CN113651007A - Logistics robot maintenance method and device and logistics robot system - Google Patents
Logistics robot maintenance method and device and logistics robot system Download PDFInfo
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- CN113651007A CN113651007A CN202110943807.9A CN202110943807A CN113651007A CN 113651007 A CN113651007 A CN 113651007A CN 202110943807 A CN202110943807 A CN 202110943807A CN 113651007 A CN113651007 A CN 113651007A
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- logistics robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
Abstract
The application discloses a logistics robot maintenance method and device and a logistics robot system, and relates to the technical field of robot control. One embodiment of the method comprises: in response to the fact that the logistics robot is detected to move to a first preset position, the logistics robot is controlled to check the obstacle avoidance sensor based on a preset calibration plate, and a first checking result is obtained; and executing preset maintenance operation based on the first verification result. The embodiment is beneficial to realizing automatic verification and maintenance of the logistics robot.
Description
Technical Field
The application relates to the technical field of computers, in particular to the technical field of robot control, and particularly relates to a logistics robot maintenance method and device and a logistics robot system.
Background
The logistics robot is a robot applied to operations such as cargo transfer and handling in storage, sorting centers, cargo transportation and other scenes, and is gradually considered as an important intelligent infrastructure in an automation process of logistics and supply chain related enterprises.
The logistics robot comprises a mechanical system, an electric control system, a dispatching system and the like; the electric control system mainly comprises the functions of servo control, navigation, state monitoring, wireless communication, automatic charging and acousto-optic display lamps. A navigation positioning sensor of the logistics robot acquires a ground identification code by depending on equipment such as a camera and a gyroscope, and obtains pose information of an AGV (automatic Guided Vehicle) in real time through technologies such as characteristic data extraction, sensor fusion and positioning operation. As the eyes of an AGV control system, a navigation sensor needs to have the characteristics of high precision, high speed and high reliability so as to ensure the normal operation of the AGV. In the high-speed running process of the AGV based on the ground identification code navigation mode, the navigation and positioning of the AGV are realized by identifying the identification code coordinate information posted on the ground.
The logistics robot is generally provided with a shelf sensor, and the number of the shelf, the angle deviation of the shelf and the unique deviation are identified through the sensor, so that the goods can be accurately butted during carrying, and barrier-free carrying is realized.
In order to realize safe walking and avoidance in a field, a safe obstacle avoidance sensor is arranged in the direction of the head of the logistics robot, and the distance between an obstacle and the obstacle in front of the head is accurately detected through laser emitted by the sensor, so that a trolley can be conveniently and accurately parked in front of the obstacle, or when the obstacle walks, the logistics robot can accurately follow and advance.
In addition, because of having large batch commodity circulation robot in the place, the robot all deploys and has unlimited switching on and shutting down function usually, can carry out remote switching on and shutting down to all dollies simultaneously, reduces field personnel's operation.
The application of the above functions in a scene requires periodic inspection or maintenance. In the prior art, shelf code sensors, landmark code sensors, safety obstacle avoidance devices, wireless on-off devices and the like are rarely checked, generally, after abnormity or problems occur, manual troubleshooting and testing are performed, devices with problems are replaced and maintained, and the operation experience is influenced due to the fact that the discovered problems have hysteresis. And once it occurs, the requirements for quick resolution and positioning of the problem are high.
Disclosure of Invention
The embodiment of the application provides a logistics robot maintenance method, a logistics robot maintenance device, a logistics robot maintenance system, logistics robot maintenance equipment and a storage medium.
According to a first aspect, an embodiment of the present application provides a logistics robot maintenance method, including: in response to the fact that the logistics robot is detected to move to a first preset position, the logistics robot is controlled to check the obstacle avoidance sensor based on a preset calibration plate, and a first checking result is obtained; and executing preset maintenance operation based on the first verification result.
According to a second aspect, the present application provides a logistics robot maintenance device, which includes a maintenance bin; the maintenance bin is provided with a space for accommodating the logistics robot, and the space can be used for the logistics robot to rotate; a driving-in entrance is formed in one side of the maintenance cabin, the logistics robot drives in the maintenance cabin, and a calibration plate is arranged on the side opposite to the driving-in entrance and used for reflecting signals sent by an obstacle avoidance sensor of the logistics robot; a calibration landmark code is arranged below the maintenance bin and used for scanning and positioning a landmark code sensor of the logistics robot; a calibrated goods shelf code is arranged above the maintenance bin and is used for scanning and positioning a goods shelf code sensor of the logistics robot; the maintenance system further comprises an air source which is communicated with the maintenance bin and used for supplying air to the maintenance bin to purge the logistics robot.
According to a third aspect, an embodiment of the present application provides a logistics robot system, including: a logistics robot and a logistics robot maintenance device as in any embodiment of the second aspect.
According to a fourth aspect, embodiments of the present application provide an electronic device comprising one or more processors; a storage device having one or more programs stored thereon, which when executed by the one or more processors, cause the one or more processors to implement the logistics robot maintenance method of any embodiment of the first aspect.
According to a fifth aspect, embodiments of the present application provide a computer-readable medium, on which a computer program is stored, where the program, when executed by a processor, implements the logistics robot maintenance method according to any one of the embodiments of the first aspect.
The method comprises the steps that in response to detection that the logistics robot moves to a first preset position, the logistics robot is controlled to check the obstacle avoidance sensor based on a preset calibration plate, and a first check result is obtained; based on first check-up result, carry out predetermined maintenance operation, avoided among the prior art after taking place unusually or the problem, the manual work is checked and tested, changes and maintains the device that has the problem, and the hysteresis nature problem that produces helps realizing automatic check-up and maintenance to logistics robot.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.
Drawings
FIG. 1 is an exemplary system architecture diagram in which the present application may be applied;
FIG. 2 is a flow diagram of one embodiment of a logistics robot maintenance method according to the present application;
FIG. 3 is a schematic diagram of an application scenario of a logistics robot maintenance method according to the application;
FIG. 4 is a flow diagram of another embodiment of a logistics robot maintenance method in accordance with the present application;
FIG. 5 is a schematic view of one embodiment of a logistics robot maintenance device according to the present application;
FIG. 6 is a schematic diagram of one embodiment of a logistics robot system in accordance with the present application;
FIG. 7 is a block diagram of a computer system suitable for use in implementing a server according to embodiments of the present application.
Detailed Description
The following description of the exemplary embodiments of the present application, taken in conjunction with the accompanying drawings, includes various details of the embodiments of the application for the understanding of the same, which are to be considered exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present application. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
Fig. 1 illustrates an exemplary system architecture 100 to which embodiments of the logistics robot maintenance method of the present application may be applied.
As shown in fig. 1, the system architecture 100 may include a control device 101 of the logistics robot, obstacle avoidance sensors 104 and 105 installed on the logistics robots 102 and 103, and a network 106. The network 106 is used to provide a medium of communication link between the control device 101 and the logistics robots 102, 103. Network 106 may include various connection types, such as wired, wireless communication links, or fiber optic cables, among others.
The control device 101 controls the logistics robot to check the obstacle avoidance sensor based on a preset calibration plate in response to the fact that the logistics robot is detected to move to a first preset position, and a first check result is obtained; and executing preset maintenance operation based on the first verification result.
The control device 101 may be a terminal device or a server for controlling the logistics robot.
If the control device 101 is a server, the server may be hardware or software. When the server is hardware, it may be implemented as a distributed server cluster formed by multiple servers, or may be implemented as a single server. When the server is software, it may be implemented as multiple pieces of software or software modules (e.g., to provide distributed services), or as a single piece of software or software module. And is not particularly limited herein.
If the control device 101 is a terminal device, the terminal device may be separately provided, or may be provided on a device for verifying the logistics robot.
The logistics robots 102, 103 can interact with the control apparatus 101 through the network 106 to receive or transmit information or the like. The logistics robots 102, 103 may be mechanical electronic devices with computing and execution capabilities, or may be a combination of terminal devices and mechanical mechanisms with control capabilities. For example, the logistics robot may include, but is not limited to, an Automated Guided Vehicle (AGV) or the like.
It should be noted that the logistics robot maintenance method provided in the embodiment of the present application is generally executed by the control device 101.
It should be understood that the number of the control device, the network and the logistics robot, and the obstacle avoidance sensors installed on the logistics robot in fig. 1 are merely illustrative. There may be any number of control devices, networks, and execution devices, as desired for an implementation.
Fig. 2 shows a schematic flow diagram 200 of a logistics robot maintenance method that can be applied to the present application. In this embodiment, the logistics robot is provided with an obstacle avoidance sensor, and the logistics robot maintenance method includes the following steps:
In this embodiment, the execution main body (for example, the control device 101 shown in fig. 1) may acquire the position information of the logistics robot in real time, or may also acquire the position information of the logistics robot periodically, and after it is detected that the logistics robot moves to the first preset position, an instruction to start the obstacle avoidance sensor may be sent to the logistics robot, so that the logistics robot starts the obstacle avoidance sensor and verifies the obstacle avoidance sensor based on the preset calibration board, so as to obtain a first verification result.
The obstacle avoidance sensor may be a sensor for detecting an obstacle in the prior art or in the future development technology, for example, a laser sensor, an infrared sensor, an ultrasonic sensor, and the like, which is not limited in this application. Obstacle avoidance sensors are usually arranged around the logistics robot.
Here, the first preset position may be set according to experience, actual requirements, and a specific application scenario, for example, a periphery of a running field of the logistics robot, a preset distance from a preset calibration board, and the like.
The preset calibration plate can be fixed at the first position and used for reflecting beams, such as light waves and sound waves, sent by the obstacle avoidance sensor.
Specifically, the execution main body detects that the logistics robot moves to a first preset position, for example, a position 2 meters away from a preset calibration plate, and sends an instruction for starting an obstacle avoidance sensor, for example, an infrared obstacle avoidance sensor, to the logistics robot. After receiving an instruction of opening the obstacle avoidance sensor, the logistics robot continues to move and controls the obstacle avoidance sensor to continuously transmit infrared light beams to a preset calibration plate, then the displacement of the logistics robot is determined according to the infrared light beams reflected by the calibration plate, the displacement and other devices, such as an encoder, for determining the displacement are used for determining the displacement, of the logistics robot except the obstacle avoidance sensor, the determined displacement is compared, if the deviation of the two is within a preset first range, it can be determined that a first verification result is passed through for verification, and otherwise, the first verification result is not passed through for verification.
In this embodiment, the execution subject may determine the first verification result after acquiring the first verification result, and if the first verification result is that verification passes, the execution subject may continue to perform verification maintenance on other functions of the logistics robot; if the first verification result is that the verification fails, the execution main body can output an instruction for off-line maintenance of the logistics robot.
In some optional manners, based on the first verification result, performing a preset maintenance operation, including: and in response to the fact that the first verification result is that the verification is passed and the logistics robot stops at the second preset position, controlling the logistics robot to verify the landmark code sensor based on the preset calibration landmark code to obtain a third verification result, and executing preset maintenance operation based on the third verification result.
In this implementation manner, the execution main body may determine the first verification result after obtaining the first verification result, and if the first verification result is that the verification is passed and it is determined that the logistics robot stops at the second preset position, may send an instruction to start the landmark code sensor to the logistics robot, so that the logistics robot starts the landmark code sensor and verifies the landmark code sensor based on the preset calibrated landmark code, thereby obtaining a third verification result.
Among them, the landmark code sensor is used to identify coordinate information of an identification code, i.e., a landmark code, posted on the ground. The landmark code sensor is usually installed at the center of the bottom of the logistics robot.
A predetermined calibration landmark can be fixed at a second location where the actual landmark deviates from the calibration landmark by a predetermined deviation range (Δ x, Δ y, Δ δ).
The logistics robot stops at the second preset position, and the position of the calibrated landmark code is known, so that the first calibrated relative position of the logistics robot and the calibrated landmark code is known, the logistics robot can compare the relative position of the calibrated landmark code determined by the landmark code sensor and the logistics robot with the calibrated relative position, and if the difference value of the two is within the preset second range, the third verification result can be determined to be that the verification is passed, otherwise, the third verification result is that the verification is not passed.
Further, if the third verification result is that the verification is passed, the executive body can continue to perform verification maintenance on other functions (such as power on/off, shelf code sensors and the like) of the logistics robot.
According to the implementation mode, the logistics robot is controlled to check the landmark code sensor based on the preset calibration landmark code in response to the fact that the first check result is determined to be the check pass, the logistics robot stops at the second preset position, the third check result is obtained, the preset maintenance operation is executed based on the third check result, and the verification maintenance of the landmark code sensor of the logistics robot is facilitated.
In some optional manners, based on the third verification result, a preset maintenance operation is performed, including: in response to the fact that the third verification result is determined to be that the verification is not passed, the logistics robot is controlled to rotate by a first preset number of different angles, and first relative positions of the logistics robot and the calibrated landmark codes under different angles are obtained; and compensating the landmark code sensor of the logistics robot based on the first relative position.
In this implementation manner, if the third verification result is that the verification fails, the logistics robot may be controlled to rotate a first preset number of different angles (e.g., 90 degrees, 180 degrees, 270 degrees, etc.) and calculate an average value of deviation values of the first relative position and the first calibrated relative position of each different angle, so as to compensate the landmark code sensor.
In some optional manners, based on the first verification result, performing a preset maintenance operation, including: and in response to the fact that the first verification result is that the verification is passed and the logistics robot stops at a third preset position, controlling the logistics robot to verify the goods shelf code sensor based on a preset calibrated goods shelf code to obtain a fourth verification result, and executing preset maintenance operation based on the fourth verification result.
In this implementation manner, the execution main body can judge the first verification result after obtaining the first verification result, and if the first verification result is that the verification is passed and it is determined that the logistics robot stops at the third preset position, an instruction for starting the shelf code sensor can be sent to the logistics robot, so that the logistics robot starts the shelf code sensor and verifies the shelf code sensor based on the preset calibrated shelf code, and a fourth verification result is obtained.
Wherein, the shelf code sensor is used for identifying the identification code of the shelf, namely the shelf code (the shelf code is usually pasted at the center of the shelf). The shelf code sensor is generally installed at a central position of the top of the logistics robot.
The predetermined calibrated shelf code may be fixed at a third location, typically below the center-most top plate of the calibrated shelf, with a deviation of the shelf code (Δ x1, Δ y1, Δ δ 1) within a predetermined deviation range.
The logistics robot stops at the third preset position, and the position of the calibrated shelf code is known, so that the second calibrated relative position of the logistics robot and the calibrated shelf code is known, the logistics robot can compare the relative position of the calibrated shelf code determined by the shelf code sensor and the logistics robot with the second calibrated relative position, if the difference value of the two is within the preset third range, the fourth verification result can be determined to be that the verification is passed, and otherwise, the fourth verification result is that the verification is not passed.
Further, if the fourth verification result is that the verification is passed, the execution main body can continue to perform verification maintenance on other functions of the logistics robot.
This implementation mode passes through for the check-up in response to confirming first check-up result to the logistics robot stops at the third preset position, and control logistics robot carries out the check-up to goods shelves sign indicating number sensor based on predetermined demarcation goods shelves sign indicating number, obtains the fourth check-up result, based on the fourth check-up result, carries out predetermined maintenance operation, helps realizing the check-up maintenance to logistics robot's goods shelves sign indicating number sensor.
In some optional manners, based on the fourth verification result, performing a preset maintenance operation, including: in response to the fourth verification result is determined to be that the verification is not passed, the logistics robot is controlled to rotate by a second preset number of different angles, and second relative positions of the logistics robot and the calibrated shelf codes under different angles are obtained; and compensating the shelf code sensor of the logistics robot based on the second relative position.
In this implementation, if the fourth verification result is that the verification fails, the logistics robot may be controlled to rotate by a second predetermined number of different angles (e.g., 90 degrees, 180 degrees, 270 degrees, etc.), and a mean value of deviation values of a second relative position and a second calibrated relative position of each different angle is calculated to compensate for the shelf code sensor.
In some optional manners, based on the first verification result, performing a preset maintenance operation, including: and controlling the air source to purge the logistics robot in response to determining that the first verification result is that the verification is passed and the logistics robot stops at the fourth preset position.
In this implementation manner, the execution main body can judge the first verification result after acquiring the first verification result, and if the first verification result is that the verification is passed and the logistics robot stops at the fourth preset position, the execution main body can trigger the gas source to be opened and purge the logistics robot, and the purge manner may include multiple types, for example, upper and lower purge, left and right purge, and the like.
This implementation mode is through confirming that first check-up result is the check-up and passing through to the logistics robot stops in fourth preset position, and control gas source sweeps the logistics robot, has realized the maintenance of sweeping the logistics robot.
In some optional modes, controlling the gas source to purge the logistics robot comprises controlling the gas source to purge the logistics robot up and down.
In some optional ways, the method further comprises: and controlling the logistics robot to rotate by different angles in the purging process.
In this implementation, the execution main body can control the gas source to purge the logistics robot, and during the purging process, the logistics robot can also be controlled to rotate, for example, rotate 180 degrees, 90 degrees, and the like, so as to purge different sides of the logistics robot.
In some optional ways, the method further comprises: controlling the logistics robot to lift the top tray during the purging process; in response to determining that the purge is complete, the logistics robot is controlled to lower and stow the tray.
In the implementation mode, further, the logistics robot can be controlled to lift the top tray to purge the interior of the logistics robot, and after purging is completed, the logistics robot is controlled to lower and stow the tray.
It should be noted that, in the present application, the first preset position, the second preset position, the third preset position, and the fourth preset position may be the same or different, and the present application does not limit this.
In addition, the preset calibration plate, the calibration location code, the calibration goods shelf code and the air source can be installed on the same calibration tool.
With continuing reference to fig. 3, fig. 3 is a schematic diagram of an application scenario of the logistics robot maintenance method according to the present embodiment.
In the application scenario of fig. 3, the execution subject 301 detects that the logistics robot 302 moves to the first preset position 303, for example, three meters away from the preset calibration board 304, and sends an instruction to turn on the obstacle avoidance sensor 305, for example, an infrared obstacle avoidance sensor, to the logistics robot 302. After receiving the instruction of opening the obstacle avoidance sensor 305, the logistics robot 302 continues to move and controls the obstacle avoidance sensor 305 to continuously emit infrared light beams to the preset calibration board 304, and then determines the displacement of the logistics robot 302 according to the infrared light beams reflected by the calibration board 304, compares the displacement with the displacement (the real displacement of the logistics robot 302) determined by other devices for determining the displacement, except the obstacle avoidance sensor, of the logistics robot 302, and if the deviation between the two is within a preset first range, it is determined that the first verification result is passed, otherwise, the first verification result is failed, and then, according to the first verification result, the preset maintenance operation is executed.
The logistics robot maintenance method disclosed by the invention has the advantages that in response to the fact that the logistics robot is detected to move to a first preset position, the logistics robot is controlled to check the obstacle avoidance sensor based on a preset calibration plate, and a first check result is obtained; based on the first checking result, executing the preset maintenance operation, and facilitating the realization of automatic checking and maintenance of the logistics robot.
With further reference to fig. 4, a flow 400 of yet another embodiment of a logistics robot maintenance method is shown. In this embodiment, the process 400 of the logistics robot maintenance method of this embodiment may include the following steps:
In this embodiment, details of implementation and technical effects of step 401 may refer to the description of step 201, and are not described herein again.
And 402, in response to the first verification result is determined to be a verification pass, sending a wireless startup and shutdown instruction to the logistics robot to verify the startup and shutdown functions of the logistics robot, and obtaining a second verification result.
In this embodiment, the execution main body may determine the first verification result after obtaining the first verification result, and if the first verification result is that the verification is passed, the execution main body may directly send a wireless power-on or power-off instruction to the logistics robot or send the power-on or power-off instruction via the power-on and power-off command sending device to verify the power-on function or the power-off function of the logistics robot, so as to obtain a second verification result.
Specifically, in a normal situation, the logistics robot continuously sends a message to report the position when the logistics robot is turned on, and stops sending the message when the logistics robot is turned off. And if the executing main body does not receive the message sent by the logistics robot within the first preset time period after sending the shutdown instruction to the logistics robot, the shutdown function of the logistics robot is considered to be successfully verified. And if the executing main body receives the message sent by the logistics robot within the second preset time period after sending the starting instruction to the logistics robot, the starting function of the logistics robot is considered to be successfully verified.
Here, the executing main body may obtain the second check result according to the check result of the power on/off function of the logistics robot, where if both the power on function and the power off function of the logistics robot are checked to pass, it may be determined that the second check result is checked to pass; and if any one of the starting function and the shutdown function of the logistics robot is not verified to pass or both the starting function and the shutdown function of the logistics robot are not verified to pass, determining that the second verification result is verification failure.
And step 403, executing a preset maintenance operation based on the second check result.
In this embodiment, after obtaining the second check result, the execution main body may determine the second check result, and if the second check result is that the check is passed, the execution main body may continue to perform the checking and maintenance on other functions of the logistics robot; and if the second check result is that the check is not passed, the execution main body can output an instruction for off-line maintenance of the logistics robot.
Compared with the embodiment corresponding to fig. 2, in the embodiment of the present application, the process 400 of the maintenance method for the logistics robot in the present embodiment embodies that in response to determining that the first verification result is a verification pass, a wireless power on/off instruction is sent to the logistics robot to verify the power on/off function of the logistics robot, so as to obtain a second verification result; and executing preset maintenance operation based on the second check result, and being beneficial to realizing the check maintenance of the wireless on-off function of the logistics robot.
With further reference to fig. 5, the present application provides one embodiment of a logistics robot maintenance device.
In this embodiment, the device further comprises a maintenance bin, wherein the maintenance bin is provided with a space for accommodating the logistics robot, and the space can be used for the logistics robot to rotate; a driving-in entrance is formed in one side of the maintenance cabin, the logistics robot drives in the maintenance cabin, and a calibration plate is arranged on the side opposite to the driving-in entrance and used for reflecting signals sent by an obstacle avoidance sensor of the logistics robot; a calibration landmark code is arranged below the maintenance bin and used for scanning and positioning a landmark code sensor of the logistics robot; a calibrated goods shelf code is arranged above the maintenance bin and is used for scanning and positioning a goods shelf code sensor of the logistics robot; the maintenance system further comprises an air source which is communicated with the maintenance bin and used for supplying air to the maintenance bin to purge the logistics robot.
Specifically, as shown in fig. 5, the curing barn 501 (curing barn top view 5011 and curing barn side view 5012) is provided with a calibration plate 502, calibration ground marks 503 and calibration shelf marks 504, and is communicated with an air source 505.
The logistics robot 506 can enter the maintenance bin 501 for maintenance.
With further reference to fig. 6, the present application provides one embodiment of a logistics robot system.
In this embodiment, the system includes a logistics robot 601, and a logistics robot maintenance device 602 as described in the above embodiments.
The logistics robot 601 can be used to perform at least one of: the obstacle avoidance sensor is verified based on a preset calibration plate, and a first verification result is obtained; receiving a power-on and power-off instruction and responding to the power-on and power-off instruction to obtain a second check result; verifying the landmark code sensor based on a preset calibration landmark code to obtain a third verification result; and checking the goods shelf code sensor based on the preset calibrated goods shelf code to obtain a fourth checking result.
It should be understood that the number of the logistics robot 601 and the logistics robot maintenance device 602 in fig. 6 is only illustrative. Any number of logistics robots and logistics robot maintenance devices can be provided according to implementation needs.
According to an embodiment of the present application, an electronic device and a readable storage medium are also provided.
Fig. 7 is a block diagram of an electronic device of a logistics robot maintenance method according to an embodiment of the present application.
700 is a block diagram of an electronic device of a logistics robot maintenance method according to an embodiment of the application. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present application that are described and/or claimed herein.
As shown in fig. 7, the electronic apparatus includes: one or more processors 701, a memory 702, and interfaces for connecting the various components, including a high-speed interface and a low-speed interface. The various components are interconnected using different buses and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions for execution within the electronic device, including instructions stored in or on the memory to display graphical information of a GUI on an external input/output apparatus (such as a display device coupled to the interface). In other embodiments, multiple processors and/or multiple buses may be used, along with multiple memories and multiple memories, as desired. Also, multiple electronic devices may be connected, with each device providing portions of the necessary operations (e.g., as a server array, a group of blade servers, or a multi-processor system). In fig. 7, one processor 701 is taken as an example.
The memory 702 is a non-transitory computer readable storage medium as provided herein. Wherein the memory stores instructions executable by at least one processor to cause the at least one processor to perform the logistics robot maintenance method provided by the present application. The non-transitory computer-readable storage medium of the present application stores computer instructions for causing a computer to perform the logistics robot maintenance method provided by the present application.
The memory 702 is a non-transitory computer readable storage medium, and can be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules corresponding to the logistics robot maintenance method in the embodiments of the present application. The processor 701 executes various functional applications of the server and data processing by running non-transitory software programs, instructions and modules stored in the memory 702, so as to implement the logistics robot maintenance method in the above method embodiment.
The memory 702 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created based on use of the electronic device for maintenance of the logistics robot, and the like. Further, the memory 702 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 702 may optionally include memory remotely located from the processor 701, which may be connected to logistics robot based maintenance electronics over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The electronic device of the logistics robot maintenance method may further include: an input device 703 and an output device 704. The processor 701, the memory 702, the input device 703 and the output device 704 may be connected by a bus or other means, and fig. 7 illustrates an example of a connection by a bus.
The input device 703 may receive input numeric or character information, such as a touch screen, keypad, mouse, track pad, touch pad, pointer, one or more mouse buttons, track ball, joystick, or other input device. The output devices 704 may include a display device, auxiliary lighting devices (e.g., LEDs), and tactile feedback devices (e.g., vibrating motors), among others. The display device may include, but is not limited to, a Liquid Crystal Display (LCD), a Light Emitting Diode (LED) display, and a plasma display. In some implementations, the display device can be a touch screen.
Various implementations of the systems and techniques described here can be realized in digital electronic circuitry, integrated circuitry, application specific ASICs (application specific integrated circuits), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
These computer programs (also known as programs, software applications, or code) include machine instructions for a programmable processor, and may be implemented using high-level procedural and/or object-oriented programming languages, and/or assembly/machine languages. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and/or device (e.g., magnetic discs, optical disks, memory, Programmable Logic Devices (PLDs)) used to provide machine instructions and/or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal used to provide machine instructions and/or data to a programmable processor.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.
The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other.
According to the technical scheme of the embodiment of the application, the automatic verification maintenance of the logistics robot is facilitated.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present application may be executed in parallel, sequentially, or in different orders, and the present invention is not limited thereto as long as the desired results of the technical solutions disclosed in the present application can be achieved.
The above-described embodiments should not be construed as limiting the scope of the present application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (14)
1. A logistics robot maintenance method is provided, wherein an obstacle avoidance sensor is mounted on a logistics robot, and the method comprises the following steps:
in response to the fact that the logistics robot is detected to move to a first preset position, the logistics robot is controlled to check the obstacle avoidance sensor based on a preset calibration plate, and a first checking result is obtained;
and executing preset maintenance operation based on the first verification result.
2. The method of claim 1, wherein the performing a preset curing operation based on the first verification result comprises:
in response to the fact that the first verification result is verified, sending a wireless startup and shutdown instruction to the logistics robot to verify the startup and shutdown function of the logistics robot to obtain a second verification result;
and executing preset maintenance operation based on the second check result.
3. The method of claim 1, wherein a landmark code sensor is installed on the logistics robot, and the performing of the preset maintenance operation based on the first verification result comprises:
in response to the fact that the first verification result is that verification is passed and the logistics robot stops at a second preset position, controlling the logistics robot to verify the landmark code sensor based on a preset calibration landmark code to obtain a third verification result;
and executing preset maintenance operation based on the third verification result.
4. The method of claim 3, wherein the performing a preset curing operation based on the third verification result comprises:
in response to the fact that the third verification result is determined to be that the verification is not passed, the logistics robot is controlled to rotate by a first preset number of different angles, and first relative positions of the logistics robot and the calibrated landmark codes under different angles are obtained;
and compensating a landmark code sensor of the logistics robot based on the first relative position.
5. The method of claim 1, wherein a shelf code sensor is installed on the logistics robot, and the performing of the preset maintenance operation based on the first verification result comprises:
in response to the fact that the first verification result is that verification is passed and the logistics robot stops at a third preset position, controlling the logistics robot to verify the goods shelf code sensor based on a preset calibrated goods shelf code to obtain a fourth verification result;
and executing preset maintenance operation based on the fourth verification result.
6. The method of claim 5, wherein performing a preset curing operation based on the fourth verification result comprises:
in response to the fourth verification result is determined to be that the verification is not passed, the logistics robot is controlled to rotate by a second preset number of different angles, and second relative positions of the logistics robot and the calibrated shelf codes under different angles are obtained;
and compensating the shelf code sensor of the logistics robot based on the second relative position.
7. The method of claim 1, wherein the performing a preset curing operation based on the first verification result comprises:
and controlling a gas source to purge the logistics robot in response to determining that the first verification result is that the verification is passed and the logistics robot stops at a fourth preset position.
8. The method of claim 7, wherein the controlling the source of gas to purge the logistics robot comprises:
and controlling an air source to purge the logistics robot up and down.
9. The method of claim 7, further comprising:
and controlling the logistics robot to rotate by different angles in the purging process.
10. The method of claim 7, further comprising:
controlling the logistics robot to lift the top tray during the purging process;
and controlling the logistics robot to descend and retract the tray in response to determining that the purging is finished.
11. A logistics robot maintenance device comprises a maintenance bin;
the maintenance bin is provided with a space for accommodating the logistics robot, and the space can be used for the logistics robot to rotate;
a driving-in entrance is formed in one side of the maintenance bin, the logistics robot drives in the maintenance bin, and a calibration plate is arranged on the side opposite to the driving-in entrance and used for reflecting signals sent by an obstacle avoidance sensor of the logistics robot;
a calibration landmark code is arranged below the maintenance bin and is used for scanning and positioning a landmark code sensor of the logistics robot;
a calibrated goods shelf code is arranged above the maintenance bin and is used for scanning and positioning a goods shelf code sensor of the logistics robot;
still include the air supply, with maintenance storehouse intercommunication is used for to maintenance storehouse air feed is in order to right the logistics robot sweeps.
12. A logistics robot system, the system comprising a logistics robot and the maintenance device of claim 11.
13. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory is stored with instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-10.
14. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-10.
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