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Robot safety control method, device, equipment and storage medium

A safety control and robot technology, applied in the field of robots, can solve the problems of unable to stop the motor, unable to control the motor through commands, single control method, etc., to achieve the effect of improving safety

Active Publication Date: 2019-10-25
SUZHOU BOZHON ROBOT CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the above-mentioned control method is relatively simple. When the communication between the chassis controller and the driver fails, the motor cannot be controlled by instructions, and the motor cannot be stopped, resulting in a fault and failing to meet the safety requirements of the robot.

Method used

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  • Robot safety control method, device, equipment and storage medium
  • Robot safety control method, device, equipment and storage medium
  • Robot safety control method, device, equipment and storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0035] figure 1 It is a flow chart of the robot safety control method in Embodiment 1 of the present invention. This embodiment is applicable to the situation of realizing safety control on the robot motor. The method can be executed by the robot safety control device, which can use software and / or hardware The device can be configured in a device, which can be a robot or other intelligent device.

[0036] figure 2 It is a schematic diagram of the safety control circuit of the robot in Embodiment 1 of the present invention. The driver 11, the controller 12, the emergency stop button 13 and the motor 14 in the figure are all hardware devices provided on the robot. The emergency stop button 13 can be connected to the input / output (I / O) port of the driver 11 and the controller 12 respectively, and the driver 11 can be connected to the controller 12 through a Controller Area Network (CAN). The driver 11 is connected with the motor 14 and can control the motor 14 to stop. The c...

Embodiment 2

[0053] image 3 It is a flow chart of the robot safety control method in the second embodiment of the present invention. On the basis of the foregoing embodiments, this embodiment further optimizes the foregoing robot safety control method. Correspondingly, such as image 3 As shown, the method of this embodiment specifically includes:

[0054] S210. Determine whether there is a fault in the controller area network between the driver and the controller.

[0055] Specifically, judging whether there is a fault in the controller local area network between the driver and the controller may include: according to whether the driver receives the heartbeat frame sent by the controller within the set time, judging the controller local area network between the driver and the controller whether there is a fault in the network.

[0056] If the controller local area network between the drive and the controller has a fault, S220 may be executed; if the controller local area network betw...

Embodiment 3

[0068] Figure 4 It is a schematic structural diagram of the robot safety control device in the third embodiment of the present invention, and this embodiment is applicable to the situation of realizing safety control on the robot motor. The robot safety control device provided by the embodiment of the present invention can execute the robot safety control method provided by any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the method.

[0069] The device specifically includes a fault judgment module 310 and a stop module 320, wherein:

[0070] A fault judging module 310, configured to judge whether there is a fault in the controller local area network between the driver and the controller;

[0071] The stop module 320 is used to stop the motor of the robot controlled by the driver if there is a fault in the controller local area network between the driver and the controller, and / or to stop the driver to con...

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Abstract

The embodiment of the invention discloses a robot safety control method, device and equipment and a storage medium, wherein the robot safety control method comprises the steps that whether a fault exists in a controller local area network between a drive and a controller is judged; and if yes, the drive controls a motor of a robot to stop, and / or the drive controls the motor to stop through an emergency stop key, wherein the emergency stop key is connected with an input-output port of the drive. According to the technical scheme provided by the embodiment of the invention, the emergency stop key is connected with the drive directly, thus when the communication fault exists in connection of the drive and the controller, the drive can stop the motor through the emergency stop key, the motorcan also be stopped directly, dual protection for the robot motor is achieved, and safety of the robot is improved greatly.

Description

technical field [0001] The embodiments of the present invention relate to the technical field of robots, and in particular to a robot safety control method, device, equipment and storage medium. Background technique [0002] With the development of artificial intelligence technology and manufacturing technology, robots are more and more widely used in people's daily life and study life, and safety is the primary guarantee of every robot, among which the safety of the chassis control driver in various situations is the most important important part. [0003] In the prior art, when the robot encounters an emergency, the chassis controller can send a stop command to the driver to stop the motor by receiving the emergency stop signal sent by the user. However, the above-mentioned control method is relatively simple. When the communication between the chassis controller and the driver fails, the motor cannot be controlled by instructions, and the motor cannot be stopped, resulti...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1602B25J9/1674
Inventor 范军军蔡宝京张俪靓许海涛王彬彬
Owner SUZHOU BOZHON ROBOT CO LTD
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