Robot and control method and device thereof, storage medium and computer program product

Abstract

The invention discloses a robot control method and device, a robot, a storage medium and a computer program product, and the method comprises the steps: obtaining an emergency stop signal of the robot in the operation process of the robot, and obtaining the speed of the robot; according to the obtained sudden stop signal of the robot, whether the sudden stop function of the robot needs to be started or not is determined; if it is determined that the sudden stop function of the robot needs to be started, whether the sudden stop time of the robot is reached or not is determined according to the speed of the robot; and if it is determined that the sudden stop time of the robot is up, the sudden stop function of the robot is started so as to control the robot to achieve sudden stop. According to the scheme, the instant sudden stop time of the robot is judged according to the speed of the robot, pre-deceleration control is added, the deceleration time is controlled, it is guaranteed that the robot stops working in time, and the safety and stability of a system where the robot is located are improved.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, specifically relating to a robot control method, device, robot, storage medium, and computer program product, and particularly to a method, device, robot, storage medium, and computer program product for implementing a robot emergency stop protection control system. Background Technology

[0002] In industrial environments, robots typically operate at high speeds and under heavy loads. Accidents (such as program errors, mechanical failures, or personnel accidentally entering the work area) can cause serious injury to operators. The robot's emergency stop function can cut off the power source or stop movement in the shortest possible time, preventing the accident from escalating. Pressing the robot's emergency stop button will control a relay to cut off the power supply and activate the robot's brakes. However, an immediate emergency stop while the robot is running at high speed may create new safety issues, such as affecting the robot's own safety and / or the safety of the workpiece it is handling.

[0003] The above content is only used to help understand the technical solution of the present invention and does not represent an admission that the above content is prior art. Summary of the Invention

[0004] The purpose of this invention is to provide a robot control method, device, robot, storage medium, and computer program product to solve the problem that if a robot stops abruptly while running at high speed, it may cause new safety problems, such as affecting the safety of the robot itself and / or the safety of the workpiece being processed by the robot. The invention achieves the effect of determining the timing of the robot's immediate stop based on its speed, adding pre-deceleration control and controlling the deceleration time, ensuring that the robot stops working in a timely manner, and improving the safety and stability of the robot system.

[0005] This invention provides a robot control method, comprising: acquiring an emergency stop signal of the robot during the operation of the robot, and acquiring the speed of the robot; determining whether to activate the emergency stop function of the robot based on the acquired emergency stop signal; if it is determined that the emergency stop function of the robot needs to be activated, determining whether the emergency stop timing of the robot has arrived based on the speed of the robot; if it is determined that the emergency stop timing of the robot has arrived, activating the emergency stop function of the robot to control the robot to achieve an emergency stop.

[0006] In some implementations, determining whether to activate the robot's emergency stop function based on the acquired emergency stop signal includes: determining whether the acquired emergency stop signal is a preset emergency stop signal for the robot; the preset emergency stop signal includes: a signal automatically generated due to a robot malfunction requiring emergency stop, or a signal generated by an operator via the robot's emergency stop button requiring emergency stop; if the acquired emergency stop signal is determined to be a preset emergency stop signal, then it is determined that the robot's emergency stop function needs to be activated; and / or, activating the robot's emergency stop function to control the robot to achieve an emergency stop includes: controlling the robot's brake and disconnecting the robot's power output to control the robot to achieve an emergency stop.

[0007] In some implementations, determining whether the robot's emergency stop timing has arrived based on the robot's speed includes: determining whether the robot's speed is greater than or equal to a preset first speed; if the robot's speed is greater than or equal to the preset first speed, then determining that the robot's emergency stop timing has not arrived; if the robot's speed is less than the preset first speed, then determining that the robot's emergency stop timing has arrived.

[0008] In some embodiments, determining whether the robot's emergency stop timing has arrived based on the robot's speed further includes: if it is determined that the robot's speed is greater than or equal to a preset first speed and the emergency stop timing has not arrived, controlling the robot to decelerate to obtain the robot's speed after deceleration; determining whether the robot's speed after deceleration is less than or equal to a preset second speed; wherein the preset second speed is less than the preset first speed; if it is determined that the robot's speed after deceleration is less than or equal to the preset second speed, then it is determined that the robot's emergency stop timing has arrived; if it is determined that the robot's speed after deceleration is greater than the preset second speed, then it is determined that the robot's emergency stop timing has not arrived.

[0009] In some implementations, determining whether the robot's emergency stop timing has arrived based on the robot's speed further includes: if the robot's speed is determined to be greater than or equal to a preset first speed, and the emergency stop timing has not arrived, controlling the robot to decelerate to obtain the robot's speed after deceleration; and timing the deceleration time to obtain the robot's deceleration time; if the robot's speed after deceleration is determined to be greater than a preset second speed, and the emergency stop timing has not arrived, determining whether the robot's deceleration time has reached a preset deceleration time; if the robot's deceleration time has reached the preset deceleration time, then determining that the robot's emergency stop timing has arrived; if the robot's deceleration time has not reached the preset deceleration time, then returning to continue controlling the robot to decelerate.

[0010] In some embodiments, determining whether the robot's emergency stop timing has arrived based on the robot's speed further includes: determining whether the robot's speed is greater than or equal to a preset intermediate speed; wherein the preset intermediate speed is less than a preset first speed and greater than a preset second speed; if the robot's speed is determined to be less than the preset intermediate speed, then the robot's emergency stop timing has arrived; if the robot's speed is determined to be greater than or equal to the preset intermediate speed, then the robot's emergency stop timing has not arrived, and the robot is then controlled to decelerate to obtain the decelerated robot speed; timing the robot's deceleration time to obtain the robot's deceleration time; and determining whether the decelerated robot speed is less than the preset intermediate speed; if the decelerated robot speed is determined to be less than the preset intermediate speed, then the robot's emergency stop timing has arrived; if the decelerated robot speed is still greater than or equal to the preset intermediate speed, then the robot's deceleration time has reached a preset deceleration time: if yes, then the robot's emergency stop timing has arrived; otherwise, the process returns to continue controlling the robot to decelerate.

[0011] In conjunction with the above method, another aspect of the present invention provides a robot control device, comprising: an acquisition unit configured to acquire an emergency stop signal of the robot during the operation of the robot and acquire the speed of the robot; a control unit configured to determine, based on the acquired emergency stop signal of the robot, whether it is necessary to activate the emergency stop function of the robot; the control unit is further configured to, if it is determined that it is necessary to activate the emergency stop function of the robot, determine, based on the speed of the robot, whether the emergency stop timing of the robot has arrived; the control unit is further configured to, if it is determined that the emergency stop timing of the robot has arrived, activate the emergency stop function of the robot to control the robot to achieve an emergency stop.

[0012] In some embodiments, the control unit determines whether to activate the robot's emergency stop function based on the acquired emergency stop signal of the robot, including: determining whether the acquired emergency stop signal of the robot is a preset emergency stop signal of the robot; the preset emergency stop signal of the robot includes: a signal automatically generated due to a robot malfunction requiring emergency stop, or a signal generated by an operator through the robot's emergency stop button requiring emergency stop; if it is determined that the acquired emergency stop signal of the robot is a preset emergency stop signal of the robot, then it is determined that the emergency stop function of the robot needs to be activated; and / or, the control unit activates the emergency stop function of the robot to control the robot to achieve an emergency stop, including: controlling the robot's brake and disconnecting the robot's power output power supply to control the robot to achieve an emergency stop.

[0013] In some implementations, the control unit determines whether the robot's emergency stop timing has arrived based on the robot's speed, including: determining whether the robot's speed is greater than or equal to a preset first speed; if the robot's speed is greater than or equal to the preset first speed, then determining that the robot's emergency stop timing has not arrived; if the robot's speed is less than the preset first speed, then determining that the robot's emergency stop timing has arrived.

[0014] In some embodiments, the control unit, based on the robot's speed, determines whether the robot's emergency stop timing has arrived, further comprising: if it is determined that the robot's speed is greater than or equal to a preset first speed and the robot's emergency stop timing has not arrived, controlling the robot to decelerate to obtain the robot's speed after deceleration; determining whether the robot's speed after deceleration is less than or equal to a preset second speed; wherein the preset second speed is less than the preset first speed; if it is determined that the robot's speed after deceleration is less than or equal to the preset second speed, then it is determined that the robot's emergency stop timing has arrived; if it is determined that the robot's speed after deceleration is greater than the preset second speed, then it is determined that the robot's emergency stop timing has not arrived.

[0015] In some embodiments, the control unit, based on the robot's speed, determines whether the robot's emergency stop timing has arrived, further comprising: if it is determined that the robot's speed is greater than or equal to a preset first speed and the emergency stop timing has not arrived, controlling the robot to decelerate to obtain the decelerated robot speed; and timing the deceleration time to obtain the deceleration time; if it is determined that the decelerated robot speed is greater than a preset second speed and the emergency stop timing has not arrived, determining whether the deceleration time has reached a preset deceleration time; if it is determined that the deceleration time has reached the preset deceleration time, then it is determined that the robot's emergency stop timing has arrived; if it is determined that the deceleration time has not reached the preset deceleration time, then it returns to continue controlling the robot to decelerate.

[0016] In some embodiments, the control unit, based on the robot's speed, determines whether the robot's emergency stop timing has arrived, further including: determining whether the robot's speed is greater than or equal to a preset intermediate speed; wherein the preset intermediate speed is less than a preset first speed and greater than a preset second speed; if the robot's speed is determined to be less than the preset intermediate speed, then the emergency stop timing has arrived; if the robot's speed is determined to be greater than or equal to the preset intermediate speed, then the emergency stop timing has not arrived, and the robot is controlled to decelerate to obtain the decelerated robot speed; timing the robot's deceleration time to obtain the robot's deceleration time; and determining whether the decelerated robot speed is less than the preset intermediate speed; if the decelerated robot speed is determined to be less than the preset intermediate speed, then the emergency stop timing has arrived; if the decelerated robot speed is still greater than or equal to the preset intermediate speed, then the deceleration time has reached a preset deceleration time: if yes, then the emergency stop timing has arrived; otherwise, return to continue controlling the robot to decelerate.

[0017] In conjunction with the above-described device, the present invention further provides a robot, comprising: the control device for the robot described above.

[0018] In conjunction with the above method, the present invention further provides a storage medium comprising a stored program, wherein, when the program is executed, the device containing the storage medium is controlled to perform the steps of the robot control method described above.

[0019] In conjunction with the above method, the present invention further provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the robot control method described above.

[0020] Therefore, the solution of this invention, regarding the emergency stop control function of a robot, upon detecting an emergency stop signal, determines whether an immediate emergency stop is necessary based on the robot's speed. If it is determined that an immediate emergency stop is not necessary, pre-deceleration control is implemented to slow down the robot before the emergency stop, and the deceleration time is controlled. If it is determined that an immediate emergency stop is necessary, the robot is immediately braked and the power output is disconnected, thus achieving emergency stop control of the robot. Therefore, by determining the timing of an immediate emergency stop based on the robot's speed, and by adding pre-deceleration control and controlling the deceleration time, the robot is ensured to stop working in a timely manner, improving the safety and stability of the system in which the robot is located.

[0021] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention.

[0022] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0023] Figure 1 This is a flowchart illustrating an embodiment of the robot control method of the present invention;

[0024] Figure 2 This is a flowchart illustrating an embodiment of the method of the present invention for determining whether the emergency stop function of the robot needs to be activated;

[0025] Figure 3 This is a flowchart illustrating an embodiment of the method of the present invention for determining whether the robot's emergency stop timing has arrived based on a preset first speed;

[0026] Figure 4 This is a flowchart illustrating an embodiment of the method of the present invention for determining whether the robot's emergency stop timing has arrived based on a preset second speed;

[0027] Figure 5 This is a flowchart illustrating an embodiment of the method of the present invention for determining whether the robot's emergency stop timing has arrived based on the robot's deceleration time;

[0028] Figure 6 This is a flowchart illustrating an embodiment of the method of the present invention for determining whether the robot's emergency stop timing has arrived based on a preset intermediate speed;

[0029] Figure 7 This is a schematic diagram of the structure of an embodiment of the robot control device of the present invention;

[0030] Figure 8 A schematic diagram illustrating the workflow of the robot's emergency stop protection control system;

[0031] Figure 9 This is a schematic diagram of the emergency stop protection control system.

[0032] Referring to the accompanying drawings, the reference numerals in the embodiments of the present invention are as follows:

[0033] 102 - Acquisition unit; 104 - Control unit. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0035] Considering that an abrupt stop while the robot is running at high speed could cause new safety issues, such as affecting the robot's own safety and / or the safety of the workpiece it is handling, specifically, while an abrupt stop at high speed can effectively ensure safety, it may also bring some drawbacks or negative impacts: At high speeds, the robot has significant inertia; a sudden stop would generate a large mechanical impact force, potentially causing premature wear of critical components such as bearings and reducers; during an abrupt stop, the robot, due to inertia, might move beyond its expected position, leading to increased positioning errors; and if the robot is handling or processing workpieces, a sudden stop could cause the workpieces to fall or be damaged.

[0036] The present invention aims to solve the problems of potential damage to critical robot components and incomplete braking due to insufficient braking power when a robot stops abruptly at high speed. High-speed robots possess significant kinetic energy; if they stop suddenly without pre-deceleration, the mechanical structure will be subjected to a strong impact due to inertia, leading to wear and even damage to critical robot components over time. Sudden stops often involve cutting off power to the drive unit, making controlled deceleration impossible. If the robot decelerates from high speed to zero or low speed (e.g., 10%–20% of its original speed) before stopping, the excessively long deceleration time is unsafe. In scenarios involving rapid deceleration or frequent starts and stops, motor overheating, increased energy consumption, and shortened lifespan are likely to occur.

[0037] Therefore, the present invention proposes a robot control method, specifically a robot emergency stop protection control system implementation method. The method intelligently determines whether an immediate emergency stop is needed based on the robot's operating status and adds pre-deceleration control to decelerate before the emergency stop, and controls the deceleration time and the power supply cut-off time to ensure that the robot stops working in time, thereby improving the safety and stability of the system.

[0038] According to embodiments of the present invention, a robot control method is provided, such as... Figure 1 The diagram shows a flowchart of an embodiment of the method of the present invention. The robot control method may include steps S110 to S140.

[0039] In step S110, during the operation of the robot, the robot's emergency stop signal is acquired, and the robot's speed is acquired.

[0040] In step S120, based on the acquired emergency stop signal of the robot, it is determined whether the emergency stop function of the robot needs to be activated.

[0041] In step S130, if it is determined that the emergency stop function of the robot needs to be activated, then the timing of the emergency stop of the robot is determined according to the speed of the robot.

[0042] In step S140, if it is determined that the robot's emergency stop time has arrived, the robot's emergency stop function is activated to control the robot to achieve an emergency stop.

[0043] The solution of the present invention optimizes the emergency stop process of the robot by determining the emergency stop timing of the robot based on the robot's speed, thereby reducing mechanical impact and vibration and improving system safety and stability.

[0044] In some implementations, the specific process of determining whether to activate the robot's emergency stop function based on the acquired emergency stop signal in step S120 is illustrated in the following exemplary description.

[0045] The following is combined with Figure 2 The flowchart shown is a schematic diagram of an embodiment of the method of the present invention for determining whether the emergency stop function of the robot needs to be activated. It further illustrates the specific process of determining whether the emergency stop function of the robot needs to be activated in step S120, including steps S210 to S220.

[0046] Step S210: Determine whether the obtained emergency stop signal of the robot is the robot's preset emergency stop signal; the robot's preset emergency stop signal includes: a signal automatically issued due to a robot malfunction requiring emergency stop of the robot, or a signal issued by the operator through the robot's emergency stop button requiring emergency stop of the robot.

[0047] Step S220: If it is determined that the obtained emergency stop signal of the robot is the robot's preset emergency stop signal, then it is determined that the robot's emergency stop function needs to be activated.

[0048] Figure 8This is a schematic diagram illustrating the workflow of the robot's emergency stop protection control system. Figure 9 This is a schematic diagram of the emergency stop protection control system. Figure 8 and Figure 9 V1: A higher speed value. A sudden stop at this speed will cause impact and wear to critical robot components. This value can be set according to actual conditions. V2: A lower speed value. At this speed, a brake signal can be output for a direct emergency stop without impacting or wearing critical robot components. This value can be set according to actual conditions. T: Emergency stop safety time. Failure to stop in time after T will result in personnel injury or robot damage. ms: Millisecond, a unit of time. MCU: Control chip.

[0049] The present invention provides a robot emergency stop protection control system. For example... Figure 8 As shown, the workflow of the robot's emergency stop protection control system includes:

[0050] Step 1: Obtain the robot's emergency stop detection signal and the robot motor's real-time speed, then proceed to Step 2.

[0051] The emergency stop detection signal can be a high-level or low-level signal. The emergency stop detection signal is generally generated when the emergency stop button is manually pressed or when the robot and controller experience a fault alarm. The emergency stop detection signal is connected to a pin of the MCU, and the MCU detects the level state of this pin to determine whether an emergency stop detection signal has been generated.

[0052] Some solutions calculate the magnitude of the collision impact force based on distance to determine whether the robot needs to be buffered, decelerated, or stopped abruptly. This is essentially a collision protection mechanism and lacks emergency stop protection when a human needs to stop the robot or presses the emergency stop button. In contrast, the solution of this invention triggers emergency stop protection under both automatic and manual conditions. Automatic emergency stop includes generating an emergency stop signal due to robot malfunction or the achievement of various preset alarm functions, while manual emergency stop involves manually pressing the emergency stop button, offering higher safety and controllability.

[0053] In some implementations, step S130, determining whether the robot's emergency stop timing has arrived based on the robot's speed, includes: determining whether the robot's emergency stop timing has arrived based on a preset first speed.

[0054] The following is combined with Figure 3 The flowchart of an embodiment of the method of the present invention, which determines whether the robot’s emergency stop time has arrived based on a preset first speed, is shown below. The specific process of determining whether the robot’s emergency stop time has arrived based on a preset first speed in step S130 is further explained, including steps S310 to S330.

[0055] Step S310: Determine whether the speed of the robot is greater than or equal to a preset first speed; wherein, the preset first speed is such as speed V1.

[0056] Step S320: If it is determined that the speed of the robot is greater than or equal to a preset first speed, then it is determined that the emergency stop time of the robot has not arrived, and then the robot is controlled to decelerate to obtain the speed of the robot after deceleration; the time for controlling the robot to decelerate is timed to obtain the deceleration time of the robot; and, based on the speed of the robot after deceleration and / or the deceleration time of the robot, it is determined whether the emergency stop time of the robot has arrived.

[0057] Step S330: If it is determined that the speed of the robot is less than the preset first speed, then it is determined that the emergency stop time of the robot has arrived.

[0058] like Figure 8 As shown, the workflow of the robot's emergency stop protection control system also includes:

[0059] Step 2: When an emergency stop detection signal is received, determine whether the current real-time speed of the robot is greater than or equal to speed V1. If yes, proceed to step 3 to control the robot motor to decelerate; otherwise, proceed to step 6 to immediately control the robot to brake and disconnect the power output.

[0060] The solution of this invention significantly improves the safety and stability of the entire system by optimizing the emergency stop process, adding emergency stop pre-deceleration processing, and setting a safe deceleration time. It also reduces mechanical shock and vibration, improves positioning accuracy and repeatability, reduces load fluctuations in servo motors and drive systems, and extends the lifespan of key robot components.

[0061] In some implementations, step S130, which determines whether the robot's emergency stop has occurred based on the robot's speed, further includes: determining whether the robot's emergency stop has occurred based on a preset second speed.

[0062] The following is combined with Figure 4 The flowchart of an embodiment of the method of the present invention, which determines whether the robot’s emergency stop time has arrived based on a preset second speed, is shown below. The specific process of determining whether the robot’s emergency stop time has arrived based on a preset second speed in step S130 is further explained, including steps S410 to S440.

[0063] Step S410: If it is determined that the speed of the robot is greater than or equal to a preset first speed and the emergency stop time of the robot has not arrived, the robot is controlled to decelerate to obtain the speed of the robot after deceleration; then the time for controlling the robot to decelerate is timed to obtain the deceleration time of the robot; wherein, controlling the robot to decelerate means controlling the deceleration of the robot's motor, and the deceleration of the robot's motor can be controlled at a preset rate and / or amplitude.

[0064] Step S420: Determine whether the speed of the robot after deceleration is less than or equal to a preset second speed; wherein, the preset second speed is less than a preset first speed, and the preset second speed is like speed V2.

[0065] Step S430: If it is determined that the speed of the robot after deceleration is less than or equal to the preset second speed, then it is determined that the robot's emergency stop time has arrived.

[0066] Step S440: If it is determined that the speed of the robot after deceleration is greater than the preset second speed, then it is determined that the robot's emergency stop time has not yet arrived, the deceleration time of the robot is determined, and it is determined whether the robot's emergency stop time has arrived.

[0067] like Figure 8 As shown, the workflow of the robot's emergency stop protection control system also includes:

[0068] Step 3: If the current real-time speed of the robot is greater than or equal to speed V1, control the robot motor to decelerate, and then proceed to step 4.

[0069] Specifically, controlling the robot motor deceleration can be achieved by the MCU controlling the power module (IPM) to output current via a drive signal to control the motor rotation. By reducing the output current, the motor decelerates. The MCU drives the IPM via a drive signal (PWM signal), which is an alternating high and low level signal. Increasing the high-level time increases the current, and decreasing the high-level time decreases the current.

[0070] Step 4: After controlling the robot to decelerate, determine the speed value in real time, that is, determine whether the robot's real-time speed is less than or equal to speed V2: if so, execute step 6 to immediately control the robot to brake and disconnect the power output power; otherwise, execute step 5 to determine whether the robot's deceleration time is Tms.

[0071] Some solutions decelerate the robot based on its actual speed, then stop and cut off power when deceleration is complete or the emergency stop timer expires. The solution of this invention, however, first determines the robot's speed. If the robot's speed is greater than or equal to a safe speed 1 (e.g., speed V1), it decelerates until it reaches a safe speed 2 (e.g., speed V2) or the deceleration timer expires, then stops and cuts off power. If the robot's speed is lower than a safe speed 1 (e.g., speed V1), it stops immediately and cuts off power. This invention adds a safe speed threshold setting compared to other solutions, allowing for deceleration followed by an emergency stop at high speeds and direct emergency stop at low speeds. This ensures both safety and timely emergency stop response, enabling rapid emergency stops when deceleration is not required, thus protecting personnel and equipment safety.

[0072] In some implementations, step S130, which determines whether the robot's emergency stop has occurred based on the robot's speed, further includes: determining whether the robot's emergency stop has occurred based on the robot's deceleration time.

[0073] The following is combined with Figure 5 The flowchart shown is a schematic diagram of an embodiment of the method of the present invention for determining whether the robot's emergency stop timing has arrived based on the robot's deceleration time. The specific process of determining whether the robot's emergency stop timing has arrived based on the robot's deceleration time in step S130 is further explained, including steps S510 to S540.

[0074] Step S510: If it is determined that the speed of the robot is greater than or equal to a preset first speed and the emergency stop time of the robot has not arrived, control the robot to decelerate and obtain the speed of the robot after deceleration; and time the deceleration time of the robot to obtain the deceleration time of the robot.

[0075] Step S520: If it is determined that the speed of the robot after deceleration is greater than the preset second speed, and it is determined that the robot's emergency stop time has not arrived, determine whether the robot's deceleration time has reached the preset deceleration time; wherein, the preset deceleration time is Tms.

[0076] Step S530: If it is determined that the deceleration time of the robot has reached the preset deceleration time, then it is determined that the emergency stop time of the robot has arrived.

[0077] Step S540: If it is determined that the deceleration time of the robot has not reached the preset deceleration time, return to continue controlling the robot to decelerate, and then re-determine whether the speed of the robot after deceleration is less than or equal to the preset second speed.

[0078] like Figure 8 As shown, the workflow of the robot's emergency stop protection control system also includes:

[0079] Step 5: Determine if the robot's deceleration time is Tms: If yes, proceed to step 5; otherwise, return to step 3 to continue controlling the robot motor to decelerate. Deceleration is intended to reduce the robot's running speed to the maximum extent possible within a short time. If the speed has not decreased to the specified value, the robot must stop immediately. Robots typically stop abruptly when a malfunction occurs or when human intervention requires the robot to stop. If the time from issuing the emergency stop command to the robot actually stopping is too long, it may cause safety hazards, resulting in injury or damage to personnel and the robot itself.

[0080] Step 6: Immediately control the robot to apply the emergency brakes and disconnect the power output. The control unit needs to interpret the emergency stop signal and issue a stop command. This process may take several milliseconds to tens of milliseconds, depending on the system complexity. At high speeds, deceleration is performed before the emergency stop to minimize inertial impact and reduce wear on critical robot components. At low speeds, direct braking and power disconnection ensure the robot stops working promptly, significantly improving system safety and stability.

[0081] When an emergency stop detection signal is received, the system checks if the robot's real-time speed is greater than or equal to V1. If it is, the robot motor is controlled to decelerate; otherwise, the brakes are immediately engaged and the power output is disconnected. After the robot motor decelerates, the speed is checked in real-time. If the real-time speed is less than or equal to V2, the brakes are immediately engaged and the power output is disconnected; otherwise, the deceleration time is checked and must be controlled within Tms. If the speed is not reduced to V2 within Tms, a brake signal is output for immediate emergency stop to ensure safety. If Tms is not reached, deceleration continues. If the robot's real-time speed is less than V2, the robot is at a low speed and can be stopped immediately to ensure the safety of personnel and equipment. After the brake signal is output, the brakes are engaged, the power output is disconnected, and the robot stops working.

[0082] Figure 9 A schematic diagram of the robot's emergency stop protection control system is shown. Figure 9As shown, the robot emergency stop protection control system includes: an emergency stop button press module, an emergency stop detection circuit, an MCU, a speed sensor, a pre-deceleration module, and a robot emergency stop module. The output signal of the emergency stop button press module is input to the emergency stop detection circuit. The emergency stop detection circuit outputs an emergency stop detection signal to the first input terminal of the MCU. The speed sensor outputs the robot's real-time speed to the second input terminal of the MCU. The first output terminal of the MCU outputs a signal to control the pre-deceleration module, and the second output terminal of the MCU outputs a control signal to the robot emergency stop module. The pre-deceleration module also outputs a control signal to the robot emergency stop module. The emergency stop detection circuit can be an optocoupler output circuit. When the emergency stop button is pressed, it forms a loop with the input terminal of the optocoupler output circuit. Current flows through the input terminal of the optocoupler output circuit, illuminating the internal LED of the optocoupler. The output terminal of the optocoupler output circuit outputs a signal for detection.

[0083] like Figure 9 As shown, the emergency stop protection control system is generally triggered by an emergency stop button. When the emergency stop button is pressed, it sends an emergency stop detection signal to the MCU. At the same time, the MCU obtains the real-time speed of the robot from the speed sensor and then decides whether to perform pre-deceleration based on the real-time speed. Finally, the robot will enter the emergency stop state.

[0084] Specifically, pre-deceleration can be achieved by the MCU controlling the output current of the power module (IPM) through a drive signal to control the motor rotation, thereby reducing the output current and thus slowing down the motor.

[0085] Whether to perform pre-deceleration is determined based on the real-time speed. Specifically, this can be done by the MCU through software programming. When an emergency stop detection signal is received, it is determined whether the current real-time speed of the robot is greater than or equal to speed V1. If the current real-time speed of the robot is greater than or equal to speed V1, the robot motor is controlled to decelerate. Otherwise, the brake is immediately controlled and the power output is disconnected.

[0086] Some solutions primarily plan deceleration by establishing a deceleration curve based on actual operating torque, without specifying a safe speed threshold or deceleration time. In contrast, the solution of this invention includes a safe speed threshold and a safe deceleration time, allowing for a decision on whether immediate emergency stopping or deceleration followed by emergency stopping is necessary based on the actual speed, thus offering higher safety and timeliness.

[0087] Other solutions primarily control the output torque to shut off emergency stops based on the actual speed during the deceleration phase. Emergency stops are initiated immediately when the actual speed exceeds the safe speed, and when the actual speed is less than or equal to the safe speed and the deceleration time reaches the safe limit. These solutions emphasize reliability and safety, but direct emergency stops at high speeds without deceleration may damage critical robot components. In contrast, the solution of this invention requires deceleration before emergency stops at high speeds, and imposes safety limits on the deceleration time. This avoids damage to robot components caused by direct emergency stops at high speeds while ensuring emergency stops occur within a safe timeframe, thus providing higher safety and protection.

[0088] In some implementations, step S130, which determines whether the robot's emergency stop has occurred based on the robot's speed, further includes: determining whether the robot's emergency stop has occurred based on a preset intermediate speed.

[0089] The following is combined with Figure 6 The flowchart shown is a schematic diagram of an embodiment of the method of the present invention for determining whether the robot’s emergency stop time has arrived based on a preset intermediate speed. The specific process of determining whether the robot’s emergency stop time has arrived based on a preset intermediate speed in step S130 is further explained, including steps S610 to S650.

[0090] Step S610: Determine whether the speed of the robot is greater than or equal to a preset intermediate speed; wherein, the preset intermediate speed is less than a preset first speed and greater than a preset second speed, the preset intermediate speed is such as speed V0, the preset first speed is such as speed V1, and the preset second speed is such as speed V0.

[0091] Step S620: If it is determined that the speed of the robot is less than the preset intermediate speed, then it is determined that the emergency stop time of the robot has arrived.

[0092] Step S630: If it is determined that the speed of the robot is greater than or equal to a preset intermediate speed, then it is determined that the emergency stop time of the robot has not arrived, and then the robot is controlled to decelerate to obtain the speed of the robot after deceleration; the time for controlling the robot to decelerate is timed to obtain the deceleration time of the robot; and, it is determined whether the speed of the robot after deceleration is less than the preset intermediate speed.

[0093] Step S640: If it is determined that the speed of the robot after deceleration is less than the preset intermediate speed, then it is determined that the robot's emergency stop time has arrived.

[0094] Step S650: If it is determined that the speed of the robot after deceleration is still greater than or equal to the preset intermediate speed, then determine whether the deceleration time of the robot has reached the preset deceleration time: if yes, then determine that the emergency stop time of the robot has arrived; otherwise, return to continue to control the robot to decelerate, and then re-determine whether the speed of the robot after deceleration is less than or equal to the preset intermediate speed.

[0095] In some alternative embodiments, in the scheme of the present invention, when an emergency stop detection signal is obtained, it is determined whether the current real-time speed of the robot is greater than or equal to speed V0. Speed ​​V0 can be the midpoint between speed V1 and speed V2. If the current real-time speed of the robot is greater than or equal to V0, the robot motor is controlled to decelerate; otherwise, the brake is immediately controlled and the power output is disconnected. After controlling the robot motor to decelerate, the robot's speed value is determined in real time. If the robot's real-time speed is less than speed V0, the brake is immediately controlled and the power output is disconnected; otherwise, the deceleration time is determined. The deceleration time must be controlled within Tms. If the speed V0 is not reached within Tms, a brake signal is output for immediate emergency stop to ensure safety. If Tms is not reached, deceleration continues. The basic logic of this alternative embodiment is the same as that of the optimal embodiment. The optimal embodiment has higher emergency stop control efficiency and higher safety, while the alternative embodiment provides stronger protection for the robot's critical components. The speed range of V0 is relatively middle compared to V1 and V2, ensuring that the speed is neither too high nor too low, thus providing stronger protection for the robot's critical components.

[0096] In this invention, the robot operates at full speed (100%), typically with V1 set to 70%–80%, V2 to 40%–50%, and V0 to 50%–70%. T needs to be calculated based on actual conditions: first, consider the signal transmission delay, i.e., the transmission time from the emergency stop signal to the MCU, typically 50ms; then, consider the control system processing time, i.e., the time it takes for the MCU to issue a braking command after receiving the emergency stop signal, typically 100ms; finally, consider the braking execution time, i.e., the time it takes for the braking motor to start, typically 300ms. These are theoretical times only; the actual range of T can be 400ms to -700ms (further determination through actual measurement is required).

[0097] The solution of this invention includes emergency stop protection: pre-deceleration before emergency stop at high speed, and direct emergency stop at low speed; deceleration time: setting an emergency stop safety time; protection trigger signal: emergency stop detection signal, robot real-time speed. Thus, by optimizing the emergency stop process, the system safety and stability are improved, mechanical shock and vibration are reduced, positioning accuracy and repeatability are improved, load fluctuations of the servo motor and drive system are reduced, and the lifespan of key robot components is extended.

[0098] In some implementations, step S140 involves activating the robot's emergency stop function to control the robot to achieve an emergency stop, including: controlling the robot to apply the brakes and disconnecting the robot's power output to control the robot to achieve an emergency stop.

[0099] The solution of this invention optimizes the system's emergency stop logic, intelligently determining whether an immediate emergency stop is necessary based on the robot's operating status. It also incorporates pre-deceleration control, decelerating before the emergency stop to minimize inertial impact and rationally controlling the deceleration time and power supply cutoff time to ensure the robot stops working promptly, significantly improving system safety and stability. When the emergency stop condition is met, the MCU sends a relay control signal to close the power supply input relay, cutting off the power supply and stopping the robot more directly, improving safety and preventing accidental starts.

[0100] The technical solution of this embodiment, through the emergency stop control function of the robot, when an emergency stop signal is detected, determines whether an immediate emergency stop is needed based on the robot's speed. If it is determined that an immediate emergency stop is not needed, pre-deceleration control is performed to slow down the robot before the emergency stop and the deceleration time is controlled. If it is determined that an immediate emergency stop is needed, the robot is controlled to immediately apply the brakes and disconnect the robot's power output, thereby realizing the robot's emergency stop control. Thus, by determining the timing of the immediate emergency stop based on the robot's speed, and by adding pre-deceleration control and controlling the deceleration time, the robot is ensured to stop working in a timely manner, improving the safety and stability of the system in which the robot is located.

[0101] According to an embodiment of the present invention, a robot control device corresponding to a robot control method is also provided. See also Figure 7 The diagram shows a structural schematic of an embodiment of the device of the present invention. The control device of the robot may include: an acquisition unit 102 and a control unit 104.

[0102] The acquisition unit 102 is configured to acquire the robot's emergency stop signal and speed during the robot's operation. The specific functions and processing of the acquisition unit 102 are described in step S110.

[0103] The control unit 104 is configured to determine whether to activate the robot's emergency stop function based on the acquired emergency stop signal from the robot. The specific functions and processing of the control unit 104 are described in step S120.

[0104] The control unit 104 is further configured to, if it is determined that the emergency stop function of the robot needs to be activated, determine whether the emergency stop timing of the robot has arrived based on the robot's speed. The specific functions and processing of the control unit 104 are further described in step S130.

[0105] The control unit 104 is further configured to activate the robot's emergency stop function if it is determined that the robot's emergency stop time has arrived, so as to control the robot to achieve an emergency stop. The specific functions and processing of the control unit 104 are further described in step S140.

[0106] The solution of the present invention optimizes the emergency stop process of the robot by determining the emergency stop timing of the robot based on the robot's speed, thereby reducing mechanical impact and vibration and improving system safety and stability.

[0107] In some embodiments, the control unit 104 determines whether to activate the robot's emergency stop function based on the acquired emergency stop signal from the robot, including:

[0108] The control unit 104 is further configured to determine whether the acquired emergency stop signal of the robot is a preset emergency stop signal of the robot; the preset emergency stop signal of the robot includes: a signal automatically generated due to a robot malfunction requiring emergency stop of the robot, or a signal generated by the operator through the emergency stop button of the robot requiring emergency stop of the robot. The specific functions and processing of the control unit 104 are further described in step S210.

[0109] The control unit 104 is further configured to determine that the robot's emergency stop function needs to be activated if the acquired emergency stop signal of the robot is determined to be a preset emergency stop signal of the robot. The specific functions and processing of the control unit 104 are further described in step S220.

[0110] Figure 8 This is a schematic diagram illustrating the workflow of the robot's emergency stop protection control system. Figure 9 This is a schematic diagram of the emergency stop protection control system. Figure 8 and Figure 9 V1: A higher speed value. A sudden stop at this speed will cause impact and wear to critical robot components. This value can be set according to actual conditions. V2: A lower speed value. At this speed, a brake signal can be output for a direct emergency stop without impacting or wearing critical robot components. This value can be set according to actual conditions. T: Emergency stop safety time. Failure to stop in time after T will result in personnel injury or robot damage. ms: Millisecond, a unit of time. MCU: Control chip.

[0111] The present invention provides a robot emergency stop protection control system. For example... Figure 8 As shown, the workflow of the robot's emergency stop protection control system includes:

[0112] Step 1: Obtain the robot's emergency stop detection signal and the robot motor's real-time speed, then proceed to Step 2.

[0113] The emergency stop detection signal can be a high-level or low-level signal. The emergency stop detection signal is generally generated when the emergency stop button is manually pressed or when the robot and controller experience a fault alarm. The emergency stop detection signal is connected to a pin of the MCU, and the MCU detects the level state of this pin to determine whether an emergency stop detection signal has been generated.

[0114] Some solutions calculate the magnitude of the collision impact force based on distance to determine whether the robot needs to be buffered, decelerated, or stopped abruptly. This is essentially a collision protection mechanism and lacks emergency stop protection when a human needs to stop the robot or presses the emergency stop button. In contrast, the solution of this invention triggers emergency stop protection under both automatic and manual conditions. Automatic emergency stop includes generating an emergency stop signal due to robot malfunction or the achievement of various preset alarm functions, while manual emergency stop involves manually pressing the emergency stop button, offering higher safety and controllability.

[0115] In some embodiments, the control unit 104 determines whether the robot's emergency stop timing has arrived based on the robot's speed, including: a process of determining whether the robot's emergency stop timing has arrived based on a preset first speed, as detailed below:

[0116] The control unit 104 is further configured to determine whether the robot's speed is greater than or equal to a preset first speed; wherein the preset first speed is, for example, speed V1. The specific functions and processing of the control unit 104 are further described in step S310.

[0117] The control unit 104 is further configured to: if it is determined that the robot's speed is greater than or equal to a preset first speed, determine that the robot's emergency stop timing has not yet arrived, and then control the robot to decelerate to obtain the robot's speed after deceleration; time the deceleration time of the robot to obtain the robot's deceleration time; and determine whether the robot's emergency stop timing has arrived based on the robot's speed after deceleration and / or the robot's deceleration time. The specific functions and processing of this control unit 104 are further described in step S320.

[0118] The control unit 104 is further configured to determine that the robot's emergency stop has occurred if the robot's speed is determined to be less than a preset first speed. The specific functions and processing of the control unit 104 are further described in step S330.

[0119] like Figure 8 As shown, the workflow of the robot's emergency stop protection control system also includes:

[0120] Step 2: When an emergency stop detection signal is received, determine whether the current real-time speed of the robot is greater than or equal to speed V1. If yes, proceed to step 3 to control the robot motor to decelerate; otherwise, proceed to step 6 to immediately control the robot to brake and disconnect the power output.

[0121] The solution of this invention significantly improves the safety and stability of the entire system by optimizing the emergency stop process, adding emergency stop pre-deceleration processing, and setting a safe deceleration time. It also reduces mechanical shock and vibration, improves positioning accuracy and repeatability, reduces load fluctuations in servo motors and drive systems, and extends the lifespan of key robot components.

[0122] In some embodiments, the control unit 104 determines whether the robot's emergency stop timing has arrived based on the robot's speed, and further includes a process of determining whether the robot's emergency stop timing has arrived based on a preset second speed, as detailed below:

[0123] The control unit 104 is further configured to, when determining that the robot's speed is greater than or equal to a preset first speed and that the robot's emergency stop timing has not yet arrived, control the robot to decelerate, thereby obtaining the robot's speed after deceleration; and then time the deceleration time to obtain the robot's deceleration duration; wherein, controlling the robot to decelerate, i.e., controlling the robot's motor to decelerate, can be done at a preset rate and / or amplitude. The specific functions and processing of this control unit 104 are further described in step S410.

[0124] The control unit 104 is further configured to determine whether the speed of the robot after deceleration is less than or equal to a preset second speed; wherein the preset second speed is less than a preset first speed, and the preset second speed is such as speed V2. The specific functions and processing of the control unit 104 are further described in step S420.

[0125] The control unit 104 is further configured to determine that the robot's emergency stop has occurred if the robot's speed after deceleration is less than or equal to a preset second speed. The specific functions and processing of the control unit 104 are further described in step S430.

[0126] The control unit 104 is further configured to, if it is determined that the speed of the robot after deceleration is greater than a preset second speed, determine that the robot's emergency stop timing has not yet arrived, determine the robot's deceleration time, and determine whether the robot's emergency stop timing has arrived. The specific functions and processing of this control unit 104 are further described in step S440.

[0127] like Figure 8 As shown, the workflow of the robot's emergency stop protection control system also includes:

[0128] Step 3: If the current real-time speed of the robot is greater than or equal to speed V1, control the robot motor to decelerate, and then proceed to step 4.

[0129] Specifically, controlling the robot motor to decelerate can be achieved by the MCU controlling the power module (IPM) to output current through a drive signal to control the motor rotation. By reducing the output current, the motor decelerates.

[0130] Step 4: After controlling the robot to decelerate, determine the speed value in real time, that is, determine whether the robot's real-time speed is less than or equal to speed V2: if so, execute step 6 to immediately control the robot to brake and disconnect the power output power; otherwise, execute step 5 to determine whether the robot's deceleration time is Tms.

[0131] Some solutions decelerate the robot based on its actual speed, then stop and cut off power when deceleration is complete or the emergency stop timer expires. The solution of this invention, however, first determines the robot's speed. If the robot's speed is greater than or equal to a safe speed 1 (e.g., speed V1), it decelerates until it reaches a safe speed 2 (e.g., speed V2) or the deceleration timer expires, then stops and cuts off power. If the robot's speed is lower than a safe speed 1 (e.g., speed V1), it stops immediately and cuts off power. This invention adds a safe speed threshold setting compared to other solutions, allowing for deceleration followed by an emergency stop at high speeds and direct emergency stop at low speeds. This ensures both safety and timely emergency stop response, enabling rapid emergency stops when deceleration is not required, thus protecting personnel and equipment safety.

[0132] In some embodiments, the control unit 104 determines whether the robot's emergency stop timing has arrived based on the robot's speed, and further includes a process of determining whether the robot's emergency stop timing has arrived based on the robot's deceleration time, as detailed below:

[0133] The control unit 104 is further configured to, when it is determined that the robot's speed is greater than or equal to a preset first speed and the robot's emergency stop timing has not yet arrived, control the robot to decelerate to obtain the robot's speed after deceleration; and to time the deceleration time to obtain the robot's deceleration time. The specific functions and processing of this control unit 104 are further described in step S510.

[0134] The control unit 104 is further configured to determine whether the robot's deceleration time has reached a preset deceleration time when the robot's speed after deceleration is greater than a preset second speed and the robot's emergency stop timing has not yet arrived; wherein the preset deceleration time is, for example, Tms. The specific functions and processing of this control unit 104 are further described in step S520.

[0135] The control unit 104 is further configured to determine that the robot's emergency stop has occurred if the robot's deceleration time reaches a preset deceleration time. The specific functions and processing of the control unit 104 are further described in step S530.

[0136] The control unit 104 is further configured to, if it is determined that the robot's deceleration time has not reached the preset deceleration time, return to continue controlling the robot to decelerate, and then re-determine whether the robot's speed after deceleration is less than or equal to the preset second speed. The specific functions and processing of this control unit 104 are further described in step S540.

[0137] like Figure 8 As shown, the workflow of the robot's emergency stop protection control system also includes:

[0138] Step 5: Determine if the robot's deceleration time is Tms: If yes, proceed to step 5; otherwise, return to step 3 to continue controlling the robot motor to decelerate. Deceleration is intended to reduce the robot's running speed to the maximum extent possible within a short time. If the speed has not decreased to the specified value, the robot must stop immediately. Robots typically stop abruptly when a malfunction occurs or when human intervention requires the robot to stop. If the time from issuing the emergency stop command to the robot actually stopping is too long, it may cause safety hazards, resulting in injury or damage to personnel and the robot itself.

[0139] Step 6: Immediately control the robot to apply the brakes and disconnect the power output. At high speeds, decelerate before emergency stops to minimize inertial impact and reduce wear on critical robot components. At low speeds, brake directly and disconnect the power supply to ensure the robot stops working promptly, significantly improving system safety and stability.

[0140] When an emergency stop detection signal is received, the system checks if the robot's real-time speed is greater than or equal to V1. If it is, the robot motor is controlled to decelerate; otherwise, the brakes are immediately engaged and the power output is disconnected. After the robot motor decelerates, the speed is checked in real-time. If the real-time speed is less than or equal to V2, the brakes are immediately engaged and the power output is disconnected; otherwise, the deceleration time is checked and must be controlled within Tms. If the speed is not reduced to V2 within Tms, a brake signal is output for immediate emergency stop to ensure safety. If Tms is not reached, deceleration continues. If the robot's real-time speed is less than V2, the robot is at a low speed and can be stopped immediately to ensure the safety of personnel and equipment. After the brake signal is output, the brakes are engaged, the power output is disconnected, and the robot stops working.

[0141] Figure 9 A schematic diagram of the robot's emergency stop protection control system is shown. Figure 9 As shown, the robot emergency stop protection control system includes: an emergency stop button pressing module, an emergency stop detection circuit, an MCU, a speed sensor, a pre-deceleration module, and a robot emergency stop module. The output signal of the emergency stop button pressing module is input to the emergency stop detection circuit, and the emergency stop detection circuit outputs an emergency stop detection signal to the first input terminal of the MCU. The speed sensor outputs the robot's real-time speed to the second input terminal of the MCU. The first output terminal of the MCU outputs a signal to control the pre-deceleration module, and the second output terminal of the MCU outputs a control signal to the robot emergency stop module. The pre-deceleration module also outputs a control signal to the robot emergency stop module.

[0142] like Figure 9 As shown, the emergency stop protection control system is generally triggered by an emergency stop button. When the emergency stop button is pressed, it sends an emergency stop detection signal to the MCU. At the same time, the MCU obtains the real-time speed of the robot from the speed sensor and then decides whether to perform pre-deceleration based on the real-time speed. Finally, the robot will enter the emergency stop state.

[0143] Specifically, pre-deceleration can be achieved by the MCU controlling the output current of the power module (IPM) through a drive signal to control the motor rotation, thereby reducing the output current and thus slowing down the motor.

[0144] Whether to perform pre-deceleration is determined based on the real-time speed. Specifically, this can be done by the MCU through software programming. When an emergency stop detection signal is received, it is determined whether the current real-time speed of the robot is greater than or equal to speed V1. If the current real-time speed of the robot is greater than or equal to speed V1, the robot motor is controlled to decelerate. Otherwise, the brake is immediately controlled and the power output is disconnected.

[0145] Some solutions primarily plan deceleration by establishing a deceleration curve based on actual operating torque, without specifying a safe speed threshold or deceleration time. In contrast, the solution of this invention includes a safe speed threshold and a safe deceleration time, allowing for a decision on whether immediate emergency stopping or deceleration followed by emergency stopping is necessary based on the actual speed, thus offering higher safety and timeliness.

[0146] Other solutions primarily control the output torque to shut off emergency stops based on the actual speed during the deceleration phase. Emergency stops are initiated immediately when the actual speed exceeds the safe speed, and when the actual speed is less than or equal to the safe speed and the deceleration time reaches the safe limit. These solutions emphasize reliability and safety, but direct emergency stops at high speeds without deceleration may damage critical robot components. In contrast, the solution of this invention requires deceleration before emergency stops at high speeds, and imposes safety limits on the deceleration time. This avoids damage to robot components caused by direct emergency stops at high speeds while ensuring emergency stops occur within a safe timeframe, thus providing higher safety and protection.

[0147] In some embodiments, the control unit 104 determines whether the robot's emergency stop timing has arrived based on the robot's speed, and further includes a process of determining whether the robot's emergency stop timing has arrived based on a preset intermediate speed, as detailed below:

[0148] The control unit 104 is further configured to determine whether the robot's speed is greater than or equal to a preset intermediate speed; wherein the preset intermediate speed is less than a preset first speed and greater than a preset second speed, the preset intermediate speed is such as speed V0, the preset first speed is such as speed V1, and the preset second speed is such as speed V0. The specific functions and processing of the control unit 104 are further described in step S610.

[0149] The control unit 104 is further configured to determine that the robot's emergency stop has occurred if the robot's speed is determined to be less than a preset intermediate speed. The specific functions and processing of the control unit 104 are further described in step S620.

[0150] The control unit 104 is further configured to: if it is determined that the robot's speed is greater than or equal to a preset intermediate speed, determine that the robot's emergency stop timing has not yet arrived, and then control the robot to decelerate to obtain the robot's speed after deceleration; time the deceleration time of the robot to obtain the deceleration time; and determine whether the robot's speed after deceleration is less than the preset intermediate speed. The specific functions and processing of this control unit 104 are further described in step S630.

[0151] The control unit 104 is further configured to determine that the robot's emergency stop has occurred if the robot's speed after deceleration is less than a preset intermediate speed. The specific functions and processing of the control unit 104 are further described in step S640.

[0152] The control unit 104 is further configured to, if it is determined that the speed of the robot after deceleration is still greater than or equal to a preset intermediate speed, determine whether the deceleration time of the robot has reached the preset deceleration time; if so, determine that the emergency stop time of the robot has arrived; otherwise, return to continue controlling the robot to decelerate, and then re-determine whether the speed of the robot after deceleration is less than or equal to the preset intermediate speed. The specific functions and processing of this control unit 104 are also described in step S650.

[0153] In some alternative embodiments, in the scheme of the present invention, when an emergency stop detection signal is obtained, it is determined whether the current real-time speed of the robot is greater than or equal to speed V0. Speed ​​V0 can be the midpoint between speed V1 and speed V2. If the current real-time speed of the robot is greater than or equal to V0, the robot motor is controlled to decelerate; otherwise, the brake is immediately controlled and the power output is disconnected. After controlling the robot motor to decelerate, the robot's speed value is determined in real time. If the robot's real-time speed is less than speed V0, the brake is immediately controlled and the power output is disconnected; otherwise, the deceleration time is determined. The deceleration time must be controlled within Tms. If the speed V0 is not reached within Tms, a brake signal is output for immediate emergency stop to ensure safety. If Tms is not reached, deceleration continues. The basic logic of this alternative embodiment is the same as that of the optimal embodiment. The optimal embodiment has higher emergency stop control efficiency and higher safety, while the alternative embodiment provides stronger protection for the robot's critical components.

[0154] In this invention, the robot operates at full speed (100%), typically with V1 set to 70%–80%, V2 to 40%–50%, and V0 to 50%–70%. T needs to be calculated based on actual conditions: first, consider the signal transmission delay, i.e., the transmission time from the emergency stop signal to the MCU, typically 50ms; then, consider the control system processing time, i.e., the time it takes for the MCU to issue a braking command after receiving the emergency stop signal, typically 100ms; finally, consider the braking execution time, i.e., the time it takes for the braking motor to start, typically 300ms. These are theoretical times only; the actual range of T can be 400ms to -700ms (further determination through actual measurement is required).

[0155] The solution of this invention includes emergency stop protection: pre-deceleration before emergency stop at high speed, and direct emergency stop at low speed; deceleration time: setting an emergency stop safety time; protection trigger signal: emergency stop detection signal, robot real-time speed. Thus, by optimizing the emergency stop process, the system safety and stability are improved, mechanical shock and vibration are reduced, positioning accuracy and repeatability are improved, load fluctuations of the servo motor and drive system are reduced, and the lifespan of key robot components is extended.

[0156] In some embodiments, the control unit 104 activates the robot's emergency stop function to control the robot to achieve an emergency stop, including: the control unit 104 is further configured to control the robot to brake and disconnect the robot's power output to control the robot to achieve an emergency stop.

[0157] The solution of this invention optimizes the emergency stop logic of the system, intelligently determines whether an immediate emergency stop is needed based on the robot's operating status, and adds pre-deceleration control to decelerate before the emergency stop, minimizing inertial impact. It also reasonably controls the deceleration time and the power supply cut-off time to ensure that the robot stops working in a timely manner, significantly improving the safety and stability of the system.

[0158] Since the processing and functions implemented by the device in this embodiment are basically the same as the embodiments, principles and examples of the aforementioned methods, any details not covered in the description of this embodiment can be found in the relevant descriptions in the aforementioned embodiments, and will not be repeated here.

[0159] According to an embodiment of the present invention, a robot corresponding to a robot control device is also provided. This robot may include the robot control device described above.

[0160] Since the processing and functions implemented by the robot in this embodiment are basically the same as the embodiments, principles and examples of the aforementioned device, any details not covered in the description of this embodiment can be found in the relevant descriptions in the aforementioned embodiments, and will not be repeated here.

[0161] According to an embodiment of the present invention, a computer program product corresponding to the robot control method is also provided, including a computer program that, when executed by a processor, implements the steps of the robot control method described above.

[0162] Since the processing and functions implemented by the product in this embodiment are basically the same as the embodiments, principles and examples of the aforementioned methods, any details not covered in the description of this embodiment can be found in the relevant descriptions in the aforementioned embodiments, and will not be repeated here.

[0163] According to an embodiment of the present invention, a storage medium corresponding to a robot control method is also provided, the storage medium including a stored program, wherein, when the program is executed, the device where the storage medium is located controls the execution of the steps of the robot control method described above.

[0164] Since the processing and functions implemented by the storage medium in this embodiment are basically the same as the embodiments, principles and examples of the aforementioned methods, any details not covered in this embodiment can be found in the relevant descriptions in the aforementioned embodiments, and will not be repeated here.

[0165] In summary, it is readily understood by those skilled in the art that, without conflict, the aforementioned advantageous methods can be freely combined and superimposed.

[0166] The above description is merely an embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of the claims of the present invention.

Claims

1. A method for controlling a robot, characterized in that, include: During the operation of the robot, the robot's emergency stop signal is acquired, and the robot's speed is also acquired. Based on the obtained emergency stop signal from the robot, determine whether it is necessary to activate the robot's emergency stop function; If it is determined that the robot's emergency stop function needs to be activated, then the timing for the robot's emergency stop is determined based on the robot's speed. If it is determined that the robot's emergency stop time has arrived, the robot's emergency stop function is activated to control the robot to achieve an emergency stop.

2. The robot control method according to claim 1, characterized in that, in, Based on the acquired emergency stop signal from the robot, determine whether the robot's emergency stop function needs to be activated, including: Determine whether the acquired emergency stop signal of the robot is the robot's preset emergency stop signal; the robot's preset emergency stop signal includes: a signal automatically generated due to a robot malfunction requiring emergency stop, or a signal generated by an operator through the robot's emergency stop button requiring emergency stop; If it is determined that the obtained emergency stop signal of the robot is the robot's preset emergency stop signal, then it is determined that the robot's emergency stop function needs to be activated. And / or, Activating the robot's emergency stop function to control the robot to achieve an emergency stop includes: Control the robot to apply the brakes and disconnect the robot's power output to achieve an emergency stop.

3. The robot control method according to claim 1, characterized in that, Based on the robot's speed, determine whether the robot's emergency stop has occurred, including: Determine whether the robot's speed is greater than or equal to a preset first speed; If it is determined that the robot's speed is greater than or equal to a preset first speed, then it is determined that the robot's emergency stop timing has not yet arrived; If it is determined that the robot's speed is less than a preset first speed, then it is determined that the robot's emergency stop time has arrived.

4. The robot control method according to claim 1 or 3, characterized in that, Determining whether the robot's emergency stop has occurred based on the robot's speed also includes: If it is determined that the robot's speed is greater than or equal to a preset first speed, and it is determined that the robot's emergency stop time has not arrived, the robot is controlled to decelerate, and the speed of the robot after deceleration is obtained. Determine whether the speed of the robot after deceleration is less than or equal to a preset second speed; wherein the preset second speed is less than a preset first speed; If it is determined that the speed of the robot after deceleration is less than or equal to the preset second speed, then it is determined that the robot's emergency stop time has arrived; If it is determined that the speed of the robot after deceleration is greater than the preset second speed, then it is determined that the robot's emergency stop time has not yet arrived.

5. The robot control method according to claim 1 or 4, characterized in that, Determining whether the robot's emergency stop has occurred based on the robot's speed also includes: If it is determined that the robot's speed is greater than or equal to a preset first speed, and the robot's emergency stop timing has not yet arrived, the robot is controlled to decelerate to obtain the robot's speed after deceleration; and the time for controlling the robot to decelerate is timed to obtain the robot's deceleration time. If it is determined that the speed of the robot after deceleration is greater than the preset second speed, and it is determined that the robot's emergency stop time has not arrived, then it is determined whether the robot's deceleration time has reached the preset deceleration time. If it is determined that the robot's deceleration time has reached the preset deceleration time, then it is determined that the robot's emergency stop time has arrived. If it is determined that the robot's deceleration time has not reached the preset deceleration time, the process returns to continue controlling the robot to decelerate.

6. The robot control method according to claim 1, characterized in that, Determining whether the robot's emergency stop has occurred based on the robot's speed also includes: Determine whether the robot's speed is greater than or equal to a preset intermediate speed; wherein the preset intermediate speed is less than a preset first speed and greater than a preset second speed; If it is determined that the robot's speed is less than the preset intermediate speed, then it is determined that the robot's emergency stop time has arrived; If it is determined that the robot's speed is greater than or equal to a preset intermediate speed, then it is determined that the robot's emergency stop timing has not yet arrived, and the robot is controlled to decelerate to obtain the robot's speed after deceleration; the time for controlling the robot to decelerate is timed to obtain the robot's deceleration time; and it is determined whether the robot's speed after deceleration is less than the preset intermediate speed. If it is determined that the speed of the robot after deceleration is less than the preset intermediate speed, then it is determined that the robot's emergency stop time has arrived. If it is determined that the speed of the robot after deceleration is still greater than or equal to the preset intermediate speed, then it is determined whether the deceleration time of the robot has reached the preset deceleration time: if yes, then it is determined that the emergency stop time of the robot has arrived; otherwise, return to continue to control the robot to decelerate.

7. A control device for a robot, characterized in that, include: The acquisition unit is configured to acquire the robot's emergency stop signal and the robot's speed during the robot's operation. The control unit is configured to determine whether the robot's emergency stop function needs to be activated based on the acquired emergency stop signal of the robot. The control unit is also configured to, if it is determined that the emergency stop function of the robot needs to be activated, determine whether the emergency stop timing of the robot has arrived based on the robot's speed. The control unit is further configured to activate the robot's emergency stop function if it is determined that the robot's emergency stop time has arrived, so as to control the robot to achieve an emergency stop.

8. A robot, characterized in that, include: The robot control device as described in claim 7.

9. A storage medium, characterized in that, The storage medium includes a stored program, wherein, when the program is executed, the device containing the storage medium is controlled to perform the robot control method according to any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the robot control method according to any one of claims 1 to 6.

Images