the number of times the first charging task is sent to the first target charging device. If the number of times the first charging task is sent by the management system exceeds a preset threshold, it can be determined that the first target charging device is abnormal. In this case, the first target charging device needs to be handled abnormally.

[0138] In some embodiments, if the number of times the management system repeatedly issues the first charging task to the first target charging device exceeds a preset threshold, the first target charging device can be marked as abnormal, and a second prompt message can be displayed on the display interface to prompt the staff that the charging station is abnormal and needs to be handled manually. The second target charging device can be reassigned to the handling equipment from among the charging devices in the warehousing system whose real-time status is available.

[0139] For example, if a charging station fails to receive a charging task, the management system can send the charging task to the charging station multiple times. If the error persists, the system can report the error and replace the charging station for the robot.

[0140] In some embodiments, the abnormal information indicating that the first target charging device is unreachable may be due to the charging location of the first target charging device being occupied by a faulty device, making it impossible for the transport device to reach it, and the number of times such abnormal information is received exceeds a preset threshold. In such cases, the first target charging device can be marked as abnormal, and a second prompt message can be displayed on the display interface.

[0141] For example, if a charging station is unreachable, an error alert will be issued when multiple robots attempt to reach it but all attempts fail. The error will be marked as an error and will be handled manually, with the robot then being reassigned to a different charging station.

[0142] In other words, if the number of times the first target charging device receives abnormal information indicating charging task failure exceeds a preset threshold, and the charging position is occupied by another device (such as a faulty device), the first target charging device can be determined to be abnormal; alternatively, if the number of times the first target charging device receives abnormal information indicating charging task failure exceeds a preset threshold, or if the charging position of the first target charging device is occupied by another device (such as a faulty device), the first target charging device can be determined to be abnormal. When the management system determines that the first target charging device is abnormal, it marks the first target charging device as abnormal and displays an abnormality prompt message.

[0143] In some embodiments, upon receiving an abnormal recovery signal from the first target charging device, the first tag is canceled or deleted.

[0144] In some embodiments, after displaying the second prompt information, the method further includes: assigning a second target charging device to the transport device among the second charging devices in which at least one second charging device is in a real-time available state.

[0145] In some embodiments, the management system receiving an abnormal recovery signal from the first target charging device may be a situation where the management system detects an abnormal recovery of the first target charging device and then cancels or deletes the first tag.

[0146] In some embodiments, the abnormal recovery signal of the first target charging device can be a logical judgment made by the management system for the completion of the charging task of the first target charging device, including at least one of the following: sending a charging task successfully to the first target charging device, receiving arrival information of the transport device arriving at the first target charging device, sending a start charging command successfully to the first target charging device, and sending a stop charging command successfully to the first target charging device. If no abnormal information is received from the transport device and the first target charging device during the process, the management system can trigger the abnormal recovery signal to cancel the first mark of the first target charging device or delete the first mark.

[0147] For example, if the robot management system fails to receive charging tasks at a charging station multiple times, it will mark the charging station as abnormal. When there is feedback that a charging task has been successfully received or the management system determines that the charging task has been successfully sent, the abnormal mark will be canceled or deleted.

[0148] For example, if multiple robots attempt to reach a charging station but it is unreachable, the robot management system marks the charging station as abnormal. Once a robot reaches the charging station, the abnormality marker is removed or deleted.

[0149] In other words, after the first target charging device has undergone anomaly handling and returned to normal, its anomaly marker can be canceled or deleted. For example, if the first target charging device can receive a charging task from the management system after anomaly handling, its anomaly marker can be deleted; or, if a faulty device occupying the first target charging device is manually removed, and the transport equipment can reach the first target charging device, its anomaly marker can also be deleted. After the anomaly marker of the first target charging device is deleted, the management system can reassign the first target charging device to the transport equipment to continue the charging operation.

[0150] The charging anomaly handling method provided in this embodiment allows the management system to handle anomalies that occur during the movement of transport equipment, based on the different situations indicated by the anomaly information. This prevents the anomalies of the transport equipment from failing to be recovered in a timely manner, thereby improving the charging success rate of the transport equipment and enhancing the overall operating efficiency of the warehousing system.

[0151] In some embodiments, charging anomaly handling is performed based on feedback information from the first target charging device and / or the transport device, including: receiving stop-and-wait information sent by the transport device before the management system receives arrival information from the transport device, the stop-and-wait information indicating that the first target charging path is blocked or deadlocked; determining the stop-and-wait duration of the transport device; if the stop-and-wait duration exceeds a second preset duration but does not exceed a third preset duration, planning a replanned charging path for the transport device based on the current position coordinates of the transport device and the position coordinates of the first target charging device; and sending the replanned charging path to the transport device.

[0152] In some embodiments, the feedback information from the transport equipment includes stop-and-wait information. Before the transport equipment reaches the first target charging device, the management system receives stop-and-wait information indicating a blockage or deadlock in the first target charging path. The system can determine the stop-and-wait duration based on the real-time status of the first target charging path. If the stop-and-wait duration exceeds (i.e., greater than) a second preset duration but does not exceed (i.e., less than or equal to) a third preset duration, a new charging path is planned for the transport equipment. This involves generating a new charging path based on the current coordinates of the transport equipment and the coordinates of the first target charging device.

[0153] In some embodiments, the second and third preset durations can be obtained by the management system based on historical waiting times, or they can be time values ​​preset by staff in the management system. For example, the second preset duration can be set to 10 minutes and the third preset duration can be set to 20 minutes; this disclosure does not limit this.

[0154] For example, if the robot gets stuck or locks up on its way to the charging station, and the blockage on the charging path lasts between 10 and 20 minutes, the management system can replan the route for the robot.

[0155] In some examples, the transport equipment (such as the target transport equipment) encounters congestion on its path before reaching the charging location of the first target charging equipment. The target transport equipment needs to stop and wait before reaching the congested area. After the congestion is resolved, the target transport equipment can continue along the planned path to reach the charging location of the first target charging equipment. If the congestion is prolonged, the target transport equipment will also wait for an extended period, potentially preventing it from charging in a timely manner. Therefore, when the management system determines that the target transport equipment has stopped due to congestion, it can estimate the congestion duration (i.e., the target transport equipment's waiting time). If the estimated waiting time in the congested area may exceed a second preset time but not exceed a third preset time, the system can replan the charging path for the target transport equipment to bypass the congested area, thus facilitating its rapid arrival at the charging location of the first target charging equipment to perform the charging operation.

[0156] In other examples, if congestion occurs during the movement of the target transport equipment, the management system can also start timing when it determines that the target transport equipment has stopped waiting due to congestion, and re-plan the charging path for the transport equipment when the timing reaches a second preset duration.

[0157] In some embodiments, if the waiting time exceeds a third preset time, a charge cancellation command is sent to the transport device; and a second target charging device is assigned to the transport device among at least one second charging device whose real-time status is available.

[0158] In some embodiments, at least one second charging device may include or may not include the first target charging device, and this disclosure does not limit this.

[0159] In some embodiments, if the waiting time of the transport equipment exceeds (i.e., is greater than) a third preset time, the management system may cancel the current charging task, send a cancellation command to the transport equipment, end the current charging task of the first target charging device in the management system, and allocate a second target charging device to the transport equipment from among the charging devices whose real-time status is available, excluding the first target charging device.

[0160] For example, if the robot gets stuck or deadlocked on its way to a charging station, and the path is blocked for more than 20 minutes, the current charging task will be canceled and the robot will be reassigned to a charging station.

[0161] In some examples, if congestion occurs during the movement of the target transport equipment, the management system can estimate the congestion duration (i.e., the waiting time of the transport equipment). If the estimated waiting time of the target transport equipment in the congested area may exceed the third preset duration, it indicates that the congestion duration is too long. The management system can then cancel the first charging task and reassign charging equipment to the target transport equipment to ensure that the target transport equipment can complete the charging operation as soon as possible.

[0162] The charging anomaly handling method provided in this embodiment can determine whether to replan the route or reassign the charging equipment based on the predicted downtime when road blockage or deadlock occurs during the movement of the handling equipment. This can improve the charging task execution efficiency and charging success rate of the handling equipment, thereby improving the overall operating efficiency of the warehousing system.

[0163] In some embodiments, based on feedback information from the first target charging device and / or feedback information from the transport device, charging anomaly handling is performed, including: receiving arrival anomaly information sent by the transport device before the management system receives arrival information from the transport device, or receiving arrival anomaly information sent by the first target charging device after the management system receives arrival information from the transport device, wherein the arrival anomaly information is used to indicate that the position of the transport device or the first target charging device is offset; and displaying third prompt information, wherein the third prompt information is used to indicate that the transport device needs to be manually moved or the first target charging device needs to have its coordinates adjusted.

[0164] In some embodiments, the feedback information of the transport device includes arrival anomaly information of the transport device, and the feedback information of the first target charging device also includes arrival anomaly information of the first target charging device. The arrival anomaly information of the transport device may include information about the position of the transport device deviating from the first target charging path before arriving at the first target charging station; the arrival anomaly information of the first target charging device may also include information about the position of the first target charging device deviating from its position coordinates on the map after the transport device arrives at the first target charging device.

[0165] For example, if the position of the transport equipment deviates from the first target charging path, and / or the position of the first target charging device deviates from its coordinates on the map, it may cause the transport equipment to fail to dock with the first target charging device, thus preventing the charging operation on the transport equipment from being completed. Therefore, exception handling is required to adjust the position of the transport equipment or the first target charging device.

[0166] In some embodiments, upon receiving abnormal arrival information of the handling equipment, a third prompt message may be displayed on the display interface to indicate that the handling equipment needs to be manually moved.

[0167] In some embodiments, the arrival anomaly information of the handling equipment can be adjusted according to different types. For example, for handling equipment used to handle shelves, a single positional deviation can trigger an arrival anomaly information; for forklift-type handling equipment, a positional deviation after three retries can trigger an arrival anomaly information. This disclosure does not limit the scope of the embodiments.

[0168] For example, if the management system detects that the robot has deviated abnormally from the charging path, it will issue an alert and require manual intervention.

[0169] In some embodiments, upon receiving abnormal arrival information of the first target charging device, a third prompt message is displayed on the display interface to indicate that the first target charging device needs coordinate adjustment.

[0170] For example, if the management system detects that the XY coordinates of the charging station are offset after the robot arrives at the charging station, causing the docking to fail, and needs to check the map to adjust the coordinates, then an error will be displayed on the screen, requiring manual handling.

[0171] The charging anomaly handling method provided in this embodiment can promptly remind staff to handle situations where the handling equipment or the assigned charging equipment is misaligned. This prevents the misalignment from affecting the charging tasks of the handling equipment and the charging equipment, improves the charging success rate of the handling equipment, and thus improves the overall operating efficiency of the warehousing system.

[0172] In some embodiments, charging anomaly handling is performed based on feedback information from the first target charging device and / or feedback information from the transport device, including: after the management system receives arrival information sent by the transport device, sending a charging start command to the first target charging device; after the management system receives no-current information sent by the transport device and / or no-current information sent by the first target charging device, determining the no-current duration and no-current anomaly type of the transport device, as well as the no-current duration and no-current anomaly type of the first target charging device; performing charging anomaly handling based on the no-current duration and / or no-current anomaly type of the transport device; and / or performing charging anomaly handling based on the no-current duration and / or no-current anomaly type of the first target charging device.

[0173] In some embodiments, the feedback information from the transport device includes no-current information sent by the transport device, and the feedback information from the first target charging device includes no-current information sent by the first target charging device. After the transport device arrives at the first target charging device, it sends arrival information to the management system. In response to the arrival information, the management system sends a charging start command to the first target charging device so that the first target charging device can charge the transport device.

[0174] In some embodiments, the management system sending a charging start command to the first target charging device may be sending a command to the first target charging device to start the charging pile, so that the first target charging device can charge the transport equipment.

[0175] In some embodiments, the charging of the transport equipment and the first target charging equipment can be initiated automatically by the first target charging equipment after detecting the arrival of the transport equipment, and the charging equipment can also report the information that charging has started to the management system.

[0176] In some embodiments, charging anomaly handling is performed based on feedback information from the first target charging device and / or feedback information from the transport device, including: after the management system receives arrival information sent by the transport device, receiving no-current information sent by the transport device and / or no-current information sent by the first target charging device, determining the no-current duration and no-current anomaly type of the transport device, and the no-current duration and no-current anomaly type of the first target charging device, and the first target charging device is manually turned on for charging; performing charging anomaly handling based on the no-current duration and / or no-current anomaly type of the transport device; and / or performing charging anomaly handling based on the no-current duration and / or no-current anomaly type of the first target charging device.

[0177] In some embodiments, after the transport equipment arrives at the first target charging equipment, the staff manually activates the charging pile of the first target charging equipment so that the first target charging equipment can charge the transport equipment. That is, after receiving the arrival information of the transport equipment, the management system receives the no-current information of the transport equipment and / or the first target charging equipment, and performs corresponding processing according to the no-current situation.

[0178] In some embodiments, after the transport equipment and the first target charging equipment start charging, if the transport equipment experiences a lack of current, it can report the lack of current information to the management system. The management system detects the duration of the lack of current and the type of the lack of current anomaly, that is, determines the duration of the lack of current and / or the type of the lack of current anomaly, and performs corresponding charging anomaly processing based on the duration of the lack of current and / or the type of the lack of current anomaly.

[0179] In some examples, the management system can handle charging anomalies based on the duration of no-current operation on the transport equipment, the type of no-current anomaly, or both. The type of no-current anomaly can include timeout for receiving the charging command and hardware failure. The management system starts timing upon receiving no-current information from the transport equipment to determine the duration of the no-current operation.

[0180] In some embodiments, after the handling equipment and the first target charging equipment start charging, if the first target charging equipment experiences a lack of current, it can report the lack of current information to the management system. The management system detects the duration of the lack of current and the type of the lack of current anomaly of the first target charging equipment, that is, determines the duration of the lack of current and / or the type of the lack of current anomaly of the first target charging equipment, and performs corresponding charging anomaly processing based on the duration of the lack of current and / or the type of the lack of current anomaly.

[0181] In some examples, the management system can handle charging anomalies based on the duration of no current at the first target charging device, the type of no current anomaly at the first target charging device, or both. The type of no current anomaly at the first target charging device can include hardware failure. The management system starts timing upon receiving no current information from the first target charging device to determine the duration of no current at the first target charging device.

[0182] In some embodiments, depending on the current-free duration and / or current-free anomaly type of the transport device, at least one of the following is included: if the current-free duration of the transport device is greater than a fourth preset duration and the current-free anomaly type of the transport device is a timeout in receiving the charging start command, repeatedly sending the charging start command to the transport device; if the current-free duration of the transport device is greater than a fourth preset duration or the current-free anomaly type of the transport device is a hardware failure, sending a charging task cancellation command to the transport device and displaying a fourth prompt message, the fourth prompt message being used to indicate that the transport device hardware failure requires manual handling; if the current-free duration of the transport device is greater than a fifth preset duration, sending a charging task cancellation command to the transport device.

[0183] In some embodiments, charging anomaly handling is performed based on the no-current duration and / or no-current anomaly type of the first target charging device, including at least one of the following: if the no-current duration of the first target charging device is greater than a sixth preset duration, a charging task cancellation instruction is sent to the transport device; if the no-current anomaly type of the first target charging device is a hardware failure, a charging task cancellation instruction is sent to the transport device, and a fifth prompt message is displayed, which indicates that the first target charging device has an anomaly requiring manual handling; after sending the charging task cancellation instruction, a second target charging device is assigned to the transport device from among at least one second charging device whose real-time status is available.

[0184] In some embodiments, when a command to cancel the charging task is sent to the handling equipment, the management system can terminate the charging task currently being performed by the first target charging device.

[0185] In some embodiments, at least one second charging device may include or may not include the first target charging device, and this disclosure does not limit this.

[0186] For example, if the first target charging device is due to a hardware failure, is manually removed from the storage system by staff, or has its identifier or number deleted from the management system, the management system may not include the first target charging device in the list of charging devices to be reassigned to the handling equipment; that is, the first target charging device may not be included in at least one of the second charging devices.

[0187] In some embodiments, the fourth preset duration is a pre-configured robot no-current time interval. If the no-current duration of the handling device is greater than the fourth preset duration, and the no-current abnormality type of the handling device is a timeout in receiving the charging start command, the management system can repeatedly send the charging start command to the handling device.

[0188] In some embodiments, when the no-current duration of the handling device exceeds a fourth preset duration, the current charging task is canceled and a cancellation charging task instruction is sent to the handling device.

[0189] For example, if the robot arrives at the charging station and starts charging, but then there is no current, the time interval for detecting when the robot has no current will be exceeded. If this time interval is exceeded, the current charging task will be canceled and a new charging station will be assigned.

[0190] In some embodiments, the fifth preset duration is a pre-configured duration during which the robot current does not increase. If the duration of no current on the handling equipment exceeds the fifth preset duration, the current charging task is canceled and the charging station is reassigned.

[0191] For example, if the robot does not increase its speed within 2 minutes after arriving at the charging station and starting to charge, the current charging task will be canceled and the robot will be moved to another charging station.

[0192] In some embodiments, the sixth preset duration is a pre-configured charging station no-current time interval.

[0193] In some embodiments, if the no-current duration of the first target charging device exceeds a sixth preset duration, i.e., greater than the sixth preset duration, the current charging task is cancelled and a cancellation charging task instruction is sent to the transport device.

[0194] For example, after the robot arrives at the charging station, the management system receives information that there is no current at the charging station, detects the time interval of no current at the charging station, and cancels the current charging task when the set configuration value is exceeded.

[0195] In some embodiments, if the current failure of the first target charging device is a hardware fault, the current charging task is canceled and a fifth prompt message is displayed to indicate that the hardware fault of the first target charging device requires manual handling.

[0196] In some embodiments, hardware faults in the first target charging device may include damage to the charging port, short circuit in the PE wire of the plug assembly, abnormal push-pull rod, voltage sensor failure, etc.

[0197] For example, if a robot arrives at a charging station and a hardware malfunction causes the robot to lose power, an abnormality alert can be issued, and the robot can be reassigned to a different charging station.

[0198] In some embodiments, after sending a command to the transport equipment to cancel the charging task, the management system can reassign a second target charging device to the transport equipment.

[0199] In some embodiments, even if the first target charging device has its current charging task canceled and its real-time status is available, it can still perform charging tasks for other transport devices.

[0200] In some embodiments, if the number of times the first target charging device continuously sends no current information exceeds a preset number, a first mark is added to the first target charging device, the first mark is used to identify the first target charging device as abnormal; a fifth prompt message is displayed, the fifth prompt message is used to indicate that the first target charging device is abnormal and needs to be manually handled.

[0201] In some embodiments, if the number of times the first target charging device continuously sends no current information exceeds a preset number, a charging task may be sent to the first target charging device multiple times, and if the number of times the first target charging device continuously sends no current exceeds the preset number, then a first mark is added to the first target charging device, and a fifth prompt message is displayed to indicate an abnormality, which is then handled manually.

[0202] In some embodiments, the preset number can be a pre-configured threshold number of times the charging station has no current, for example, the preset number can be configured to be 3 times.

[0203] For example, after the robot arrives at the charging station, if the management system receives abnormal information that the same charging station has no current three times in a row, it will report the abnormality, which will be handled manually, and the charging station will be marked as abnormal.

[0204] The charging anomaly handling method provided in this embodiment allows the management system to handle situations where there is no current when the transport equipment arrives at the assigned charging equipment. This can be done according to the duration and / or type of the lack of current, preventing the transport equipment from being unable to charge and / or the assigned charging equipment from being unable to supply power, thereby improving the charging success rate of the transport equipment and the overall operating efficiency of the warehousing system.

[0205] In some embodiments, the charging anomaly handling method may further include: sending a charge termination command to a first target charging device; and, if the charge termination command fails to be sent, repeatedly sending the charge termination command to the first target charging device.

[0206] In some embodiments, after the transport equipment has finished charging, the management system sends a charge termination command to the first target charging device to end the current charging task.

[0207] In some embodiments, the management system will determine whether the end-of-charging command was successfully sent, that is, whether the first target charging device received the end-of-charging command. If the sending fails, the management system will resend the end-of-charging command to the first target charging device.

[0208] In some embodiments, if the number of times the end-of-charging command is repeatedly issued exceeds a preset number, the current charging task is terminated and a fifth prompt message is displayed.

[0209] In some embodiments, the preset number of times can be a pre-set threshold for the number of times the end charging command is sent. When the number of times exceeds the threshold, it indicates that the charging device has timed out of receiving the end charging command.

[0210] In some embodiments, if the number of times the end charging command is sent exceeds a preset number, the current charging task can be forcibly terminated. The current charging task can be closed in the management system, and the state of the first target charging device can be changed to an idle state or the next charging task can be executed. A fifth prompt message can be displayed on the display interface to prompt the staff that the first target charging device is abnormal and needs to be handled manually. The staff can then manually terminate the charging task of the first target charging device and remove the transport equipment from the first target charging device.

[0211] For example, after the robot successfully docks with the charging station, it begins charging. Once charging is complete, it sends a termination command to the charging station. If this fails, it resends the command. If the command is sent more than three times, the charging task is forcibly cancelled, an error is reported, and manual intervention is required.

[0212] In some embodiments, upon receiving an abnormal recovery signal from the first target charging device, the first tag is canceled or deleted.

[0213] In some embodiments, the anomaly recovery signal may be a signal triggered by the management system's logical judgment that the first target charging device has successfully completed a charging task. The logical judgment of completing a charging task includes at least one of the following: sending a charging task successfully to the first target charging device, receiving arrival information from the transport device arriving at the first target charging device, successfully sending a start charging command to the first target charging device, and successfully sending a stop charging command to the first target charging device. If no anomaly information is received from the transport device or the first target charging device during the process, the anomaly recovery signal is triggered, and the first mark of the first target charging device is canceled or deleted.

[0214] In some embodiments, the anomaly recovery signal may be a signal triggered by the manual repair of an anomaly in the first target charging device. In some embodiments, after assigning a second target charging device to the transport device, the method further includes: generating a second charging task based on the location coordinates of the transport device and the second target charging device, and the power level of the transport device; the second charging task includes the identifier of the transport device, the identifier of the second target charging device, and the second target charging path; and issuing the second charging task to the transport device and the second target charging device.

[0215] The charging anomaly handling method provided in this embodiment requires, after reallocating a second target charging station to the transport equipment, to plan a second target charging path based on the current location coordinates of the transport equipment and the location coordinates of the second target charging equipment.

[0216] In some embodiments, the management system determines the amount of power that needs to be charged based on the current power level of the handling equipment and a power threshold, wherein the power threshold may be the upper limit of charging in the charging logic.

[0217] In some embodiments, the management system generates a second charging task based on the identifier of the transport device, the second target charging path, and the amount of charge. The second charging task is sent to the transport device and the second target charging device respectively. After receiving the second charging task, the transport device moves to the second target charging device. After arriving at the second target charging device, it sends arrival information to the management system. The management system then sends a start charging command to the second target charging device to start the process of the second target charging device charging the transport device.

[0218] The charging anomaly handling method provided in this embodiment allows the management system to obtain the real-time status of each charging device in the warehousing system. When allocating charging devices to handling equipment that meets the charging conditions, it can avoid assigning unavailable charging devices to handling equipment, thereby improving the effectiveness of allocation. At the same time, when an anomaly occurs during the execution of the charging task by the handling equipment and the allocated charging equipment, the management system can handle the anomaly based on the feedback, thereby improving the charging success rate of the handling equipment and thus improving the overall operating efficiency of the warehousing system.

[0219] Figure 3 is a schematic diagram of another charging anomaly handling method provided in this disclosure. Based on the embodiment shown in Figure 2, Figure 3 illustrates the process of allocating the first target charging device to the transport equipment in step 201 of Figure 2. As shown in Figure 3, step 201 may include the following steps:

[0220] Step 301: Generate a first charging path based on the position coordinates of the transport equipment and the position coordinates of the first charging device among at least one charging device.

[0221] In some embodiments, at least one charging device is all the charging devices in the storage system.

[0222] In some embodiments, the position coordinates of the transport equipment are the position coordinates of the transport equipment that currently meet the charging conditions, and the position coordinates of the first charging equipment are the position coordinates of each charging equipment stored in the management system.

[0223] In some embodiments, a first charging path is generated for each first charging device based on the position coordinates of the transport equipment and the position coordinates of each charging device.

[0224] In some examples, the coordinates of the first charging device can also be the coordinates of the charging point corresponding to the first charging device. One charging device can correspond to one charging point or multiple charging points. This disclosure does not limit this; this disclosure uses the example of a charging device corresponding to one charging point for illustrative purposes. For example, when a transport device moves along a first charging path from its current position coordinates to the position coordinates of the charging point corresponding to the first charging device and stops at that charging point, the first charging device can perform a charging operation on the transport device.

[0225] Step 302: Based on whether the first point of the first charging path is blocked by an obstacle, and / or the duration of the obstacle's stay at the first point, determine the real-time status of the first charging device and add a status marker to the first charging device.

[0226] In some embodiments, determining the real-time state of the first charging device based on whether a first point on the first charging path is blocked by an obstacle, and / or the duration of the obstacle's stay at the first point, includes: determining that the first point on the first charging path is blocked by an obstacle if preset conditions are met. The preset conditions include: the presence of an obstacle at the first point within a preset time period, or prediction that an obstacle exists at the first point when the transport device moves along the first target charging path to the first point. If the first point is blocked by an obstacle, the duration of the obstacle's stay is determined; if the stay duration exceeds a first preset duration, the real-time state of the first charging device is determined to be unavailable.

[0227] In some embodiments, the preset time period is a preset time period, which can be the historical average time for the transport equipment to reach the first charging equipment. The first preset time period is the maximum time threshold for an obstacle to block the path. That is, when the time the obstacle stays exceeds the threshold, it is determined that it will affect the normal charging process of the transport equipment.

[0228] In some embodiments, the first point of the first charging path is any point on the first charging path. For each point, if an obstacle exists within a preset time period, that is, if an obstacle remains at the first point, the duration of the obstacle's stay can be determined. If the duration of the stay exceeds a first preset time period, the real-time state of the first charging device corresponding to the first charging path is determined to be unavailable. For example, the first charging path may consist of multiple path points, and the first point may be any one of the multiple path points of the first charging path. This embodiment of the present disclosure does not limit this.

[0229] For example, determine whether the necessary path of each charging station is occupied by a faulty robot. If such an anomaly is found, do not assign a charging task to that charging station and mark it as temporarily unavailable.

[0230] In some embodiments, the management system predicts that there is an obstacle at the first point when the transport device moves along the first target charging path to the first point. That is, if the transport device moves toward the first charging device, there is a possibility that its travel path will be blocked by the obstacle. The system can determine the duration of the obstacle's stay. If the duration of the obstacle's stay is longer than a first preset duration, the system determines that the real-time status of the first charging device corresponding to the first charging path is unavailable.

[0231] For example, it can be determined whether the necessary points of each charging station will block the robot's movement to the charging station. If the robot is blocked by an obstacle at a certain point for more than a preset time, the charging station can be marked as temporarily unavailable instead of being assigned a charging task.

[0232] In some embodiments, if the first location is not blocked by an obstacle, the real-time status of the first charging device is determined to be available.

[0233] In some embodiments, if the first point is not blocked by an obstacle, that is, there is no obstacle at the first point during the time period when the transport device moves to the first charging device, or there is no obstacle at the first point when the transport device moves to the first point, the first charging device can be assigned to the transport device to perform the charging task, and the first charging device can be marked as available.

[0234] In some embodiments, if the dwell time is less than or equal to a first preset time, the real-time state of the first charging device is determined to be an available state.

[0235] In some embodiments, if there is an obstacle at the first point during the time period when the transport device moves to the first charging device, but the duration of the obstacle's stay is less than or equal to a first preset duration, that is, the duration of the obstacle's stay is short and will not cause significant obstruction to the transport device's movement, then the first charging device can be assigned to the transport device to perform the charging task, and the first charging device can be marked as available.

[0236] For example, the management system can determine that the real-time status of the first charging device is unavailable if any point on the first charging path (such as the first point) is blocked by an obstacle. The management system can also determine that the real-time status of the first charging device is unavailable if the first point on the first charging path is blocked by an obstacle, and the obstacle remains at the first point for more than a first preset time. If the real-time status of the first charging device is unavailable, the management system will mark the first charging device as available.

[0237] For example, the management system can determine that the real-time status of the first charging device is available if all points on the first charging path are not blocked by obstacles. Alternatively, the management system can determine that the real-time status of the first charging device is available if a first point on the first charging path is blocked by an obstacle, and the obstacle's duration at the first point does not exceed a first preset time. If the real-time status of the first charging device is available, the management system will mark the first charging device as available.

[0238] The charging anomaly handling method provided in this embodiment determines whether the corresponding charging device can perform the charging task by checking whether the necessary points on the charging path are occupied by obstacles and whether the occupation time exceeds a preset first time. Then, it determines the real-time status of the charging device and assigns a target charging device to the transport device based on the real-time status of each charging device.

[0239] Step 303: Among the charging devices whose real-time status is available, determine the first target charging device.

[0240] In some embodiments, in a charging device whose real-time status is available, determining the first target charging device may be to assign the first charging device marked as available to the transport device as the first target charging device, thereby avoiding assigning the first charging device marked as unavailable to the transport device, which would prevent the transport device from reaching the charging device for charging.

[0241] In some embodiments, a charging device whose real-time status is available may include a charging device that has been marked with a first tag. In other words, when a charging device is marked with a first tag due to an anomaly during the execution of a charging task, it does not affect its reassignment to a handling device or charging task.

[0242] In some embodiments, charging devices that are in an available state in real time may not include those that have been marked with the first tag. In other words, charging devices marked with the first tag will not be assigned a handling device or a charging task until the first tag is removed.

[0243] In some examples, taking a warehousing system with multiple charging devices as an example, where the multiple charging devices include at least one charging device with a real-time available state and at least one charging device with a real-time unavailable state, a first target charging device can be determined from the at least one charging device with a real-time available state. Specifically, if the number of at least one charging device with a real-time available state is one, that charging device is determined as the first target charging device; if the number of at least one charging device with a real-time available state is multiple, any one of the multiple charging devices with a real-time available state is determined as the first target charging device; or, the charging device closest to the handling equipment is determined as the first target charging device. This disclosure does not limit the specific choice of charging device.

[0244] For example, if multiple charging devices are all in an available state in real time, a first target charging device can be identified among them. As another example, if multiple charging devices are all in an unavailable state in real time, a charging device can be temporarily withheld from the transport equipment until a charging device whose real-time status changes to available is identified as the first target charging device and assigned to the transport equipment.

[0245] The charging anomaly handling method provided in this embodiment judges the real-time status of the charging equipment based on whether the charging path is blocked by obstacles and the duration of the obstacles, so as to allocate available charging equipment to the transport equipment, avoid invalid allocation of charging equipment, and thus improve the charging success rate of the transport equipment.

[0246] The following is a specific implementation of a charging anomaly handling method provided in this disclosure. Figure 4A is a flowchart of the charging anomaly handling method. As shown in Figure 4A, the method includes the following steps:

[0247] Step 1: In response to the robot's charging needs, the RMS system allocates a charging station to the robot and issues a charging task, which instructs the robot and the charging station to perform the charging task.

[0248] In some examples, the RMS system's strategy for allocating charging stations to robots is to not allocate unavailable charging stations. The flowchart of the RMS system's charging station allocation process is shown in Figure 4B.

[0249] When a robot's battery level is below the charging threshold, the RMS checks whether the currently assigned charging station access point is occupied by a faulty robot or disabled. If the access point is not occupied or disabled, the charging task is assigned and executed normally. If the access point is occupied or disabled, no charging task is assigned to that charging station, and the charging station is marked as temporarily unavailable. The unavailable status is removed after manual intervention to resolve the issue.

[0250] In some examples, the flowchart for the RMS system to determine whether a charging station is occupied or disabled is shown in Figure 4C. The RMS system creates a thread to determine whether a charging station is occupied or disabled in order to judge the real-time status of the charging station. This process includes: detecting whether there is a robot stopping at the necessary points of the charging station, and making a judgment based on the robot's stopping time and a preset time; if the robot's stopping time is longer than the preset time, it indicates that there is an obstacle at the necessary points of the charging station, the charging station is in an unavailable state, and the charging station is marked as unavailable.

[0251] Step 2: During the process of the robot performing the charging task, if the charging station is marked as unavailable, the charging task is canceled and the charging station is reassigned.

[0252] As shown in Figure 4B, after the RMS system normally allocates a charging station to the robot, if a necessary point on the charging route is occupied by a faulty robot or the necessary point is disabled, the charging task will be canceled and other charging stations will be reassigned.

[0253] Step 3: If the robot fails to reach the charging station for an extended period, cancel the charging task and determine if the charging station and / or the robot are malfunctioning.

[0254] Step 3.1: If there are no abnormalities in the charging station and the robot, the charging station will be reassigned.

[0255] Step 3.2: In the event of an anomaly at the charging station and / or on the robot, perform anomaly handling.

[0256] In some examples, exception handling may include the following approaches:

[0257] Option 1: Before issuing a charging task and receiving feedback information that the robot has arrived at the charging station, the RMS system detects an anomaly at the charging station and performs anomaly handling based on the anomaly type.

[0258] Among the abnormalities reported at charging stations are: failure to receive a charging task; the emergency stop button being pressed at the charging station; and the charging station being unreachable.

[0259] In response to a charging station failing to receive a charging task, and after multiple attempts to send a charging task, if the charging station still fails to receive the task after N attempts, an abnormal alert will be displayed on the map monitoring system. In this case, a charging cancellation command will be sent to the robot, and a new charging station will be assigned to the robot.

[0260] Specifically, if the emergency stop button of a charging station is pressed, the emergency stop status of the charging station will be reported, and the station will be manually restored.

[0261] Specifically, for charging stations that are unreachable, if multiple robots cannot reach the charging station, the charging station will be marked as abnormal, an alarm message will be sent, and manual handling will be required.

[0262] Option 2: Before issuing the charging task and receiving feedback information that the robot has arrived at the charging station, the RMS system detects robot abnormalities and performs abnormal handling based on the abnormal information of the robot.

[0263] Robot malfunctions include: the robot getting stuck or locked on its way to the charging station; and robot malfunctions.

[0264] Specifically, if a robot encounters a blockage or deadlock on its way to a charging station, and the blockage lasts for more than 10 minutes, the route will be replanned. If the robot cannot reach the charging station within the preset time, the charging task will be canceled and a new charging station will be assigned.

[0265] In cases of robot malfunction, the charging task is canceled, an error message is displayed, and the issue is handled manually without reassigning the robot.

[0266] In particular, if the robot deviates from its path on the way to the charging station, an alert will be issued, and manual intervention will be required.

[0267] Option 3: If the robot fails to arrive at the charging station for an extended period, check for robot malfunctions. Figure 4D shows the flowchart for handling robot malfunctions. If the robot remains stationary for an extended period and the malfunction level is 2, cancel the charging task without reassignment, issue an malfunction warning, and require manual intervention. If the robot remains stationary and the malfunction is resolved, re-assign the charging task. If the robot fails to arrive for an extended period but is not stationary for an extended period, or if the malfunction level is less than 2, cancel the charging task and reassign a charging station.

[0268] Step 4: When the robot arrives at the charging station, the RMS system receives feedback that the robot has arrived at the charging station and issues a charging command or allows manual initiation of charging.

[0269] The RMS system receives feedback information about charging abnormalities and performs corresponding abnormality handling based on this information.

[0270] If the robot fails to dock due to a coordinate shift at the charging station after arriving at the station, the anomaly can be reported and handled manually. This involves checking the map and the location of the charging station, and adjusting the corresponding charging point or the actual location of the charging station.

[0271] If the exception is a timeout in sending the start charging command, the current charging task can be canceled after several retries, and a new charging station can be assigned to the robot.

[0272] If the robot's battery level does not increase within 120 seconds or the robot has no current, the charging task can be canceled and a new charging station can be assigned to it.

[0273] In the event of an error such as a timeout in sending the start charging command, the start charging command can be resent, and after several retries, a charging station can be reassigned to the robot.

[0274] In cases where the abnormality is due to a damaged charging port, a short circuit in the PE wire of the plug assembly, an abnormal push-pull rod, or a faulty voltage sensor, the abnormality can be reported and handled manually.

[0275] In the event of an anomaly where the charging station has no current, the system will detect the time interval between periods of no current at the charging station. If the time interval exceeds the set configuration value, the current charging task will be canceled. If the same charging station still has no current after three attempts, the anomaly will be reported and handled manually.

[0276] In the event of an abnormality where the robot has no current, the system will detect the time interval between periods of no current and cancel the current charging task if it exceeds the configured value, and then reassign a charging station.

[0277] If the robot's battery level does not increase after a period of charging, and the detection indicates that the robot's battery level does not increase within 2 minutes, then the current charging task will be cancelled and a new charging station will be used.

[0278] If the exception is a timeout in the end command transmission, the robot will retry several times before the charging task is forcibly canceled, the exception will be reported, and manual handling will be required.

[0279] The charging anomaly handling method provided in this disclosure can determine the status of each charging station in real time, avoiding invalid allocation when assigning charging stations to robots; and can handle anomalies based on abnormal situations during the execution of charging tasks, thereby improving the success rate of robot charging and the overall operating efficiency of the warehousing system.

[0280] Figure 5 is a schematic diagram of a charging anomaly handling device according to an embodiment of this disclosure, applied to a management system. As shown in Figure 5, the charging anomaly handling device 500 includes:

[0281] The allocation module 510 is configured to: when the transport equipment meets the charging conditions, allocate a first target charging device to the transport equipment based on the real-time status of at least one charging device.

[0282] The determination module 520 is configured to: acquire the real-time status of the first target charging device during the process of the transport device moving toward the first target charging device.

[0283] The processing module 530 is configured to perform charging anomaly processing based on the real-time status of the first target charging device, or based on feedback information from the first target charging device and / or feedback information from the transport device.

[0284] In some embodiments, the allocation module is further configured to: generate a first charging path based on the position coordinates of the transport device and the position coordinates of the first charging device among at least one charging device; determine the real-time status of the first charging device based on whether the first point of the first charging path is blocked by an obstacle and / or the duration of the obstacle's stay at the first point, and add a status marker to the first charging device; and determine a first target charging device among the charging devices whose real-time status is available.

[0285] In some embodiments, the allocation module is further configured to: generate a first charging task based on the location coordinates of the transport device, the location coordinates of the first target charging device, and the power of the transport device; the first charging task includes the identifier of the transport device, the identifier of the first target charging device, and the first target charging path; and send the first charging task to the first target charging device and the transport device.

[0286] In some embodiments, the allocation module is further configured to: determine that the first charging path is blocked by an obstacle at a first location when a preset condition is met, wherein the preset condition includes any one of the following: an obstacle exists at the first location within a preset time period, or an obstacle is predicted to exist at the first location when the transport device moves along the first target charging path to the first location; determine the duration of the obstacle's stay when the first location is blocked; and determine that the real-time state of the first charging device is unavailable when the duration of the stay is greater than a first preset time period.

[0287] In some embodiments, the allocation module is further configured to: determine that the real-time state of the first charging device is available when the first point is not blocked by an obstacle; or, determine that the real-time state of the first charging device is available when the first point is blocked by an obstacle and the duration of the obstacle's stay is less than or equal to a first preset duration.

[0288] In some embodiments, the processing module is further configured to: before the management system receives the arrival information from the transport equipment, change the real-time status of the first target charging device from an available state to an unavailable state, send a cancellation charging task instruction to the transport equipment, the cancellation charging task instruction being used to cancel the current charging task; determine the real-time status of at least one second charging device based on the location coordinates of the transport equipment and the location coordinates of at least one second charging device other than the first target charging device; and assign a second target charging device to the transport equipment among the second charging devices whose real-time status is available.

[0289] In some embodiments, the processing module is further configured to: determine whether the transport equipment is abnormal if the management system does not receive arrival information from the transport equipment within a first time period; and send a charge cancellation instruction to the transport equipment if the transport equipment is abnormal; wherein the charge cancellation instruction is used to cancel the current charging task.

[0290] In some embodiments, the processing module is further configured to determine the abnormality level of the handling equipment after sending a command to cancel the charging task; if the abnormality level is greater than a preset level, display a first prompt message; wherein the first prompt message is used to indicate that the abnormality of the handling equipment requires manual handling.

[0291] In some embodiments, the processing module is further configured to: assign a second target charging device to the transport equipment based on the real-time status of at least one charging device when the anomaly level is less than or equal to a preset level, or when it is determined that the transport equipment has returned to normal.

[0292] In some embodiments, the processing module is further configured to: determine the anomaly type of the first target charging device based on the anomaly information of the first target charging device before the management system receives the arrival information from the handling equipment; and perform recovery processing on the first target charging device based on the anomaly information if the anomaly type is a recoverable anomaly.

[0293] In some embodiments, the processing module is further configured to: repeatedly send the charging task to the first target charging device when the abnormal information indicates that the first target charging device has failed to receive the charging task; add a first mark to the first target charging device and display a second prompt message when the number of times the abnormal information indicating that the first target charging device has failed to receive the charging task exceeds a preset threshold, wherein the first mark is used to identify the abnormality of the first target charging device and the second prompt message is used to indicate that the abnormality of the first target charging device requires manual handling; and add a first mark to the first target charging device and display a second prompt message when the abnormal information indicates that the first target charging device is unreachable and the number of times the abnormal information is received exceeds a preset threshold, wherein the second prompt message is used to indicate that the abnormality of the first target charging device requires manual handling.

[0294] In some embodiments, the processing module is further configured to: send a charge cancellation instruction to the handling equipment when the exception type is an unrecoverable exception; add a first mark to the first target charging device and display a second prompt message; wherein the first mark is used to identify the first target charging device as abnormal, and the second prompt message is used to indicate that the first target charging device is abnormal and requires manual handling.

[0295] In some embodiments, the processing module is further configured to: cancel or delete the first tag after receiving an abnormal recovery signal from the first target charging device.

[0296] In some embodiments, the allocation module is further configured to: allocate a second target charging device to the transport device among the second charging devices in which at least one second charging device is in a real-time available state.

[0297] In some embodiments, the processing module is further configured to: receive a stop-and-wait message sent by the transport equipment before the management system receives arrival information from the transport equipment, the stop-and-wait message being used to indicate that the first target charging path is blocked or deadlocked; determine the stop-and-wait duration of the transport equipment; if the stop-and-wait duration exceeds a second preset duration but does not exceed a third preset duration, plan a replanned charging path for the transport equipment based on the current position coordinates of the transport equipment and the position coordinates of the first target charging equipment; and send the replanned charging path to the transport equipment.

[0298] In some embodiments, the processing module is further configured to: send a charge cancellation instruction to the transport device if the waiting time exceeds a third preset time; and assign a second target charging device to the transport device among at least one second charging device whose real-time status is available.

[0299] In some embodiments, the processing module is further configured to: receive arrival error information sent by the transport equipment before the management system receives arrival information from the transport equipment, or receive arrival error information sent by the first target charging device after the management system receives arrival information from the transport equipment, wherein the arrival error information is used to indicate that the position of the transport equipment or the first target charging device is offset; and display a third prompt message, wherein the third prompt message is used to indicate that the transport equipment needs to be manually moved or the coordinates of the first target charging device need to be adjusted.

[0300] In some embodiments, the processing module is further configured to: after the management system receives arrival information sent by the transport equipment, send a charging start command to the first target charging device; after the management system receives no-current information sent by the transport equipment and / or no-current information sent by the first target charging device, determine the no-current duration and no-current anomaly type of the transport equipment, as well as the no-current duration and no-current anomaly type of the first target charging device; perform charging anomaly processing according to the no-current duration and / or no-current anomaly type of the transport equipment; and / or perform charging anomaly processing according to the no-current duration and / or no-current anomaly type of the first target charging device.

[0301] In some embodiments, the processing module is further configured to: after the management system receives the arrival information sent by the transport equipment, receive the no-current information sent by the transport equipment and / or the no-current information sent by the first target charging equipment, determine the no-current duration and no-current anomaly type of the transport equipment, and the no-current duration and no-current anomaly type of the first target charging equipment, wherein the first target charging equipment is manually turned on for charging; perform charging anomaly processing according to the no-current duration and / or no-current anomaly type of the transport equipment; and / or perform charging anomaly processing according to the no-current duration and / or no-current anomaly type of the first target charging equipment.

[0302] In some embodiments, the processing module is further configured to: repeatedly send an enable charging command to the transport device when the current-free duration of the transport device exceeds a fourth preset duration and the current-free abnormality type of the transport device is a timeout in receiving the enable charging command; send a cancel charging task command to the transport device and display a fourth prompt message when the current-free duration of the transport device exceeds a fourth preset duration or the current-free abnormality type of the transport device is a hardware failure, the fourth prompt message being used to indicate that the hardware failure of the transport device requires manual handling; and send a cancel charging task command to the transport device when the current-free duration of the transport device exceeds a fifth preset duration.

[0303] In some embodiments, the processing module is further configured to: send a cancellation charging task instruction to the transport device when the no-current duration of the first target charging device is greater than a sixth preset duration; send a cancellation charging task instruction to the transport device and display a fifth prompt message when the no-current abnormality type of the first target charging device is a hardware failure, the fifth prompt message being used to indicate that the first target charging device is abnormal and requires manual handling; after sending the cancellation charging task instruction, assign a second target charging device to the transport device from among the second charging devices whose real-time status is available at least one second charging device.

[0304] In some embodiments, the processing module is further configured to: add a first mark to the first target charging device when the number of times the no-current information continuously sent by the first target charging device exceeds a preset number; wherein the first mark is used to identify the first target charging device as abnormal; and display a fifth prompt message, the fifth prompt message being used to indicate that the abnormality of the first target charging device requires manual handling.

[0305] In some embodiments, the processing module is further configured to: send a charge termination command to the first target charging device; and, if the charge termination command fails to be sent, repeatedly send the charge termination command to the first target charging device.

[0306] In some embodiments, the processing module is further configured to: terminate the current charging task and display a fifth prompt message if the number of times the end charging command is repeatedly issued exceeds a preset number.

[0307] In some embodiments, the processing module is further configured to: cancel or delete the first tag after receiving an abnormal recovery signal from the first target charging device.

[0308] In some embodiments, the processing module is further configured to: generate a second charging task based on the location coordinates of the transport device and the location coordinates of the second target charging device, and the power of the transport device; the second charging task includes the identifier of the transport device, the identifier of the second target charging device, and the second target charging path; and issue the second charging task to the transport device and the second target charging device.

[0309] The charging anomaly handling method provided in this embodiment of the invention enables the charging anomaly handling device to effectively allocate charging equipment to handling equipment by acquiring the status of charging equipment in real time, and to perform anomaly handling based on the anomaly feedback from handling equipment and charging equipment, thereby improving the success rate of charging handling equipment and thus improving the overall operating efficiency of the warehousing system.

[0310] Figure 6 is a schematic diagram of the structure of an electronic device according to an embodiment of this disclosure. As shown in Figure 6, the components of the electronic device 600 include, but are not limited to, a memory 610 and a processor 620. The processor 620 is connected to the memory 610 via a bus 630, and the database 650 is used to store data.

[0311] Electronic device 600 also includes access device 640, which enables electronic device 600 to communicate via one or more networks 660. Examples of these networks include Public Switched Telephone Network (PSTN), Local Area Network (LAN), Wide Area Network (WAN), Personal Area Network (PAN), or combinations of communication networks such as the Internet. Access device 640 may include one or more of any type of wired or wireless network interface (e.g., network interface controller (NIC)), such as an IEEE 802.11 Wireless Local Area Network (WLAN) wireless interface, a Wi-MAX (Worldwide Interoperability for Microwave Access) interface, an Ethernet interface, a Universal Serial Bus (USB) interface, a cellular network interface, a Bluetooth interface, a Near Field Communication (NFC) interface, and so on.

[0312] In one embodiment of this disclosure, the aforementioned components of the electronic device 600, as well as other components not shown in FIG. 6, may also be connected to each other, for example, via a bus. It should be understood that the electronic device structural block diagram shown in FIG. 6 is merely for illustrative purposes and is not intended to limit the scope of this disclosure. Those skilled in the art can add or replace other components as needed.

[0313] Electronic device 600 can be any type of stationary or mobile computing device, including mobile computers or mobile computing devices (e.g., tablet computers, personal digital assistants, laptop computers, notebook computers, netbooks, etc.), mobile phones (e.g., smartphones), wearable computing devices (e.g., smartwatches, smart glasses, etc.) or other types of mobile devices, or stationary computing devices such as desktop computers or personal computers (PCs). Electronic device 600 can also be a mobile or stationary server.

[0314] The processor 620 implements the charging abnormality handling method when executing the computer instructions.

[0315] The above is an illustrative scheme of an electronic device according to this embodiment. It should be noted that the technical solution of this electronic device and the technical solution of the above-described charging anomaly handling method belong to the same concept. For details not described in detail in the technical solution of the electronic device, please refer to the description of the technical solution of the above-described charging anomaly handling method.

[0316] Embodiments of this disclosure also provide a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause a computer to execute the charging anomaly handling method described in the above embodiments of this disclosure.

[0317] Embodiments of this disclosure also provide a computer program product, including a computer program that is executed by a processor using the charging anomaly handling method described in the above embodiments of this disclosure.

[0318] The foregoing has described specific embodiments of this disclosure. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired results. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0319] The computer instructions include computer program code, which may be in the form of source code, object code, executable file, or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording media, USB flash drive, portable hard drive, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc.

[0320] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this disclosure is not limited to the described order of actions, because according to this disclosure, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this disclosure.

[0321] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0322] The preferred embodiments disclosed above are merely illustrative of this disclosure. The optional embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this disclosure. These embodiments are selected and specifically described in this disclosure to better explain the principles and practical applications of this disclosure, thereby enabling those skilled in the art to better understand and utilize this disclosure. This disclosure is limited only by the claims and their full scope and equivalents.

[0323] The embodiments described above do not constitute a limitation on the scope of protection of this disclosure.

Claims

1. A charging anomaly handling method, applied to a management system, the method comprising: If the transport equipment meets the charging conditions, a first target charging device is assigned to the transport equipment based on the real-time status of at least one charging device. During the process of the transport device moving toward the first target charging device, the real-time status of the first target charging device is acquired; Based on the real-time status of the first target charging device, or based on the feedback information from the first target charging device and / or the feedback information from the transport device, perform charging anomaly handling.

2. The method according to claim 1, wherein, The step of assigning a first target charging device to the transport equipment based on the real-time status of at least one charging device includes: A first charging path is generated based on the position coordinates of the transport equipment and the position coordinates of the first charging device among the at least one charging device; Based on whether the first point of the first charging path is blocked by an obstacle, and / or the duration of the obstacle at the first point, the real-time status of the first charging device is determined, and a status marker is added to the first charging device. Among the charging devices whose real-time status is available, the first target charging device is determined.

3. The method according to claim 2, further comprising: Based on the location coordinates of the transport equipment, the location coordinates of the first target charging device, and the power level of the transport equipment, a first charging task is generated; wherein, the first charging task includes the identifier of the transport equipment, the identifier of the first target charging device, and a first target charging path; Send the first charging task to the first target charging device and the transport device.

4. The method according to claim 3, wherein, The step of determining the real-time status of the first charging device based on whether the first point on the first charging path is blocked by an obstacle and / or the duration of the obstacle's stay includes: Under the condition that the preset conditions are met, it is determined that the first charging path is blocked by the obstacle at the first point; wherein the preset conditions include any one of the following: there is an obstacle at the first point within a preset time period, or it is predicted that there is an obstacle at the first point when the transport equipment moves to the first point along the first target charging path; If the first point is blocked by the obstacle, determine the duration of the obstacle's stay. If the dwell time exceeds a first preset time, the real-time status of the first charging device is determined to be unavailable.

5. The method according to claim 4, further comprising: If the first location is not blocked by the obstacle, the real-time status of the first charging device is determined to be available. or, If the first point is blocked by the obstacle, and the duration of the obstacle's stay is less than or equal to the first preset duration, the real-time status of the first charging device is determined to be the available status.

6. The method according to any one of claims 1-5, wherein, Based on the real-time status of the first target charging device, perform charging anomaly handling, including: Before the management system receives the arrival information from the transport equipment, the real-time status of the first target charging device changes from available to unavailable, and a cancellation charging task instruction is sent to the transport equipment; wherein, the cancellation charging task instruction is used to cancel the current charging task; Based on the location coordinates of the transport equipment and the location coordinates of at least one second charging device other than the first target charging device, the real-time status of the at least one second charging device is determined. Among the at least one second charging device whose real-time status is available, a second target charging device is assigned to the transport device.

7. The method according to any one of claims 1-6, wherein, Based on the feedback information from the first target charging device and / or the feedback information from the transport device, perform charging anomaly handling, including: If the management system does not receive arrival information from the handling equipment within a first time period, it is determined whether the handling equipment is malfunctioning. In the event of an malfunction in the handling equipment, a command to cancel the charging task is sent to the handling equipment; wherein, the command to cancel the charging task is used to cancel the current charging task.

8. The method according to claim 7, further comprising: After sending the command to cancel the charging task, the abnormality level of the handling equipment is determined; If the abnormality level is greater than a preset level, a first prompt message is displayed; wherein, the first prompt message is used to indicate that the handling equipment is malfunctioning and requires manual handling.

9. The method according to claim 8, further comprising: If the abnormality level is less than or equal to the preset level, or if it is determined that the handling equipment has returned to normal, a second target charging device is assigned to the handling equipment based on the real-time status of the at least one charging device.

10. The method according to any one of claims 1-9, wherein, Based on the feedback information from the first target charging device and / or the feedback information from the transport device, perform charging anomaly handling, including: Before the management system receives the arrival information from the handling equipment, it determines the type of abnormality of the first target charging device based on the abnormality information of the first target charging device. If the anomaly type is a recoverable anomaly, recovery processing is performed on the first target charging device based on the anomaly information.

11. The method according to claim 10, wherein, The recovery process performed on the first target charging device based on the abnormal information includes any one of the following: If the abnormal information indicates that the first target charging device has failed to receive the charging task, the charging task will be resent to the first target charging device. If the number of times the first target charging device receives abnormal information indicating that the charging task has failed exceeds a preset threshold, a first mark is added to the first target charging device and a second prompt message is displayed. The first mark is used to identify the abnormality of the first target charging device. If the abnormal information indicates that the first target charging device is unreachable, and the number of times the abnormal information is received exceeds a preset threshold, the first mark is added to the first target charging device, and the second prompt information is displayed. The second prompt information is used to indicate that the first target charging device is abnormal and requires manual handling.

12. The method according to claim 10, further comprising: In the event that the exception type is an unrecoverable exception, a command to cancel the charging task is sent to the handling equipment; A first mark is added to the first target charging device, and a second prompt message is displayed; wherein, the first mark is used to identify that the first target charging device is abnormal, and the second prompt message is used to indicate that the first target charging device is abnormal and requires manual handling.

13. The method according to claim 11 or 12, further comprising: Upon receiving an abnormal recovery signal from the first target charging device, cancel or delete the first marker.

14. The method of claim 13, further comprising, after displaying the second prompt information: Among the at least one second charging device whose real-time status is available, a second target charging device is assigned to the transport device.

15. The method according to any one of claims 1-14, wherein, Based on the feedback information from the first target charging device and / or the feedback information from the transport device, perform charging anomaly handling, including: Before the management system receives arrival information from the transport equipment, it receives a stop-and-wait message from the transport equipment; wherein the stop-and-wait message is used to indicate that the first target charging path is blocked or deadlocked. Determine the downtime of the transport equipment; If the waiting time exceeds the second preset time but does not exceed the third preset time, a re-planning charging path is planned for the transport equipment based on the current position coordinates of the transport equipment and the position coordinates of the first target charging equipment. Send the replanned charging path to the transport equipment.

16. The method according to claim 15, further comprising: If the waiting time exceeds the third preset time, a command to cancel the charging task is sent to the conveying equipment. In the case of at least one second charging device whose real-time status is available, a second target charging device is assigned to the transport device.

17. The method according to any one of claims 1-16, wherein, Based on the feedback information from the first target charging device and / or the feedback information from the transport device, perform charging anomaly handling, including: Before the management system receives arrival information from the transport equipment, it receives arrival anomaly information from the transport equipment; or, after the management system receives arrival information from the transport equipment, it receives arrival anomaly information from the first target charging device; wherein, the arrival anomaly information is used to indicate that the transport equipment or the first target charging device has deviated from its position. The third prompt message is displayed; wherein the third prompt message is used to indicate that the handling equipment needs to be manually moved or that the first target charging equipment needs to have its coordinates adjusted.

18. The method according to any one of claims 1-17, wherein, Based on the feedback information from the first target charging device and / or the feedback information from the transport device, perform charging anomaly handling, including: After receiving the arrival information sent by the transport equipment, the management system sends a charging start command to the first target charging device; After the management system receives the no-current information sent by the transport equipment and the no-current information sent by the first target charging equipment, it determines the no-current duration and no-current anomaly type of the transport equipment, as well as the no-current duration and no-current anomaly type of the first target charging equipment. Based on the duration and / or type of current-free anomaly of the conveying equipment, perform charging anomaly handling; and / or, Based on the duration of no current and / or the type of no current anomaly of the first target charging device, perform charging anomaly processing.

19. The method according to any one of claims 1-17, wherein, Based on the feedback information from the first target charging device and / or the feedback information from the transport device, perform charging anomaly handling, including: After the management system receives the arrival information sent by the transport equipment, it determines the duration and type of no current of the transport equipment, as well as the duration and type of no current anomaly of the first target charging device, based on the no current information sent by the transport equipment and the no current information sent by the first target charging device; wherein, the first target charging device is manually turned on for charging. Based on the duration and / or type of current-free anomaly of the conveying equipment, perform charging anomaly handling; and / or, Based on the duration of no current and / or the type of no current anomaly of the first target charging device, perform charging anomaly processing.

20. The method according to claim 18 or 19, wherein, The step of performing charging anomaly processing based on the current-free duration and / or current-free anomaly type of the conveying equipment includes at least one of the following: If the current-free period of the transport equipment is longer than the fourth preset period, and the current-free abnormality type of the transport equipment is a timeout in receiving the charging start command, the charging start command will be sent to the transport equipment repeatedly. If the current-free period of the transport equipment is longer than the fourth preset period, or if the current-free abnormality type of the transport equipment is a hardware failure, a command to cancel the charging task is sent to the transport equipment, and a fourth prompt message is displayed. The fourth prompt message is used to indicate that the hardware failure of the transport equipment requires manual handling. If the current-free period of the transport equipment exceeds a fifth preset period, the command to cancel the charging task is sent to the transport equipment.

21. The method according to claim 18 or 19, wherein, The step of performing charging anomaly processing based on the no-current duration and / or no-current anomaly type of the first target charging device includes at least one of the following: If the no-current duration of the first target charging device exceeds the sixth preset duration, the charging task cancellation instruction is sent to the transport device. If the current-free abnormality of the first target charging device is a hardware failure, a command to cancel the charging task is sent to the transport device, and a fifth prompt message is displayed. The fifth prompt message is used to indicate that the first target charging device is abnormal and requires manual handling. After sending the command to cancel the charging task, a second target charging device is assigned to the transport device from among the second charging devices whose real-time status is available.

22. The method according to claim 18 or 19, further comprising: If the number of times the first target charging device continuously sends no current information exceeds a preset number, a first mark is added to the first target charging device; wherein, the first mark is used to indicate that the first target charging device is abnormal; The fifth prompt message is displayed; wherein, the fifth prompt message is used to indicate that the first target charging device is malfunctioning and requires manual handling.

23. The method according to claim 22, further comprising: Send a charge end command to the first target charging device; If the end-of-charging command fails to be sent, the end-of-charging command is sent again to the first target charging device.

24. The method according to claim 23, further comprising: If the number of times the end-of-charging command is repeatedly issued exceeds a preset number, the current charging task is terminated, and the fifth prompt message is displayed; or, Upon receiving an abnormal recovery signal from the first target charging device, cancel or delete the first marker.

25. The method according to any one of claims 6, 9, 14, 16, and 20, wherein, After assigning the second target charging device to the transport equipment, the method further includes: Based on the location coordinates of the transport equipment and the location coordinates of the second target charging device, and the power level of the transport equipment, a second charging task is generated; wherein, the second charging task includes the identifier of the transport equipment, the identifier of the second target charging device, and the second target charging path; The second charging task is issued to the transport equipment and the second target charging equipment.

26. A charging anomaly handling device, comprising: The allocation module is configured to: when the transport equipment meets the charging conditions, allocate a first target charging device to the transport equipment based on the real-time status of at least one charging device; The determination module is configured to: acquire the real-time status of the first target charging device during the process of the transport device moving toward the first target charging device; The processing module is configured to perform charging anomaly processing based on the real-time status of the first target charging device, or based on the feedback information of the first target charging device and / or the feedback information of the transport device.

27. A warehousing system, comprising: Management system, at least one handling device and at least one charging device, The management system is used to perform the method as described in any one of claims 1 to 24; The at least one handling device and the at least one charging device are used to perform the charging task.

28. An electronic device comprising: Processor and memory, of which, The memory is used to store computer-executable instructions; The processor is configured to read the instructions from the memory and execute the instructions to implement the method as described in any one of claims 1 to 24.

29. A computer-readable storage medium, wherein, The storage medium stores computer program instructions, which, when read by a computer, execute the method as described in any one of claims 1 to 24.

30. A computer program product comprising a computer program, wherein, When the computer program is executed by a processor, it implements the method of any one of claims 1 to 25.

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