EP-4742038-A1 - CONTROL METHOD AND CONTROL SYSTEM

EP4742038A1EP 4742038 A1EP4742038 A1EP 4742038A1EP-4742038-A1

Abstract

The embodiments of the present disclosure relate to the field of intelligent warehousing. Provided are a control method and a control system. The control system comprises at least two end-side control devices, a security verification device and a plurality of slave-station devices, wherein the at least two end-side control devices are connected to each other in series, and on the basis of the series connection manner, an output signal of a first end-side control device is sequentially transmitted through at least one second end-side control device; the second end-side control device is an end-side control device among the at least two end-side control devices that is located after the first end-side control device; after the output signal is transmitted to the last end-side control device, the last end-side control device transmits the output signal to the security verification device; and the security verification device performs security verification on the output signal and sends a control signal to the plurality of slave-station devices after the security verification is passed, and the control signal is from the output signal.

Inventors

DONG, Peijun
LIU, YUNBO
XIAO, Zhaofeng

Assignees

Beijing Geekplus Technology Co. Ltd

Dates

Publication Date: 20260513
Application Date: 20240705

Claims (20)

A control method, applied to a control system, wherein the control system comprises at least two end-side control devices, a master station device and a plurality of slave station devices, wherein the master station device comprises a security verification device; the method comprises: in response to a trigger operation from a user, transmitting an output signal of a first end-side control device among the at least two end-side control devices sequentially via at least one second end-side control device, wherein the output signal comprises an initial control signal, the first end-side control device is an end-side control device firstly triggered among the at least two end-side control devices, or an end-side control device located after an end-side control device firstly triggered; the at least one second end-side control device comprises an end-side control device located after the first end-side control device among the at least two end-side control devices; in a case where an output signal of a last end-side control device among the at least two end-side control devices is received, performing, by the security verification device, security verification on an initial control signal in the output signal of the last end-side control device; and in a case where the security verification is passed, sending, by the security verification device, a target control signal to each of the plurality of slave station devices according to the initial control signal, so that the plurality of slave station devices control respective robots according to the target control signal respectively.
The method of claim 1, wherein transmitting the output signal of the first end-side control device among the at least two end-side control devices sequentially via the at least one second end-side control device comprises: transmitting, by the first end-side control device, a first initial control signal and a first reset signal to a next second end-side control device adjacent to the first end-side control device; wherein 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 the other device, the other device comprises a device in a previous signal transmission phase of an input device, and the input device is any one of the at least two end-side control devices.
The method of claim 2, wherein in response to the trigger operation from the user, transmitting the output signal of the first end-side control device sequentially via the at least one second end-side control device comprises: performing, by the first end-side control device, an AND operation on the first initial control signal and a second initial control signal to obtain an initial control signal to be output after the AND operation, wherein the second initial control signal refers to an initial control signal generated by the first end-side control device in response to the trigger operation; performing, by the first end-side control device, an OR operation on the first reset signal and a second reset signal to obtain a reset signal to be output after the OR operation, wherein the second reset signal refers to a reset signal generated by the first end-side control device in response to the trigger operation; and transmitting the initial control signal to be output and the reset signal to be output to the next second end-side control device adjacent to the first end-side control device, wherein the output signal comprises the initial control signal to be output and the reset signal to be output.
The method of claim 1, wherein the output signal of the at least two end-side control devices comprises a first output initial control signal and a second output initial control signal; wherein, performing, by the security verification device, the security verification on the initial control signal in the output signal comprises: comparing whether a signal value of the first output initial control signal is the same as a signal value of the second output initial control signal; and in a case where the signal value of the first output initial control signal is the same as the signal value of the second output initial control signal, determining that the security verification is passed.
The method of claim 1, wherein the control system further comprises a fault detection device, the fault detection device is connected to each end-side control device of the at least two end-side control devices and the master station device respectively; the method further comprises: in a process of generating the target control signal, obtaining an intermediate state signal set of the target control signal in the control system and communication signals between the master station device and the plurality of slave station devices, wherein the intermediate state signal set comprises input signals and output signals of each end-side control device of the at least two end-side control devices and the master station device; detecting whether a signal corresponding to a target fault type in the intermediate state signal set and the communication signals comprises an abnormal signal, wherein the target fault type belongs to a preset fault type set; and in a case where the signal corresponding to the target fault type comprises the abnormal signal, generating fault information according to the abnormal signal, wherein the fault information comprises descriptive information of the target fault type and a position of a fault in the control system.
The method of claim 5, wherein the preset fault type set comprises: a first fault type, indicating a transmission interface fault existing in the at least two end-side control devices; a second fault type, indicating a communication connection fault between the master station device and the plurality of slave station devices; and a third fault type, indicating a control logic fault of any one of the at least two end-side control devices.
The method of claim 6, wherein in a case where the target fault type comprises the first fault type, detecting whether the signal corresponding to the target fault type in the intermediate state signal set and the communication signals comprises the abnormal signal comprises: detecting whether the intermediate state signal set comprises the abnormal signal, wherein an input signal of each end-side control device in the intermediate state signal set comprises a first input initial control signal and a second input initial control signal; wherein detecting whether the intermediate state signal set comprises the abnormal signal comprises: determining whether the intermediate state signal set comprises the abnormal signal based on a signal value of a first input initial control signal and a signal value of a second input initial control signal corresponding to a target device among the at least two end-side control devices and the master station device; in a case where the signal value of the first input initial control signal and the signal value of the second input initial control signal corresponding to the target device are different, determining that the intermediate state signal set comprises the abnormal signal, and determining the signal value of the first input initial control signal and/or the second input initial control signal as an abnormal signal in a signal corresponding to the first fault type.
The method of claim 7, wherein generating fault information according to the abnormal signal comprises: generating first fault information according to the abnormal signal in the signal corresponding to the first fault type, wherein the first fault information comprises descriptive information of the first fault type and a first fault position; wherein the descriptive information of the first fault type is that an interface is disconnected, and the first fault position comprises an input interface of the target device and an output interface of a pervious-level device of the target device.
The method of claim 6, wherein in a case where the target fault type comprises the second fault type, detecting whether the signal corresponding to the target fault type in the intermediate state signal set and the communication signals comprises the abnormal signal comprises: detecting whether the communication signals comprise the abnormal signal; wherein detecting whether the communication signals comprise the abnormal signal comprises: in a case where a signal value of a communication signal between the master station device and a slave station device is a first preset threshold, determining that the communication signals comprise the abnormal signal.
The method of claim 9, wherein generating the fault information according to the abnormal signal comprises: generating second fault information according to an abnormal signal in a signal corresponding to the second fault type, wherein the second fault information comprises the number of slave station devices with abnormal communication signals and identifications of the slave station devices with abnormal communication signals.
The method of claim 6, wherein in a case where the target fault type comprises the third fault type, detecting whether the signal corresponding to the target fault type comprises the abnormal signal comprises: in a case where no abnormality is present in the input signals of the at least two end-side control devices and the at least two end-side control devices have no output signal, determining that the signal corresponding to the target fault type comprises the abnormal signal.
The method of claim 6, wherein the target fault type comprises at least one of the first fault type, the second fault type, or the third fault type.
The method of claim 1, further comprising: after generating an emergency stop signal and a reset signal, performing, by the master station device, delay processing on the reset signal according to a preset delay duration to obtain a delayed reset signal, wherein the output signal comprises the emergency stop signal and the reset signal; sending, by the master station device, a target emergency stop signal to the plurality of slave station devices, so that the plurality of slave station devices respectively perform emergency stop control according to a preset duration, wherein the target emergency stop signal is obtained according to the emergency stop signal, and the target control signal comprises the target emergency stop signal; and in a case where a signal value of the emergency stop signal meets a reset trigger condition, responding, by the master station device and the plurality of slave station devices, to the delayed reset signal to reset.
The method of claim 13, wherein the preset delay duration is greater than or equal to 1 second.
The method of claim 13, wherein for a slave station device among the plurality of slave station devices, performing the emergency stop control according to the preset duration comprises: controlling, by the slave station device, the target emergency stop signal to be effectively executed for a time period reaching the preset duration, wherein the preset duration is a sum of a duration of an emergency stop buffer delay and a duration during which a robot corresponding to the slave station device enters an emergency stop state.
The method of claim 15, wherein controlling, by the slave station device, the target emergency stop signal to be effectively executed for the time period reaching the preset duration comprises: controlling, by the slave station device, the target emergency stop signal to be maintained at a low level state for the preset duration, so that the target emergency stop signal is effectively executed.
The method of claim 13, wherein the emergency stop signal comprises a first channel emergency stop signal and a second channel emergency stop signal; a signal value of the emergency stop signal meeting a reset trigger condition comprises: both the first channel emergency stop signal and the second channel emergency stop signal being high level signals.
The method of claim 17, further comprising: in response to the trigger operation from the user, obtaining, by at least one end-side control device of the at least two end-side control devices, a first initial emergency stop signal, a second initial emergency stop signal, and an initial reset signal; transmitting, by the at least one end-side control device, the first initial emergency stop signal, the second initial emergency stop signal and the initial reset signal to the master station device through three channels in an order of a series connection, wherein the first channel emergency stop signal comprises the first initial emergency stop signal generated by the at least one end-side control device, the second channel emergency stop signal comprises the second initial emergency stop signal generated by the at least one end-side control device, and the reset signal comprises the initial reset signal generated by the at least one end-side control device.
The method of claim 17 or 18, further comprising: in a case where a signal value of the first channel emergency stop signal and a signal value of the second channel emergency stop signal are the same, delaying the reset signal according to the preset delay duration.
A control system, comprising at least two end-side control devices, a master station device and a plurality of slave station devices, wherein the master station device comprises a security verification device; the at least two end-side control devices are connected to each other in series, wherein an output signal of a first end-side control device is sequentially transmitted via at least one second end-side control device, and the output signal comprises an initial control signal, the first end-side control device is an end-side control device firstly triggered among the at least two end-side control devices, or an end-side control device located after an end-side control device firstly triggered; the at least one second end-side control device comprises an end-side control device located after the first end-side control device among the at least two end-side control devices; the security verification device is connected to a last end-side control device among the at least two end-side control devices by wire, and is connected to the plurality of slave station devices wirelessly; the security verification device is configured to perform security verification on an initial control signal in an output signal of the last end-side control device, and send a target control signal to each of the plurality of slave station devices after the security verification passes.

Description

The present disclosure claims priority to Chinese patent application No. 202310835064.2 filed on July 7, 2023, the priority of Chinese patent application 202310833665.X filed on July 7, 2023, and the priority of Chinese patent application 202311013758.4 filed on August 11, 2023, the entire contents of which are incorporated by reference into the present disclosure. TECHNICAL FIELD The present disclosure relates to the field of intelligent warehousing technology, and specifically to a control method and a control system. BACKGROUND Automated warehousing is an intelligent warehousing mode in which autonomous mobile robots (AMR) are used to perform cargo transportation and picking. In actual implementation scenarios, a warehouse environment can accommodate hundreds or thousands of autonomous mobile robots (referred to as robots) to perform tasks together. In order to maintain the safety of each robot and to be able to intervene in an unexpected state of the robot in time, it is necessary to issue a control instruction to the robot, for example. The robot is controlled to stop suddenly by a control system, that is, the robot is controlled to enter a safe stop state. In some implementation scenarios, the control system can be triggered to transmit the control instruction to the robot by triggering a button of a pre-deployed control device. SUMMARY Embodiments of the present disclosure provide a control method and a control system. According to a first aspect of the embodiments of the present disclosure, a control method is provided. The method is applied to a control system and includes: in response to a trigger operation from a user, transmitting an output signal of a first end-side control device among the at least two end-side control devices sequentially via at least one second end-side control device, in which the output signal includes an initial control signal, the first end-side control device is an end-side control device firstly triggered among the at least two end-side control devices, or an end-side control device located after an end-side control device firstly triggered; the at least one second end-side control device includes an end-side control device located after the first end-side control device among the at least two end-side control devices; in a case where an output signal of a last end-side control device among the at least two end-side control devices is received, performing, by the security verification device, security verification on an initial control signal in the output signal of the last end-side control device; and in a case where the security verification is passed, sending, by the security verification device, a target control signal to each of the plurality of slave station devices according to the initial control signal, so that the plurality of slave station devices control respective robots according to the target control signal respectively. In combination with the first aspect, in some embodiments, transmitting the output signal of the first end-side control device among the at least two end-side control devices sequentially via the at least one second end-side control device, includes: transmitting, by the first end-side control device, a first initial control signal and a first reset signal to a next second end-side control device adjacent to the first end-side control device; in which 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 the other device, the other device includes a device in a previous signal transmission phase of the first end-side control device. In combination with the first aspect, in some embodiments, in response to the trigger operation from the user, transmitting the output signal of the first end-side control device sequentially via at least one second end-side control device, includes: performing, by the first end-side control device, an AND operation on the first initial control signal and a second initial control signal to obtain the initial control signal to be output after the AND operation, in which the second initial control signal refers to an initial control signal generated by the first end-side control device in response to the trigger operation; performing, by the first end-side control device, an OR operation on the first reset signal and a second reset signal to obtain a reset signal to be output after the OR operation, in which the second reset signal refers to a reset signal generated by the first end-side control device in response to the trigger operation; and transmitting the initial control signal to be output and the reset signal to be output to the next second end-side control device adjacent to the first end-side control device, in which the output signal includes the initial control signal to be output and the reset signal to be output. In combination with the first aspect, in some embodiments, the output signal of the at least t