CN117032061A - AMR control system, method, equipment and storage medium - Google Patents

AMR control system, method, equipment and storage medium Download PDF

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Publication number
CN117032061A
CN117032061A CN202310835064.2A CN202310835064A CN117032061A CN 117032061 A CN117032061 A CN 117032061A CN 202310835064 A CN202310835064 A CN 202310835064A CN 117032061 A CN117032061 A CN 117032061A
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China
Prior art keywords
side control
end side
signal
output
initial
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刘云波
董沛君
肖兆锋
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Beijing Jizhijia Technology Co Ltd
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Beijing Jizhijia Technology Co Ltd
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Priority to CN202310835064.2A priority Critical patent/CN117032061A/en
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
    • G05B19/054—Input/output
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/10—Plc systems
    • G05B2219/11—Plc I-O input output
    • G05B2219/1179—Safety, on error, fault, block, inhibit output

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Programmable Controllers (AREA)

Abstract

The AMR control system provided by the embodiment of the application comprises N end side control devices, a safety verification device and M robot control devices, wherein the N end side control devices are connected in series, and an output signal of an ith end side control device is sequentially transmitted through the N-i end side control devices; the safety verification device is connected with the Nth end side control device in a wired mode and is connected with the M robot control devices in a wireless mode, so that safety verification is conducted on initial control signals in output signals of the Nth end side control device, and after the safety verification is passed, control signals are sent to the M robot control devices. According to the embodiment of the application, under the condition that the complexity of the control system is kept unchanged, the safety verification of the control signal of any terminal side control device can be realized by deploying one safety verification device, and the cost is not increased.

Description

AMR control system, method, equipment and storage medium
Technical Field
The embodiment of the application relates to the technical field of intelligent warehousing, in particular to a control system, a method, equipment and a storage medium of an autonomous mobile robot (Autonomous Mobile Robot, AMR).
Background
Automated warehousing is an intelligent warehousing mode in which cargo handling and picking is performed by autonomous mobile robots (Autonomous Mobile Robot, AMR) (the present application is hereinafter simply referred to as "robots"). In a practical implementation scenario, hundreds or thousands of robots may be housed within a warehouse environment to collectively perform tasks. In order to maintain safety between the robots and to intervene in time in the expected states of the robots, in some cases, control instructions are required for the robots to issue, for example, to control the robots to enter a safe stop state by means of a control system. In general, the control device may be triggered to transmit control instructions to the robot by triggering a button of the pre-deployed control device.
The warehouse environment is huge in space, hundreds of robots move to operate, and based on the warehouse environment, in order to send control instructions to hundreds of robots conveniently, a plurality of control devices can be distributed at different positions of the warehouse environment, and each control device can independently and directly transmit the control instructions to the robots through wireless communication.
Wherein the control command is transmitted to the robot by means of wireless communication, the safety communication standard should be satisfied, and then a system for safety authentication of the command should be deployed corresponding to each control device. However, for a plurality of control devices that are distributed, one-to-one deployment of the security authentication system not only greatly increases the complexity of the entire control system, but also greatly increases the cost.
Disclosure of Invention
The embodiment of the application provides an AMR control system, an AMR control method, AMR control equipment and an AMR control storage medium, which are used for setting a safety verification device for a plurality of control devices, wherein the safety verification device is used for carrying out safety verification on control instructions of any control device in the plurality of control devices, so that the complexity of the control system is not increased, and the cost is not increased. Specifically, the embodiment of the application discloses the following technical scheme:
in a first aspect, an embodiment of the present application provides an AMR control system, comprising: n end-side control devices, a security verification device, and M robot control devices, wherein M and N are integers greater than or equal to 2;
the N end side control devices are connected in series, wherein the output signals of the ith end side control device are sequentially transmitted through the N-i end side control devices, the output signals comprise initial control signals, and i is greater than or equal to 1 and less than or equal to N-1;
the safety verification device is connected with the Nth end side control device in a wired mode and is connected with the M robot control devices in a wireless mode, so that initial control signals in output signals of the Nth end side control device are subjected to safety verification, and control signals are sent to the M robot control devices after the safety verification is passed; the nth end side control device is the last end side control device of the N end side control devices connected in series.
With reference to the first aspect, in a possible implementation manner of the first aspect, the N end-side control devices are connected to each other in a serial manner, including:
the N terminal side control devices are sequentially connected through a logic circuit;
the security verification device is connected with the Nth end side control device in a wired mode, and comprises:
the security verification device is connected with the Nth end side control device through a logic circuit.
With reference to the first aspect, in a possible implementation manner of the first aspect, the logic circuit includes an and gate circuit and an or gate circuit;
the input end of the AND gate circuit is connected with the output port of a first initial control signal of the input device, the output end of the AND gate circuit is connected with the input port of a first initial control signal of the output device, and the first initial control signal refers to initial control signals from other devices;
the input end of the OR gate circuit is connected with the output port of the first reset signal of the input device, the output end of the OR gate circuit is connected with the input port of the first reset signal of the output device, and the first reset signal refers to the reset signals from other devices;
the input device is any one of the N end side control devices, and the output device is a device for receiving the input device signals in the N end side control devices and the security verification device.
With reference to the first aspect, in a possible implementation manner of the first aspect, an input terminal of the and circuit is further connected to an output port of a second initial control signal of the input device;
the input end of the OR gate circuit is also connected with the output port of the second reset signal of the input device;
the second initial control signal refers to an initial control signal generated by the input device, and the second reset signal refers to a reset signal generated by the input device.
In a second aspect, an embodiment of the present application further provides an AMR control method, applied to the AMR control system in the first aspect and any implementation manner of the first aspect, where the method includes:
in response to a trigger of a user, sequentially transmitting output signals of the ith end-side control device via the N-i end-side control devices; the output signal comprises an initial control signal, the ith end side control device is the first end side control device of the N end side control devices triggered or the end side control device after the first triggered end side control device, and i is greater than or equal to 1 and less than or equal to N-1;
if an output signal of the Nth end side control device is received, the safety verification device performs safety verification on an initial control signal in the output signal; the nth end side control device is the last end side control device of the N end side control devices connected in series;
And if the safety verification is passed, the safety verification device sends control signals to the M robot control devices according to the initial control signals, so that the M robot control devices control the corresponding robots according to the control signals.
With reference to the second aspect, in a possible implementation manner of the second aspect, the output signals of the ith end-side control devices are sequentially transmitted via N-i end-side control devices, including:
the ith end side control device transmits a first initial control signal and a first reset signal to the (i+1) th end side control device;
the first initial control signal refers to an initial control signal from other devices, and the first reset signal refers to a reset signal from other devices.
With reference to the second aspect, in one possible implementation manner of the second aspect, if the ith end-side control device receives a trigger from a user, the output signals of the ith end-side control device are sequentially transmitted through N-i end-side control devices, including:
the ith end side control equipment performs AND operation on the first initial control signal and the second initial control signal to obtain an initial control signal to be output after AND operation; the second initial control signal refers to an initial control signal generated by the ith end side control device in response to user trigger;
The ith end side control equipment performs OR operation on the first reset signal and the second reset signal to obtain an OR operation-based reset signal to be output; the second reset signal refers to a reset signal generated by the ith end side control equipment in response to user trigger;
transmitting the initial control signal to be output and the reset signal to be output to the (i+1) th end side control device.
With reference to the second aspect, in a possible implementation manner of the second aspect, the output signal of the nth end side control device includes a first sub-initial control signal and a second sub-initial control signal, and the security verification device performs security verification on the initial control signal in the output signal, including:
comparing whether the level of the first sub-initial control signal is the same as the level of the second sub-initial control signal;
and if the level of the first sub-initial control signal is the same as the level of the second sub-initial control signal, indicating that the security verification is passed.
In a third aspect, an embodiment of the present application provides an electronic device, including: a processor and a memory for storing computer executable instructions; a processor for reading instructions from the memory and executing the instructions to implement the second aspect and the method of any implementation of the second aspect.
In a fourth aspect, embodiments of the present application also provide a computer-readable storage medium having stored therein computer instructions for causing the computer to perform the method of the second aspect and any implementation of the second aspect.
In addition, an embodiment of the present application also provides a computer program product comprising a computer program stored on a computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform the method of the second aspect and any implementation manner of the second aspect.
The AMR control system provided by the embodiment of the application comprises: n end-side control devices, a security verification device, and M robot control devices, each of M and N being an integer greater than or equal to 2. The N end side control devices are connected in series, and based on the series connection mode, output signals of the ith end side control device are sequentially transmitted through the N-i end side control devices, wherein i is greater than or equal to 1 and less than or equal to N-1. After the output signal is transmitted to the nth end side control device, the nth end side control device transmits the output signal to the safety verification device, the safety verification device performs safety verification on the output signal, and after the safety verification is passed, control signals are sent to the M robot control devices, and the control signals come from the output signals. It can be seen that, by adopting the implementation manner of the embodiment of the present application, N end-side control devices are connected in series, and the nth end-side control device is connected with the security verification device, and control signals generated by any one or more of the N end-side control devices are all transmitted from one end-side control device to another end-side control device based on the series relationship, and finally transmitted to the security verification device for security verification. Therefore, N distributed end side control devices facing different positions of the warehouse environment do not need to be deployed one-to-one, so that the security verification of control signals of any end side control device can be realized by deploying one security verification device under the condition of keeping the complexity of a control system unchanged, and the cost is not increased.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of an exemplary AMR control system according to an embodiment of the present application;
FIG. 2 is a method flow diagram of an exemplary AMR control method provided by an embodiment of the present application;
fig. 3 is a schematic structural diagram of an exemplary programmable logic controller (Programmable Logic Controller, PLC) system according to an embodiment of the present application;
FIG. 4 is a schematic diagram of an exemplary logic circuit in the PLC system illustrated in FIG. 3 according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In order to better understand the technical solution in the embodiments of the present application and make the above objects, features and advantages of the embodiments of the present application more comprehensible, the technical solution in the embodiments of the present application is described in further detail below with reference to the accompanying drawings.
While exemplary implementations of embodiments of the present application are shown in the drawings, it should be understood that embodiments of the present application may be embodied in various forms and should not be limited to the implementations set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the embodiments to those skilled in the art.
It should be noted that unless otherwise indicated, technical or scientific terms used in the embodiments of the present application should be given the ordinary meanings as understood by those skilled in the art to which the embodiments of the present application belong.
The AMR control system according to the embodiment of the present application is described below with reference to examples.
As shown in fig. 1, an exemplary AMR control system according to an embodiment of the present application may include: n end-side control devices 11, a security verification device 12, and M robot control devices 13, wherein M and N are integers greater than or equal to 2. The N end-side control devices 11 and the security verification device 12 may be connected in series, and the security verification device 12 may be wirelessly connected with the M robot control devices 13, respectively.
In some implementations, the N end-side control devices 11 are connected to each other in a serial manner, and based on the serial connection structure, the output signals of the i-th end-side control device of the N end-side control devices 11 may be sequentially transmitted through the N-i-th end-side control devices until being output through the N-th end-side control device of the N end-side control devices 11. The i is greater than or equal to 1 and less than or equal to the N-1.
The output signal of the ith end-side control device may include an initial control signal, where the initial control signal may refer to a control signal that is not security verified. In a possible implementation manner, the output signal of the ith end-side control device may be the output signal of the i-1 th end-side control device received by the ith end-side control device; in another possible implementation manner, the output signal of the ith end-side control device may be a signal generated by the ith end-side control device receiving a user trigger button; in still another possible implementation manner, the output signal of the ith end-side control device may be a signal generated by the ith end-side control device receiving a user trigger button and an output signal of the ith-1 th end-side control device.
For example, N is, for example, 150, and the 150 end-side control devices are connected in series, that is, the output signal of one end-side control device is input to the other end-side control device, of any two connected end-side control devices. According to the signal transmission direction i is for example 50, the output signal of the 50 th end side control device is transmitted to the 51 th end side control device, the output signal of the 51 th end side control device is transmitted to the 52 th end side control device, and so on until the signal is transmitted to the 150 th end side control device. It should be appreciated that when i is other values from 1 to 149, the signal transmission between the respective end-side control devices is similar to the above description and will not be repeated here.
Therefore, by adopting the implementation manner of the embodiment of the application, the N end side control devices are connected in series, so that the signal of any end side control device in the N end side control devices takes the serial structure as a transmission path, and the control signal of any one or more end side control devices which are arranged in a scattered way is transmitted on one path, thereby facilitating the safety verification of the control signal of the end side control devices which are arranged in a scattered way.
Further, the security verification device 12 is connected to the nth end side control device by wire to perform security verification on an initial control signal in the output signal of the nth end side control device, and transmits a control signal to the M robot control devices after the security verification is passed. Further, the M robot control devices may control the operations of the respective robots in response to the control signals, respectively.
In some implementations, the AMR control system according to the embodiments of the present application may be, for example, a PLC system. The N-th end-side control devices 11, and the N-th end-side control device and the security verification device 12 may be sequentially connected using logic circuits.
The output signal of any of the N end-side control devices 11 may include an initial control signal and a reset signal, for example. The logic circuit may include an and circuit and an or circuit. The input end of the AND gate circuit is connected with the output port of the first initial control signal of the input device, the output end of the AND gate circuit is connected with the input port of the first initial control signal of the output device, the input end of the OR gate circuit is connected with the output port of the first reset signal of the input device, and the output end of the OR gate circuit is connected with the input port of the first reset signal of the output device.
Wherein the input device is any one of the N end side control devices, such as the aforementioned i-th end side control device. The output device is a device that receives the input device signal in the N end-side control devices and in the security verification device, for example, if the input device is the i-th end-side control device, since i is less than or equal to N-1, the output device is the i+1th end-side control device; for another example, if the input device is the nth end side control device, the output device is a security verification device.
Further, the first initial control signal refers to an initial control signal from other devices; the first reset signal refers to a reset signal from another device. The other devices may refer to the device of the last signal transmission link of the input device, and the corresponding first initial control signal and the first reset signal may be signals output by the other devices to the corresponding input devices.
In other implementations, the input end of the and circuit is further connected to an output port of the second initial control signal of the input device; the input end of the OR gate circuit is also connected with the output port of the second reset signal of the input device.
The input device may comprise, for example, buttons through which the input device may accept a user's trigger and generate a corresponding control signal or reset signal. Based on this, the second initial control signal in this example refers to an initial control signal generated by the input device, and the second reset signal refers to a reset signal generated by the input device.
In some implementations, the logic circuit connects the aforementioned series of devices independently of the N end-side control devices 11. In other implementations, the logic circuit may be disposed within each of the end-side control devices 11, and in this implementation, the input device of the logic circuit is the end-side control device in which the logic circuit is disposed.
It can be seen that, by adopting the implementation manner of the embodiment of the present application, N end-side control devices are connected in series, and the nth end-side control device is connected with the security verification device, and control signals generated by any one or more of the N end-side control devices are all transmitted from one end-side control device to another end-side control device based on the series relationship, and finally transmitted to the security verification device for security verification. Therefore, N distributed end side control devices facing different positions of the warehouse environment do not need to be deployed one-to-one, so that the security verification of control signals of any end side control device can be realized by deploying one security verification device under the condition of keeping the complexity of a control system unchanged, and the cost is not increased.
Corresponding to the AMR control system of the embodiment of the application, the embodiment of the application also provides an AMR control method.
As shown in fig. 2, fig. 2 is an exemplary AMR control method according to an embodiment of the present application, where the AMR control method is applied to an AMR control system, which may be shown in fig. 1, for example. The AMR control method comprises the following steps:
in step S101, in response to a trigger by the user, output signals of the i-th end-side control apparatuses are sequentially transmitted via the N-i-th end-side control apparatuses.
Wherein the output signal comprises an initial control signal.
The initial control signal included in the output signal of any device may include a first sub-initial control signal and a second sub-initial control signal, where the first sub-initial control signal and the second sub-initial control signal are the initial control signals transmitted by the two transmission channels.
It should be noted that, in the present implementation manner, the i-th end side control device and the relationship between the i value and N may be described with reference to the scenario shown in fig. 1, which is not described herein again. In connection with the AMR control system shown in fig. 1, in some implementations, the i-th end-side control device may be a first triggered end-side control device of the N end-side control devices according to a direction of a signal flow. In other implementations, the i-th end-side control device may be an end-side control device subsequent to the first triggered end-side control device, depending on the direction of signal flow.
Further, if the i-th end-side control device is a device subsequent to the first triggered end-side control device and the i-th end-side control device is not triggered by the user, the i-th end-side control device transmits the first initial control signal and the first reset signal to the i+1th end-side control device, and the i+1th end-side control device transmits the output signal of the i-th end-side control device to the i+2th end-side control device, sequentially until the N-th end-side control device. In this example, the first initial control signal refers to an initial control signal from another device, and the first reset signal refers to a reset signal from another device.
If the ith end side control device is the first triggered end side control device, the ith end side control device transmits a second initial control signal and a second reset signal to the (i+1) th end side control device, and the (i+1) th end side control device sequentially transmits the second initial control signal and the second reset signal to the (i+1) th end side control device. In this example, the second initial control signal refers to an initial control signal generated by the ith end-side control device in response to user trigger; the second reset signal refers to a reset signal generated by the ith end-side control equipment in response to user trigger.
If the ith end side control device is a device after the first triggered end side control device and the ith end side control device is also triggered by a user, the ith end side control device performs AND operation on the first initial control signal and the second initial control signal to obtain an initial control signal to be output after AND operation; and performing OR operation on the first reset signal and the second reset signal to obtain an OR operation-based reset signal to be output. Further, the initial control signal to be output and the reset signal to be output are transmitted to the i+1th end side control device, and the i+1th end side control device is sequentially transmitted backward until the nth end side control device.
Step S102, if the output signal of the Nth end side control device is received, the security verification device performs security verification on the initial control signal in the output signal.
As can be seen from the description of the AMR control system in fig. 1, the nth end side control device refers to the last end side control device connected in series among the N end side control devices, and the nth end side control device is connected to the security verification device. Based on this, the nth end side control device outputs a signal to the security verification device after acquiring any signal.
Wherein the output signal of the nth end side control device is similar to the implementation of the output signal of the ith end side control device described above, including an initial control signal and a reset signal. In some implementations, the initial control signal may be an initial control signal input by an N-1 th end side control device, and the reset signal may be a reset signal input by the N-1 th end side control device; in other implementations, the initial control signal may include: the initial control signal input by the N-1 th end side control device, the initial control signal generated by the N-th end side control device, and the signal after operation, the reset signal may include: the reset signal input by the N-1 end side control device and the reset signal or the signal after operation generated by the N end side control device.
As can be seen from the foregoing description of the initial control signals, the initial control signals include a first sub-initial control signal and a second sub-initial control signal, and the security verification device may compare whether the level of the first sub-initial control signal and the level of the second sub-initial control signal are the same; and if the level of the first sub-initial control signal is the same as the level of the second sub-initial control signal, indicating that the security verification is passed.
For example, the security verification device may compare the timing of the rising edge of the first sub-initial control signal with whether the timing of the rising edge of the second sub-initial control signal is the same; or the security verification device may compare the time of the falling edge of the first sub-initial control signal with the time of the falling edge of the second sub-initial control signal.
Step S103, if the safety verification is passed, the safety verification device sends control signals to the M robot control devices according to the initial control signals.
The control signal may be a first sub-initial control signal or a second sub-initial control signal after the security verification is passed.
In some implementations, the security verification device may send control signals to the M robot control devices respectively through a universal industrial security (common industrial protocol safety, cipsecurity) protocol in a wireless Ethernet manner, so that the M robot control devices control the corresponding robots according to the control signals respectively.
It can be seen that, by adopting the implementation manner of the embodiment of the present application, the control signals generated by any one or more of the N end-side control devices are all transmitted from the end-side control device to the security verification device based on the serial relationship, and finally transmitted to the security verification device for security verification. Therefore, N distributed end side control devices facing different positions of the warehouse environment do not need to be deployed one-to-one, so that the security verification of control signals of any end side control device can be realized by deploying one security verification device under the condition of keeping the complexity of a control system unchanged, and the cost is not increased.
Embodiments of the present application are described below with reference to examples.
Taking the AMR control system as an example of a PLC system, fig. 3 is a schematic structural diagram of an exemplary PLC system according to an embodiment of the present application. The PLC system may include n front end PLCs, a master station PLC, and m slave station PLCs deployed at the robot end. m and n are integers greater than or equal to 2. Wherein the front-end PLC may be, for example, an implementation of the end-side control device in fig. 1, the master station PLC may be, for example, an implementation of the security verification device in fig. 1, and the slave station PLC may be, for example, an implementation of the robot control device in fig. 1.
In fig. 3, the n front-end PLCs may be connected in series by using a logic circuit, and the n-th front-end PLC of the n front-end PLCs is connected to the master station PLC by using a logic circuit (the logic circuit is shown in fig. 4). The master station PLC is wirelessly connected to m slave station PLCs, for example, via ethernet. The m slave station PLCs control one robot to operate, respectively.
In this example, the control signal is, for example, an emergency stop signal for controlling the robot to enter an emergency stop state.
Referring again to fig. 3, each of the n front-end PLCs includes a button box for generating a button box scram signal (i.e., the second initial control signal in the above-described embodiment) and a button box reset signal (i.e., the second reset signal in the above-described embodiment) in response to a user's trigger. Each front-end PLC transmits a button box scram signal through two signal channels.
Illustratively, taking the front end PLC1 as an example in response to a user's trigger, after generating the button box emergency stop signal and the button box reset signal, the front end PLC1 outputs the button box emergency stop signal and the button box reset signal to the front end PLC2. In this scenario, for front-end PLC2, the button box emergency stop signal of front-end PLC1 is a system emergency stop signal, and the button box reset signal of front-end PLC1 is a system reset signal.
In the first implementation scenario, if the button box of the front-end PLC2 does not receive the trigger of the user, for example, the front-end PLC2 outputs the input system emergency stop signal and system reset signal as output signals to the front-end PLC3.
In the second implementation scenario, the button box of the front-end PLC2 receives a trigger from a user, for example, and then the front-end PLC2 generates a button box emergency stop signal and a button box reset signal. Further, the button box emergency stop signal of the front-end PLC2 and the input system emergency stop signal are both input into a logic circuit (shown in fig. 4) to obtain the system emergency stop signal output by the front-end PLC2 through processing; and the button box reset signal and the input system reset signal of the front-end PLC2 are both input into a logic circuit (shown in fig. 4) to be processed to obtain the system reset signal output by the front-end PLC2. The system emergency stop signal and the system reset signal output by the front-end PLC2 are output to the front-end PLC3.
The operations of the front end PLC3 to the front end PLCn and the output signals can refer to the front end PLC2, and will not be described in detail here.
Under the scene that the front end PLCn outputs a system scram signal and a system reset signal to the master station PLC, the master station PLC receives a first system scram signal and a second system scram signal output by the front end PLCn through two transmission channels. In an actual implementation scenario, the first system scram signal and the second system scram signal are signals with the same content transmitted on two channels, and the first system scram signal and the second system scram signal should be the same. Based on the above, the master station PLC can compare whether the rising edge of the first system scram signal and the rising edge of the second system scram signal are the same, or whether the falling edge of the first system scram signal and the falling edge of the second system scram signal are the same, if so, the first system scram signal and the second system scram signal are the same, and the safety verification is passed; otherwise, the first system emergency stop signal and the second system emergency stop signal are different, and the safety verification is failed.
After the safety verification is passed, the master station PLC uses the first system scram signal or the second system scram signal as scram signals, and can transmit them to m slave station PLCs respectively in an Ethernet manner based on the cipsecurity protocol. Each slave station PLC responds to the scram signal to control the corresponding robot of the slave station PLC to scram.
In some implementations, referring to fig. 4, fig. 4 is a schematic structural diagram of an exemplary logic circuit in the PLC system illustrated in fig. 3, where the logic circuit includes an and gate circuit and an or gate circuit according to an embodiment of the present application. Taking the second implementation scenario of PLC2 as an example, the and circuit of the logic circuit inputs the system scram signal from PLC1, and the or circuit inputs the system scram signal from PLC 1.
Further, after the front-end PLC2 generates the button box emergency stop signal and the button box reset signal, the front-end PLC2 outputs the button box emergency stop signal to the input port of the and circuit, and performs and operation on the system emergency stop signal from the PLC1 and the button box emergency stop signal via the and circuit, thereby obtaining a system emergency stop signal output by the front-end PLC 2. The front-end PLC2 outputs the button box reset signal to the input port of the or circuit, and the or circuit performs an or operation on the system reset signal from the PLC1 and the button box reset signal, thereby obtaining a system reset signal output by the front-end PLC 2.
In summary, the AMR control system provided by the embodiment of the present application includes: n end-side control devices, a security verification device, and M robot control devices, each of M and N being an integer greater than or equal to 2. The N end side control devices are connected in series, and based on the series connection mode, output signals of the ith end side control device are sequentially transmitted through the N-i end side control devices, wherein i is greater than or equal to 1 and less than or equal to N-1. After the output signal is transmitted to the nth end side control device, the nth end side control device transmits the output signal to the safety verification device, the safety verification device performs safety verification on the output signal, and after the safety verification is passed, control signals are sent to the M robot control devices, and the control signals come from the output signals. It can be seen that, by adopting the implementation manner of the embodiment of the present application, N end-side control devices are connected in series, and the nth end-side control device is connected with the security verification device, and control signals generated by any one or more of the N end-side control devices are all transmitted from one end-side control device to another end-side control device based on the series relationship, and finally transmitted to the security verification device for security verification. Therefore, N distributed end side control devices facing different positions of the warehouse environment do not need to be deployed one-to-one, so that the security verification of control signals of any end side control device can be realized by deploying one security verification device under the condition of keeping the complexity of a control system unchanged, and the cost is not increased.
An embodiment of the electronic device corresponding to the previous embodiment of the method is described below.
The embodiment of the application also provides electronic equipment which can be realized as the system shown in fig. 1 or fig. 3. In other implementations, the electronic device may also integrate different functions of the systems illustrated in fig. 1 or 3 into different hardware entities. For example, the authentication function of the security authentication device may be integrated into a processor implementation, the signal transmission function between the end-side control devices into a bus implementation, and the signal transmission between the security authentication device and the M robot control devices into a communication interface implementation.
Fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application. Comprising the following steps: a processor 500, a memory 501, a bus 502 and a communication interface 503, the processor 500, the communication interface 503 and the memory 501 being connected by the bus 502; the memory 501 stores a computer program executable on the processor 500, and the processor 500 executes the AMR control method provided in any of the foregoing embodiments of the present disclosure when the computer program is executed.
The memory 501 may include a high-speed random access memory (RAM: random Access Memory), and may further include a non-volatile memory (non-volatile memory), such as at least one magnetic disk memory. The communication connection between the system network element and at least one other network element is implemented via at least one communication interface 503 (which may be wired or wireless), the internet, a wide area network, a local network, a metropolitan area network, etc. may be used.
Bus 502 may be an ISA bus, a PCI bus, an EISA bus, or the like. The buses may be classified as address buses, data buses, control buses, etc. The memory 501 is configured to store a program, and the processor 500 executes the program after receiving an execution instruction, and the AMR control method disclosed in any of the foregoing embodiments of the present disclosure may be applied to the processor 500 or implemented by the processor 500.
The processor 500 may be an integrated circuit chip with signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuitry in hardware or instructions in software in the processor 500. The processor 500 may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short), etc.; but may also be a Digital Signal Processor (DSP), application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The various methods, steps and logic blocks of the disclosure in the embodiments of the disclosure may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the embodiments of the present disclosure may be embodied directly in hardware, in a decoded processor, or in a combination of hardware and software modules in a decoded processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in the memory 501, and the processor 500 reads the information in the memory 501, and in combination with its hardware, performs the steps of the method described above.
The electronic device provided by the embodiment of the present disclosure and the AMR control method provided by the embodiment of the present disclosure have the same advantages as the method adopted, operated or implemented by the same inventive concept.
The present disclosure also provides a computer readable storage medium corresponding to the AMR control method provided in the foregoing embodiments, for example, the computer readable storage medium may be an optical disc, on which a computer program (i.e., a program product) is stored, which when executed by a processor, performs the AMR control method provided in any of the foregoing embodiments.
It should be noted that examples of the computer readable storage medium may also include, but are not limited to, a phase change memory (PRAM), a Static Random Access Memory (SRAM), a Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), a Read Only Memory (ROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a flash memory, or other optical or magnetic storage medium, which will not be described in detail herein. .
In addition, the embodiment of the present application also provides a computer program product for storing computer readable program instructions, which when executed by a processor, can implement an AMR control method in the foregoing embodiment.
It is noted that in the present application, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.
In this specification, each embodiment is described in a related manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for the device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments in part.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions.
For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
The above embodiment of the present application does not limit the protection scope of the embodiment of the present application.

Claims (11)

1. An autonomous mobile robot AMR control system, comprising: n end-side control devices, a security verification device, and M robot control devices, wherein M and N are integers greater than or equal to 2;
the N end side control devices are connected in series, wherein the output signals of the ith end side control device are sequentially transmitted through the N-i end side control devices, the output signals comprise initial control signals, and i is greater than or equal to 1 and less than or equal to N-1;
The safety verification device is connected with the Nth end side control device in a wired mode and is connected with the M robot control devices in a wireless mode, so that initial control signals in output signals of the Nth end side control device are subjected to safety verification, and control signals are sent to the M robot control devices after the safety verification is passed; the nth end side control device is the last end side control device of the N end side control devices connected in series.
2. The AMR control system according to claim 1, wherein the N end side control devices are connected to each other in series, comprising:
the N terminal side control devices are sequentially connected through a logic circuit;
the security verification device is connected with the Nth end side control device in a wired mode, and comprises:
the security verification device is connected with the Nth end side control device through a logic circuit.
3. The AMR control system of claim 2, wherein the logic circuit comprises an and circuit and an or circuit;
the input end of the AND gate circuit is connected with the output port of a first initial control signal of the input device, the output end of the AND gate circuit is connected with the input port of a first initial control signal of the output device, and the first initial control signal refers to initial control signals from other devices;
The input end of the OR gate circuit is connected with the output port of the first reset signal of the input device, the output end of the OR gate circuit is connected with the input port of the first reset signal of the output device, and the first reset signal refers to the reset signals from other devices;
the input device is any one of the N end side control devices, and the output device is a device for receiving the input device signals in the N end side control devices and the security verification device.
4. An AMR control system according to claim 3, characterized in that,
the input end of the AND gate circuit is also connected with the output port of the second initial control signal of the input device;
the input end of the OR gate circuit is also connected with the output port of the second reset signal of the input device;
the second initial control signal refers to an initial control signal generated by the input device, and the second reset signal refers to a reset signal generated by the input device.
5. An AMR control method for an autonomous mobile robot, applied to an AMR control system, the AMR control system comprising: n end-side control devices, a security verification device, and M robot control devices, wherein M and N are integers greater than or equal to 2, the method comprising:
In response to a trigger of a user, sequentially transmitting output signals of the ith end-side control device via the N-i end-side control devices; the output signal comprises an initial control signal, the ith end side control device is the first end side control device of the N end side control devices triggered or the end side control device after the first triggered end side control device, and i is greater than or equal to 1 and less than or equal to N-1;
if an output signal of the Nth end side control device is received, the safety verification device performs safety verification on an initial control signal in the output signal; the nth end side control device is the last end side control device of the N end side control devices connected in series;
and if the safety verification is passed, the safety verification device sends control signals to the M robot control devices according to the initial control signals, so that the M robot control devices control the corresponding robots according to the control signals.
6. The AMR control method according to claim 5, wherein the output signal of the i-th end side control device is sequentially transmitted via N-i end side control devices, comprising:
The ith end side control device transmits a first initial control signal and a first reset signal to the (i+1) th end side control device;
the first initial control signal refers to an initial control signal from other devices, and the first reset signal refers to a reset signal from other devices.
7. The AMR control method according to claim 5 or 6, wherein if the i-th end side control device receives a trigger from a user, the output signal of the i-th end side control device is sequentially transmitted via N-i-th end side control devices, comprising:
the ith end side control equipment performs AND operation on the first initial control signal and the second initial control signal to obtain an initial control signal to be output after AND operation; the second initial control signal refers to an initial control signal generated by the ith end side control device in response to user trigger;
the ith end side control equipment performs OR operation on the first reset signal and the second reset signal to obtain an OR operation-based reset signal to be output; the second reset signal refers to a reset signal generated by the ith end side control equipment in response to user trigger;
transmitting the initial control signal to be output and the reset signal to be output to the (i+1) th end side control device.
8. The AMR control method according to claim 5, wherein the output signal of the nth end side control device includes a first sub-initial control signal and a second sub-initial control signal, and the security verification device performs security verification on the initial control signal in the output signal, comprising:
comparing whether the level of the first sub-initial control signal is the same as the level of the second sub-initial control signal;
and if the level of the first sub-initial control signal is the same as the level of the second sub-initial control signal, indicating that the security verification is passed.
9. An electronic device, comprising: a processor and a memory, wherein,
the memory is used for storing computer executable instructions;
the processor is configured to read the instructions from the memory and execute the instructions to implement the method of any one of claims 5 to 8.
10. A computer readable storage medium, characterized in that the storage medium stores computer program instructions, which when read by a computer, perform the method according to any of claims 5 to 8.
11. A computer program product comprising a computer program, characterized in that the computer program, when executed by a processor, implements the method of any of claims 5 to 8.
CN202310835064.2A 2023-07-07 2023-07-07 AMR control system, method, equipment and storage medium Pending CN117032061A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117277590A (en) * 2023-11-20 2023-12-22 夏尔特拉(上海)新能源科技有限公司 Substation signal transmission system and method based on wireless communication

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117277590A (en) * 2023-11-20 2023-12-22 夏尔特拉(上海)新能源科技有限公司 Substation signal transmission system and method based on wireless communication
CN117277590B (en) * 2023-11-20 2024-03-01 夏尔特拉(上海)新能源科技有限公司 Substation signal transmission system and method based on wireless communication

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