CN112433199A - Fault detection method and device of safety sensor - Google Patents
Fault detection method and device of safety sensor Download PDFInfo
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- CN112433199A CN112433199A CN201910790201.9A CN201910790201A CN112433199A CN 112433199 A CN112433199 A CN 112433199A CN 201910790201 A CN201910790201 A CN 201910790201A CN 112433199 A CN112433199 A CN 112433199A
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- 238000001514 detection method Methods 0.000 title claims abstract description 314
- 238000000034 method Methods 0.000 claims description 43
- 230000008569 process Effects 0.000 claims description 21
- 238000004590 computer program Methods 0.000 claims description 9
- 238000012423 maintenance Methods 0.000 claims description 9
- 230000004888 barrier function Effects 0.000 claims description 6
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- 230000005856 abnormality Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
Abstract
The invention provides a fault detection method and a fault detection device of a safety sensor, which are applied to a transportation device provided with the safety sensor, wherein the fault detection method of the safety sensor on the transportation device is implemented in a detection area where an obstacle and a detection point are deployed, and comprises the following steps: when the transportation device needs to execute the fault detection of the safety sensor, moving to the detection point in the detection area and keeping the front side of the safety sensor on the transportation device facing the obstacle; then sending a detection instruction carrying a preset detection type to a safety sensor on the transportation device so as to switch the safety sensor on the transportation device to a detection range corresponding to the preset detection type, detecting the obstacle based on the detection range and returning a detection result; and if a detection result indicating that the obstacle is detected is received, wherein the detection result is returned by the safety sensor on the transport device, determining that the safety sensor on the transport device is not in fault, and otherwise, determining that the safety sensor on the transport device is in fault.
Description
Technical Field
The invention relates to the technical field of communication, in particular to a fault detection method and device of a safety sensor.
Background
At present, Automatic Guided Vehicles (AGVs) are more and more widely applied in various fields, short-distance safety guarantee of a safety sensor in the running process of the AGVs plays a crucial role, and especially in a special scene of man-machine hybrid cooperation, once the safety sensor fails, safety accidents such as mutual collision, goods collision, people collision and the like of the AGVs can occur.
Safety sensor fixes on the AGV automobile body (generally in automobile body the place ahead), and through inside small-size motor constantly rotatory from taking, transmission laser or infrared ray detect whether have the barrier in the fan-shaped region in automobile body the place ahead, in time report to the police in order to avoid colliding when detecting the barrier.
In the prior art, an AGV generally uses a common safety sensor, and a laser or infrared emitting device inside the safety sensor is in a working state of continuous rotation for a long time, so that abnormality is easy to occur, and the service life is generally about 4 to 5 years. One drawback of conventional safety sensors is that they do not create an effective closed loop with the AGV body control system, so that the AGV cannot detect whether the safety sensor on its body has failed. When the AGV quantity of operation reaches hundreds of times in same work area, if certain AGV's safety sensor breaks down this moment, it is difficult to confirm that specifically is which AGV's sensor goes wrong fast, even can not in time know that the place has had the safety sensor and has broken down. Because the fault of the safety sensor does not affect the normal operation of the AGV, such as running, carrying and the like, the potential safety hazard is greatly brought to the field operation.
At present, no special detection method for detecting whether the safety sensor on the AGV fails exists in the market, and whether the safety sensor on the AGV is damaged or not is generally judged by adopting a manual detection mode before the AGV starts to work. However, if the number of AGVs is large, for example, hundreds of AGVs working at the same time, the detection efficiency is very low if the manual detection method is also relied on. In practice, more sophisticated security sensors that create an effective closed loop with the AGV's control system may also be installed on the AGV, however, the cost of more sophisticated security sensors is several or even more than ten times the cost of conventional security sensors, thus resulting in an overall AGV that is prohibitively expensive.
Disclosure of Invention
In view of the above, the present invention provides a method and an apparatus for detecting a failure of a safety sensor, which can improve the efficiency of detecting a failure of a safety sensor on a transport device (e.g., an AGV) without increasing the cost of the transport device.
In order to achieve the purpose, the invention provides the following technical scheme:
a fault detection method of a safety sensor is applied to a transportation device provided with the safety sensor, and the fault detection method of the safety sensor on the transportation device is implemented in a detection area where an obstacle and a detection point are deployed in advance, and specifically comprises the following steps:
the transportation device receives a dispatching instruction for detecting the fault of the safety sensor from the upper dispatching system, moves to the detection point in the detection area and keeps the front face of the safety sensor on the transportation device facing the obstacle;
the method comprises the steps that a transportation device sends a detection instruction carrying a preset detection type to a safety sensor on the transportation device, so that the safety sensor on the transportation device is switched to a detection range corresponding to the preset detection type, and barrier detection is carried out based on the detection range and a detection result is returned;
if the transportation device receives a detection result that the indication returned by the safety sensor on the transportation device detects the obstacle, determining that the safety sensor on the transportation device is not in fault, otherwise, determining that the safety sensor on the transportation device is in fault;
wherein a distance between the obstacle and the detection point satisfies the following condition: and after the transportation device moves to the detection point and keeps the front face of the safety sensor on the transportation device to face the obstacle, the obstacle is positioned in the detection range switched by the safety sensor on the transportation device.
A transportation device, on which a safety sensor is installed, which implements fault detection of the safety sensor on the transportation device in a detection area where an obstacle and a detection point are previously deployed, specifically comprising:
the moving unit is used for receiving a dispatching instruction for detecting the fault of the safety sensor from the upper dispatching system, moving the transport device to the detection point in the detection area and keeping the front face of the safety sensor on the transport device facing the obstacle;
the detection unit is used for sending a detection instruction to the safety sensor on the transportation device after the transportation device moves to the detection point so as to switch the safety sensor on the transportation device to a detection range corresponding to the preset detection category, detecting the obstacle based on the detection range and returning a detection result;
the determining unit is used for determining that the safety sensor on the transportation device is not in fault if a detection result indicating that the obstacle is detected is received and returned by the safety sensor on the transportation device, and otherwise, determining that the safety sensor on the transportation device is in fault;
wherein a distance between the obstacle and the detection point satisfies the following condition: and when the transport device moves to the detection point and keeps the safety sensor on the transport device to face the obstacle, the obstacle is positioned in the detection range switched by the safety sensor on the transport device.
An electronic device, comprising: the system comprises at least one processor and a memory connected with the at least one processor through a bus; the memory stores one or more computer programs executable by the at least one processor; the at least one processor, when executing the one or more computer programs, performs the method steps for fault detection of a safety sensor as described above.
A computer-readable storage medium storing one or more computer programs which, when executed by a processor, implement a fault detection method for a safety sensor as described above.
According to the technical scheme, the fault detection is carried out on the safety sensor at the head of the transportation device in the detection area where the obstacle and the detection point are deployed in advance, and in the specific implementation, the transportation device moves to the detection point and keeps the head of the transportation device facing the obstacle, and then the detection instruction is sent to the safety sensor at the head of the transportation device, so that the safety sensor carries out obstacle detection according to the safety area range indicated by the detection instruction. The distance between the obstacle and the detection point satisfies the following condition: when the vehicle is moved to the detection point and the head of the vehicle is held against an obstacle, which is located within the safety range of the safety sensor of the head of the vehicle, this condition is such that the safety sensor must normally be able to detect the obstacle, whereas it must be defective if the safety sensor does not detect the obstacle. Therefore, after the transportation device sends the detection instruction to the safety sensor, whether the safety sensor fails or not can be determined according to whether the detection result indicating that the obstacle is detected is returned by the safety sensor or not. Obviously, according to the technical scheme of the invention, the automatic detection can be carried out on the safety sensor without manual participation, so that the fault detection efficiency of the safety sensor on the transport device (such as an AGV) can be effectively improved, and the cost of the transport device is not increased because a higher-level safety sensor is not required to be used.
Drawings
FIG. 1 is a schematic diagram of a detection area deployment according to an embodiment of the present invention;
FIG. 2 is a schematic view of a parking position of a transporter at a detection area according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a fault detection process for a safety sensor of a transporter in accordance with an embodiment of the present invention;
FIG. 4 is a flow chart of a method for fault detection of a safety sensor in accordance with an embodiment of the present invention;
FIG. 5 is a schematic structural view of a transport unit according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention are described in detail below with reference to the accompanying drawings according to embodiments.
In the invention, a detection area is preset, the obstacle and the detection point are deployed in the detection area, and the fault detection of the safety sensor at the head of the transportation device is implemented in the detection area where the obstacle and the detection point are deployed in advance.
Referring to fig. 1, fig. 1 is a schematic deployment view of a detection area according to an embodiment of the present invention, as shown in fig. 1, the detection area includes an obstacle and a detection point, wherein the obstacle is an obstacle barrier, and the detection point is used for indicating a parking position of a transportation device during a fault detection process of a safety sensor. In addition, a two-dimensional code for detecting the safety sensor can be attached to the ground at the position of the detection point, and the two-dimensional code can be used for confirming the parking position of the transportation device in the fault detection process of the safety sensor and is described in detail later. In the detection zone shown in fig. 1, three distances S1, S2, and S3 are also shown, which are explained in detail below in connection with fig. 2.
Referring to fig. 2, fig. 2 is a schematic diagram of a parking position of a transportation device in a detection area according to an embodiment of the present invention, and fig. 2 is based on fig. 1, and when the transportation device drives into the detection area for fault detection of a safety sensor, the transportation device is parked above a detection point (which means that a perpendicular line perpendicular to a ground plane where the detection point is located can pass through the transportation device, for example, a central point of the bottom of the transportation device), and the front of the safety sensor on the transportation device faces an obstacle baffle. As can be seen from fig. 2, S1 represents the distance between the obstacle crossing and the safety sensor on the transportation device, S2 represents the distance between the obstacle crossing and the detection point, and S3 represents the distance between the safety sensor on the transportation device and the detection point where the transportation device stops, where S2 is S1+ S3.
In fig. 2, in order to enable the safety sensor on the transportation device to detect the front obstacle guard, it is necessary to make the obstacle guard be located in the detection range of the safety sensor on the transportation device, for example, in fig. 2, the detection range of the safety sensor on the transportation device is a sector area in front of the safety sensor on the transportation device, and the obstacle guard is located right at the edge of the sector area in front of the safety sensor on the transportation device and belongs to the detection range of the safety sensor on the transportation device. Therefore, the value of S1 should be the farthest detection distance within the detection range of the safety sensor on the transportation device, or a distance value smaller than the farthest detection distance. In addition, the value of S3 is limited by the transportation device itself.
In practical application, the safety sensor can support a plurality of detection categories according to different detection ranges, for example, the detection range of the category a is 10 centimeters, the detection range of the category B is 50 centimeters, the detection range of the category C is 100 centimeters, and the detection range settings of the different detection categories are written in the safety sensor in the form of configuration files. The conveyer can let the safety sensor who installs on the conveyer carry out the barrier and detect based on the detection range that different detection categories correspond based on actual demand. For example, when the safety sensor is required to detect an obstacle within 500 centimeters, the transportation device can send an IO signal carrying type B detection information to the safety sensor mounted on the transportation device, when the safety sensor on the transportation device receives the IO signal, the transportation device can detect the obstacle according to a detection range (50 centimeters) corresponding to type B detection according to a configuration file programmed in the safety sensor of the transportation device, and if the obstacle is detected within the range of 50 centimeters, a detection result indicating that the obstacle is detected can be fed back to the transportation device, so that the transportation device can avoid collision by changing a driving route and the like, and for the obstacle outside 50 centimeters, the safety sensor on the transportation device can detect the obstacle and can not feed back a detection result indicating that the obstacle is detected to the transportation device.
In the embodiment of the invention, a detection type supported by a safety sensor on the transportation device can be used as a preset detection type according to the safety requirement of a working area where the transportation device is located in advance, when the safety sensor on the transportation device needs to be subjected to fault detection, the transportation device sends a detection instruction (namely an IO signal) carrying the preset detection type to the safety sensor on the transportation device, so that the safety sensor on the transportation device is switched to a detection range corresponding to the preset detection type, obstacles in the detection range are detected, and the detection range of the safety sensor is always kept to be the detection range corresponding to the preset detection type from this moment before the safety sensor switches the detection range again.
As already mentioned, the detection point of the detection area can be covered with a two-dimensional code for detection by the safety sensor, which can be used to identify the parking position of the transport device during the fault detection of the safety sensor. In practical implementation, a scanning sub-device may be installed on the bottom of the transportation device, the transportation device may scan the ground through which the transportation device passes by using the scanning sub-device in the process of moving to the detection point of the detection area, once the two-dimensional code on the ground where the detection point is located is scanned, it may be determined that the transportation device has moved to the detection point, the movement may be stopped, and at this time, the scanning sub-device on the bottom of the transportation device faces the detection point below. It will be appreciated from this that the value of S3 in fig. 2 can also be expressed as the distance between the security sensor and the scanning sub-assembly on the transportation device (where the distance actually means the horizontal distance between the security sensor and the scanning sub-assembly in the direction of the obstacle after the transportation device is stopped at the detection point).
The following describes a fault detection process for a safety sensor of a transportation device according to an embodiment of the present invention with reference to fig. 3:
referring to fig. 3, fig. 3 is a schematic diagram of a fault detection process of a safety sensor of a transportation device according to an embodiment of the present invention, which specifically includes the following steps:
In practical implementations, the upper level dispatching system of the transport devices (e.g., AGVs) may set a period for detecting faults of the safety sensors of the transport devices in the working area, and periodically generate automatic detection tasks for the safety sensors of the transport devices, such as: setting 7 days as 1 period, and at the early morning zero point of each sunday, the upper-layer scheduling system starts to generate the automatic detection tasks of the safety sensors of the transportation devices in the working area one by one or in batches.
The automatic detection tasks of the safety sensors of each transport device generated by the upper-layer scheduling system are executed in the same process, and the fault detection process of the safety sensors of the transport devices is controlled by issuing scheduling instructions and detection starting instructions for fault detection of the safety sensors to the transport devices. The present embodiment is a description of a failure detection process of a safety sensor of a transportation apparatus.
And step 303, in the process that the transportation device moves to the detection point in the detection area, scanning the ground passing by the transportation device by using a scanning sub-device arranged at the bottom of the transportation device, and if the two-dimensional code at the detection point is scanned, determining that the transportation device has moved to the detection point in the detection area.
In practical implementation, this step may also be implemented by other methods, for example, a running track with a transportation device disposed in the detection area, and the end of the running track is used as the detection point, so that the transportation device can determine that the transportation device has moved to the detection point as long as the transportation device runs to the end of the running track.
305, the upper-layer dispatching system receives an arrival message of a detection point of the transportation device which moves to a detection area, and issues a detection starting instruction for detecting the fault of the safety sensor to the transportation device;
and 307, the sensor on the transportation device receives the detection instruction of the transportation device, determines a detection range corresponding to a preset detection type carried by the detection instruction, detects the obstacle in the detection range, returns a detection result indicating that the obstacle is detected to the transportation device if the obstacle is detected in the detection range, and otherwise, does not return the detection result.
The safety sensor on the transportation device can determine the detection range corresponding to the preset detection type carried by the detection instruction according to the corresponding relation between the detection type and the detection range recorded in the configuration file burnt in the safety sensor.
And 309, receiving the failure notice of the safety sensor fed back by the transport device by the upper-layer dispatching system, and issuing an instruction of moving to a working area to the transport device so that the transport device moves to the working area to wait for work dispatching.
And 310, receiving the safety sensor fault notification fed back by the transport device by the upper-layer dispatching system, and issuing an instruction of moving to the overhaul region to the transport device so that the transport device moves to the overhaul region to wait for overhaul.
As can be seen from the above-described failure detection process for the safety sensors of the transportation apparatus shown in fig. 3, the entire failure detection process is performed under the control of the upper-level dispatching system. In practical implementation, the transportation device may also control the whole fault detection process by itself, for example, the transportation device may start the fault detection process for the safety sensor on the transportation device at a specific time, specifically, when the specific time arrives, it is determined that the fault detection of the safety sensor needs to be performed, the transportation device automatically moves to the detection point in the detection area and keeps the safety sensor on the transportation device facing the obstacle in the detection area, and then sends a detection instruction to the safety sensor on the transportation device, so that the safety sensor on the transportation device performs the obstacle detection according to the safety area range indicated by the received detection instruction and returns the detection result, and the transportation device may determine whether the safety sensor on the transportation device is faulty according to whether the detection result indicating that the obstacle is detected is received.
The principle and process of detecting a fault of a safety sensor according to an embodiment of the present invention are described above, and based on the above principle and process description, the present invention provides a method of detecting a fault of a safety sensor and a transportation apparatus, and the following description is made with reference to fig. 4 and 5.
Referring to fig. 4, fig. 4 is a flowchart of a fault detection method for a safety sensor according to an embodiment of the present invention, which is applied to a transportation device equipped with the safety sensor, and the method implements fault detection for the safety sensor on the transportation device in a detection area where an obstacle and a detection point are deployed in advance, and specifically includes the following steps:
wherein a distance between the obstacle and the detection point satisfies the following condition: and after the transportation device moves to the detection point and keeps the front face of the safety sensor on the transportation device to face the obstacle, the obstacle is positioned in the detection range switched by the safety sensor on the transportation device.
In the method shown in figure 4 of the drawings,
the bottom of the transportation device is provided with a scanning sub-device;
a two-dimensional code for detecting the fault of the safety sensor is pasted on the ground where the detection point is located;
moving to the detection point in a detection area based on the scheduling instruction, comprising:
and controlling the transport device to move to the detection point according to the scheduling instruction, indicating the scanning sub-device to scan the ground below the transport device in the moving process of the transport device, and determining that the transport device has moved to the detection point when receiving the two-dimensional code information returned by the scanning sub-device after scanning the two-dimensional code.
In the method shown in figure 4 of the drawings,
when the transport device is determined to move to the detection point, the transport device further returns an arrival message which is moved to the detection point to an upper-layer dispatching system, so that the upper-layer dispatching system issues a detection instruction for detecting the fault of the safety sensor;
and when the transport device receives a detection starting instruction for detecting the fault of the safety sensor issued by the upper-layer dispatching system, the transport device sends a detection instruction carrying a preset detection category to the safety sensor on the transport device.
In the method shown in figure 4 of the drawings,
after the transporter determines that the safety sensor on the transporter is faulty, further comprising: feeding back a fault notice of the safety sensor to an upper-layer dispatching system, and moving to a maintenance area to wait for maintenance if receiving an instruction of dispatching the transportation device to the maintenance area from the upper-layer dispatching system;
after the transporter determines that the safety sensor on the transporter is not malfunctioning, further comprising: and feeding back a failure notice of the safety sensor to the upper-layer dispatching system, and if receiving an instruction of dispatching the transportation device to the working area from the upper-layer dispatching system, moving to the working area to wait for work dispatching.
In the method of FIG. 4, the transport is an AGV.
In the method shown in fig. 4, a distance S1 between the obstacle and the detection point is S2+ S3, where S2 is a farthest detection distance in a detection range corresponding to the preset detection category, and S3 is a distance between a security sensor on the transportation device and a scanning sub-device at the bottom of the transportation device.
Referring to fig. 5, fig. 5 is a schematic structural diagram of a transportation device according to an embodiment of the present invention, where a safety sensor is installed on the transportation device, and the transportation device performs fault detection on the safety sensor on the transportation device in a detection area where an obstacle and a detection point are pre-deployed, and specifically includes:
the moving unit 501 is configured to receive a scheduling instruction for detecting a fault of a safety sensor issued by an upper scheduling system, move the transportation device to the detection point in the detection area, and keep the front of the safety sensor on the transportation device facing the obstacle;
the detection unit 502 is configured to send a detection instruction to the safety sensor on the transportation device after the transportation device moves to the detection point, so that the safety sensor on the transportation device is switched to a detection range corresponding to the preset detection category, perform obstacle detection based on the detection range, and return a detection result;
a determining unit 503, configured to determine that the safety sensor on the transportation device is not faulty if a detection result indicating that the obstacle is detected is received, and otherwise, determine that the safety sensor on the transportation device is faulty;
wherein a distance between the obstacle and the detection point satisfies the following condition: and when the transport device moves to the detection point and keeps the safety sensor on the transport device to face the obstacle, the obstacle is positioned in the detection range switched by the safety sensor on the transport device.
In the device shown in figure 5 of the drawings,
the bottom of the transportation device is provided with a scanning sub-device;
a two-dimensional code for detecting the fault of the safety sensor is pasted on the ground where the detection point is located;
the moving unit 501, moving a transportation device to the detection point in a detection area based on the scheduling instruction, includes:
and controlling the transport device to move to the detection point according to the scheduling instruction, and indicating the scanning sub-device to scan the ground below the transport device in the moving process of the transport device, and when receiving two-dimensional code information returned by the scanning sub-device after scanning the two-dimensional code, determining that the transport device has moved to the detection point, and determining that the transport device has moved to the detection point.
In the device shown in figure 5 of the drawings,
the moving unit 501, when determining that the transportation device has moved to the detection point, further returns an arrival message that the transportation device has moved to the detection point to the upper dispatching system, so that the upper dispatching system issues a detection instruction for detecting a fault of the safety sensor;
the detection unit 502 sends a detection instruction carrying a preset detection category to the safety sensor on the transportation device when receiving a detection start instruction for detecting the fault of the safety sensor issued by the upper scheduling system.
In the device shown in figure 5 of the drawings,
the determining unit 503, after determining that the safety sensor on the transportation device is faulty, is further configured to: feeding back a fault notice of the safety sensor to an upper-layer dispatching system, and moving the transportation device to a maintenance area to wait for maintenance if receiving an instruction of dispatching the transportation device to the maintenance area from the upper-layer dispatching system;
the determining unit 503, after determining that the safety sensor on the transportation device is not faulty, is further configured to: and feeding back a failure notice of the safety sensor to the upper-layer dispatching system, and if receiving an instruction of dispatching the transportation device to the working area from the upper-layer dispatching system, moving the transportation device to the working area to wait for work dispatching.
In the arrangement shown in FIG. 5, the transport is an AGV.
In the device shown in fig. 5, a distance S2 between the obstacle and the detection point is S1+ S3, where S1 is a farthest detection distance in a detection range corresponding to the preset detection category, and S3 is a distance between a security sensor on the transportation device and a scanning sub-device at the bottom of the transportation device.
An embodiment of the present invention further provides an electronic device, as shown in fig. 6, the electronic device 600 includes: at least one processor 601, and a memory 602 connected to the at least one processor 601 through a bus; the memory 602 stores one or more computer programs executable by the at least one processor 601; the at least one processor 601, when executing the one or more computer programs, implements the steps in the method as shown in fig. 4.
Embodiments of the present invention also provide a computer-readable storage medium storing one or more computer programs which, when executed by a processor, implement the method shown in fig. 4.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A fault detection method of a safety sensor is applied to a transportation device provided with the safety sensor, and is characterized in that the fault detection of the safety sensor on the transportation device is implemented in a detection area where an obstacle and a detection point are deployed in advance, and specifically comprises the following steps:
the transportation device receives a dispatching instruction for detecting the fault of the safety sensor from the upper dispatching system, moves to the detection point in the detection area and keeps the front face of the safety sensor on the transportation device facing the obstacle;
the method comprises the steps that a transportation device sends a detection instruction carrying a preset detection type to a safety sensor on the transportation device, so that the safety sensor on the transportation device is switched to a detection range corresponding to the preset detection type, and barrier detection is carried out based on the detection range and a detection result is returned;
if the transportation device receives a detection result that the indication returned by the safety sensor on the transportation device detects the obstacle, determining that the safety sensor on the transportation device is not in fault, otherwise, determining that the safety sensor on the transportation device is in fault;
wherein a distance between the obstacle and the detection point satisfies the following condition: and after the transportation device moves to the detection point and keeps the front face of the safety sensor on the transportation device to face the obstacle, the obstacle is positioned in the detection range switched by the safety sensor on the transportation device.
2. The method of claim 1,
the bottom of the transportation device is provided with a scanning sub-device;
a two-dimensional code for detecting the fault of the safety sensor is pasted on the ground where the detection point is located;
moving to the detection point in a detection area based on the scheduling instruction, comprising:
and controlling the transport device to move to the detection point according to the scheduling instruction, indicating the scanning sub-device to scan the ground below the transport device in the moving process of the transport device, and determining that the transport device has moved to the detection point when receiving the two-dimensional code information returned by the scanning sub-device after scanning the two-dimensional code.
3. The method of claim 2,
when the transport device is determined to move to the detection point, the transport device further returns an arrival message which is moved to the detection point to an upper-layer dispatching system, so that the upper-layer dispatching system issues a detection instruction for detecting the fault of the safety sensor;
and when the transport device receives a detection starting instruction for detecting the fault of the safety sensor issued by the upper-layer dispatching system, the transport device sends a detection instruction carrying a preset detection category to the safety sensor on the transport device.
4. The method of claim 3,
after the transporter determines that the safety sensor on the transporter is faulty, further comprising: feeding back a fault notice of the safety sensor to an upper-layer dispatching system, and moving to a maintenance area to wait for maintenance if receiving an instruction of dispatching the transportation device to the maintenance area from the upper-layer dispatching system;
after the transporter determines that the safety sensor on the transporter is not malfunctioning, further comprising: and feeding back a failure notice of the safety sensor to the upper-layer dispatching system, and if receiving an instruction of dispatching the transportation device to the working area from the upper-layer dispatching system, moving to the working area to wait for work dispatching.
5. The method according to any one of claims 1 to 4,
the transport device is an AGV.
6. The method according to any one of claims 2 to 4,
the distance between the obstacle and the detection point is S1 which is S2+ S3, wherein S2 is the farthest detection distance in the detection range corresponding to the preset detection category, and S3 is the distance between a safety sensor on the transportation device and a scanning sub-device at the bottom of the transportation device.
7. A transportation device, characterized in that a safety sensor is installed on the transportation device, and the transportation device implements fault detection of the safety sensor on the transportation device in a detection area where an obstacle and a detection point are previously deployed, and specifically comprises:
the moving unit is used for receiving a dispatching instruction for detecting the fault of the safety sensor from the upper dispatching system, moving the transport device to the detection point in the detection area and keeping the front face of the safety sensor on the transport device facing the obstacle;
the detection unit is used for sending a detection instruction to the safety sensor on the transportation device after the transportation device moves to the detection point so as to switch the safety sensor on the transportation device to a detection range corresponding to the preset detection category, detecting the obstacle based on the detection range and returning a detection result;
the determining unit is used for determining that the safety sensor on the transportation device is not in fault if a detection result indicating that the obstacle is detected is received and returned by the safety sensor on the transportation device, and otherwise, determining that the safety sensor on the transportation device is in fault;
wherein a distance between the obstacle and the detection point satisfies the following condition: and when the transport device moves to the detection point and keeps the safety sensor on the transport device to face the obstacle, the obstacle is positioned in the detection range switched by the safety sensor on the transport device.
8. The transportation apparatus of claim 7,
the bottom of the transportation device is provided with a scanning sub-device;
a two-dimensional code for detecting the fault of the safety sensor is pasted on the ground where the detection point is located;
the mobile unit moving a transporter to the inspection point in an inspection area based on the scheduling instruction, comprising:
and controlling the transport device to move to the detection point according to the scheduling instruction, and indicating the scanning sub-device to scan the ground below the transport device in the moving process of the transport device, and when receiving two-dimensional code information returned by the scanning sub-device after scanning the two-dimensional code, determining that the transport device has moved to the detection point, and determining that the transport device has moved to the detection point.
9. An electronic device, comprising: the system comprises at least one processor and a memory connected with the at least one processor through a bus; the memory stores one or more computer programs executable by the at least one processor; characterized in that the at least one processor, when executing the one or more computer programs, implements the method steps of any of claims 1-6.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores one or more computer programs which, when executed by a processor, implement the method of any one of claims 1-6.
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