Robot emergency stop control method, device, computer equipment and storage medium

Abstract

The present application relates to a robot emergency stop control method, device, computer equipment and storage medium. The method includes: obtaining a first emergency stop input signal and a second emergency stop input signal, the first emergency stop input signal and the second emergency stop input signal both coming from a robot teach pendant connected to the robot in communication, and being transmitted through different transmission channels respectively; if the levels of the first emergency stop input signal and the second emergency stop input signal are the same, determining whether an emergency stop signal is received, the emergency stop signal coming from an emergency stop input device connected to the robot in communication; if an emergency stop signal is received, sending an emergency stop signal to the robot, the emergency stop signal being used to control the robot to stop running. This method can detect faults in the transmission channel and prevent the emergency stop command from being mistakenly sent, causing unnecessary losses, thereby extending the service life of the robot.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a robot emergency stop control method, device, computer equipment, and storage medium. Background Art

[0002] With the development of robotics, robots are playing an increasingly significant role in improving production automation, labor productivity, and economic benefits. Simultaneously, the intelligent control of robots is becoming increasingly complex. However, when intelligent control becomes complex enough, robots are prone to losing control, potentially posing a threat to human life. To prevent robots from losing control, emergency stop devices are typically located prominently on the outside of the robot. In an emergency, these devices can send a stop command to the robot to prevent accidents.

[0003] However, when traditional robots are working, there is an unexpected situation in which the emergency stop command is not executed due to hardware failure during the command application process, and the emergency stop device may also be pressed by mistake, which will affect the safety of the user and the service life of the robot. Summary of the Invention

[0004] Based on this, it is necessary to provide a robot emergency stop control method, device, computer equipment and computer-readable storage medium that can ensure user safety and extend the service life of the robot in response to the above technical problems.

[0005] In a first aspect, the present application provides a robot emergency stop control method. The method comprises:

[0006] A first emergency stop input signal and a second emergency stop input signal are obtained; the first emergency stop input signal and the second emergency stop input signal both come from a robot teaching pendant that is communicatively connected to the robot and are transmitted through different transmission channels.

[0007] If the levels of the first emergency stop input signal and the second emergency stop input signal are the same, it is determined whether an emergency stop signal is received; the emergency stop signal comes from an emergency stop input device that is communicatively connected to the robot.

[0008] If an emergency stop signal is received, an emergency stop signal is sent to the robot; the emergency stop signal is used to control the robot to stop running.

[0009] In one embodiment, after obtaining the first emergency stop input signal and the second emergency stop input signal, the method further includes:

[0010] If the levels of the first emergency stop input signal and the second emergency stop input signal are different, it is determined that the transmission channel is faulty.

[0011] In one embodiment, when the levels of the first emergency stop input signal and the second emergency stop input signal are the same, determining whether an emergency stop signal is received includes:

[0012] If the levels of the first emergency stop input signal and the second emergency stop input signal are the same, obtaining the operation mode of the robot;

[0013] If the operating mode is the safe mode and no reset command is received, determining whether an emergency stop signal is received;

[0014] If the operating mode is the normal mode, it is determined whether an emergency stop signal is received.

[0015] In one embodiment, if the operating mode is a safe mode and no reset command is received, after determining whether an emergency stop signal is received, the method further includes:

[0016] If the emergency stop signal is received, an emergency stop output signal is sent to the robot teach pendant and / or the emergency stop input device; the emergency stop output signal is used to instruct the robot teach pendant and / or the emergency stop input device to send an emergency stop control signal to the robot.

[0017] In one embodiment, if the levels of the first emergency stop input signal and the second emergency stop input signal are the same, after obtaining the operation mode of the robot, the method further includes:

[0018] If the operating mode is the safety mode and a reset instruction is received, the robot is controlled to enter the normal mode.

[0019] In one embodiment, the emergency stop signal includes a first emergency stop signal and a second emergency stop signal, and if the operating mode is the normal mode, determining whether the emergency stop signal is received includes:

[0020] If the operating mode is the normal mode, determining whether the first emergency stop signal and the second emergency stop signal are received;

[0021] If an emergency stop signal is received, sending the emergency stop signal to the robot includes:

[0022] If the first emergency stop signal and the second emergency stop signal are received, and the levels of the first emergency stop signal and the second emergency stop signal are the same, an emergency stop signal is sent to the robot.

[0023] In one embodiment, if the first emergency stop input signal and the second emergency stop input signal have the same level, determining whether an emergency stop signal is received includes:

[0024] If the levels of the first emergency stop input signal and the second emergency stop input signal are the same and both are levels indicating that the signal is valid, it is determined whether an emergency stop signal is received.

[0025] In a second aspect, the present application also provides a robot emergency stop control device. The device comprises:

[0026] a signal acquisition module, configured to acquire a first emergency stop input signal and a second emergency stop input signal, wherein the first emergency stop input signal and the second emergency stop input signal are both from a robot teaching pendant connected to the robot for communication, and are respectively obtained by being transmitted through different transmission channels;

[0027] a signal processing module, configured to determine whether an emergency stop signal is received if the first emergency stop input signal and the second emergency stop input signal have the same level; the emergency stop signal comes from an emergency stop input device communicatively connected to the robot;

[0028] The emergency stop output module is used to send an emergency stop signal to the robot if it receives an emergency stop signal. The emergency stop signal is used to control the robot to stop running.

[0029] In a third aspect, the present application further provides a computer device. The computer device includes a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are performed:

[0030] Obtaining a first emergency stop input signal and a second emergency stop input signal; the first emergency stop input signal and the second emergency stop input signal both come from a robot teaching pendant that is communicatively connected to the robot and are transmitted through different transmission channels;

[0031] If the levels of the first emergency stop input signal and the second emergency stop input signal are the same, determining whether an emergency stop signal is received; the emergency stop signal comes from an emergency stop input device that is communicatively connected to the robot;

[0032] If an emergency stop signal is received, an emergency stop signal is sent to the robot; the emergency stop signal is used to control the robot to stop running.

[0033] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the following steps:

[0034] Obtaining a first emergency stop input signal and a second emergency stop input signal; the first emergency stop input signal and the second emergency stop input signal both come from a robot teaching pendant that is communicatively connected to the robot and are transmitted through different transmission channels;

[0035] If the levels of the first emergency stop input signal and the second emergency stop input signal are the same, determining whether an emergency stop signal is received; the emergency stop signal comes from an emergency stop input device that is communicatively connected to the robot;

[0036] If an emergency stop signal is received, an emergency stop signal is sent to the robot; the emergency stop signal is used to control the robot to stop running.

[0037] The above-mentioned robot emergency stop control method, device, computer equipment and storage medium, the robot emergency stop control method obtains the first emergency stop input signal and the second emergency stop input signal from the robot teach pendant, and determines whether the levels of the first emergency stop input signal and the second emergency stop input signal are the same. Since the first emergency stop input signal and the second emergency stop input signal are both from the robot teach pendant, under normal circumstances, the levels of the first emergency stop input signal and the second emergency stop input signal are the same. If the levels of the first emergency stop input signal and the second emergency stop input signal are different, it is considered that the transmission channel may have a fault at this time. Therefore, based on whether the levels of the first emergency stop input signal and the second emergency stop input signal are the same, the transmission channel can be detected for hardware faults. In addition, controlling the robot emergency stop based on the signal from the robot teach pendant and the signal from the emergency stop input device can prevent the emergency stop command from being mistakenly sent, causing unnecessary losses, thereby extending the service life of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 Schematic diagram of a flow chart of a robot emergency stop control method in one embodiment;

[0039] Figure 2 A schematic flow chart of a robot emergency stop control method in another embodiment;

[0040] Figure 3 A schematic flow chart of a robot emergency stop control method in another embodiment;

[0041] Figure 4 Schematic diagram of an application scenario of a robot emergency stop control method in one embodiment;

[0042] Figure 5 A schematic flow chart of a robot emergency stop control method in another embodiment;

[0043] Figure 6 A schematic flow chart of a robot emergency stop control method in another embodiment;

[0044] Figure 7 Schematic diagram of an emergency stop input control flow of an emergency stop control method for a robot in one embodiment;

[0045] Figure 8 1 is a structural block diagram of a robot emergency stop control device in one embodiment. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0047] The robot emergency stop control method provided in the embodiments of the present application can control the emergency stop of the robot. The robot can be a collaborative robot, which is generally used to work with users to complete designated work tasks. In addition, while performing the work task, the collaborative robot can receive an emergency stop command from the collaborative robot teach pendant and perform the emergency stop operation. Therefore, when encountering a dangerous situation, controlling the collaborative robot to stop urgently through the collaborative robot teach pendant can ensure the safety of both the user and the collaborative robot.

[0048] In one embodiment, Figure 1 As shown, a robot emergency stop control method is provided. The method can be executed by a data processing device. Specifically, the data processing device can be a data processing device that is already included in the robot. The corresponding functions can be added to the original data processing device to save hardware costs. Alternatively, a separately designed data processing device can be provided with corresponding functions to ensure the effectiveness of the emergency stop control. The robot emergency stop control method is used to perform emergency stop control on the robot. The robot emergency stop control method includes:

[0049] Step 102: Acquire a first emergency stop input signal and a second emergency stop input signal.

[0050] The first emergency stop input signal and the second emergency stop input signal both come from a robot teaching pendant that is communicatively connected to the robot, and are transmitted through different transmission channels.

[0051] Specifically, the data processing device can continuously monitor whether the first emergency stop input signal and the second emergency stop input signal are obtained to improve the response sensitivity. The first emergency stop input signal and the second emergency stop input signal both come from a robot teach pendant that is communicatively connected to the robot, and the first emergency stop input signal and the second emergency stop input signal generated by the robot teach pendant are the same. The first emergency stop input signal and the second emergency stop input signal are respectively transmitted to the data processing device through different transmission channels. Among them, the transmission channel is a channel connecting the data processing device and the robot teach pendant, which can generally be an isolation circuit. For example, the isolation circuit includes a first isolation circuit and a second isolation circuit. After the first emergency stop input signal is generated by the robot teach pendant, it passes through the first isolation circuit and reaches the data processing device. After the second emergency stop input signal is generated by the robot teach pendant, it passes through the second isolation circuit and reaches the data processing device. The structure of the isolation circuit can be optocoupler isolation or relay isolation. The isolation circuit can isolate signals inside and outside the robot, reducing the occurrence of unstable acquisition of emergency stop input signals due to interference from external signals.

[0052] Furthermore, the data processing device stores emergency stop input parameters corresponding to the emergency stop input signal, and the emergency stop input signal includes a first emergency stop input signal and a second emergency stop input signal. The emergency stop input parameters can be stored in a data storage module of the data processing device. The emergency stop input parameters in the data storage module are updated according to the emergency stop input signal. Different values ​​of the emergency stop input parameters can indicate the presence or absence of an emergency stop input signal. For example, if there is no emergency stop signal input, the emergency stop input parameters corresponding to the first emergency stop input signal and the second emergency stop input signal are set to 0. If there is an emergency stop signal input, the emergency stop input parameters corresponding to the first emergency stop input signal and the second emergency stop input signal are set to 1.

[0053] Step 104: If the levels of the first emergency stop input signal and the second emergency stop input signal are the same, determine whether an emergency stop signal is received.

[0054] The emergency stop signal comes from an emergency stop input device connected to the robot. The first and second emergency stop input signals are identical signals generated by the robot's teach pendant and transmitted to the data processing device via different transmission channels. Therefore, if the levels of the first and second emergency stop input signals differ, it is considered that there may be a fault in the transmission channel, and the data processing device does not execute subsequent steps. If the levels of the first and second emergency stop input signals are the same, it is considered that the transmission channel is operating normally. At this point, a further determination is made as to whether an emergency stop signal has been received from the emergency stop input device to prevent transmission channel hardware failures from affecting emergency stop control.

[0055] Specifically, the emergency stop input device can be a button panel installed on the robot, which is used to send an emergency stop signal to the data processing device. The data processing device is a data processing device built into the robot that can control the robot's movement position, posture, trajectory, etc. in the workspace.

[0056] Step 106: If an emergency stop signal is received, an emergency stop signal is sent to the robot.

[0057] The emergency stop signal is used to stop the robot. Specifically, if the data processing device receives an emergency stop signal and determines that the robot needs to be stopped urgently, it sends the emergency stop signal to the robot. After receiving the emergency stop signal, the robot executes the emergency stop procedure. Sending the emergency stop signal to the robot can be sending the emergency stop signal to the current robot or to other robots that are communicatively connected to the current robot. The emergency stop signal can be used to stop the current robot or other robots.

[0058] In this embodiment, by obtaining the first emergency stop input signal and the second emergency stop input signal from the robot teach pendant, it is determined whether the levels of the first emergency stop input signal and the second emergency stop input signal are the same. Since the first emergency stop input signal and the second emergency stop input signal both come from the robot teach pendant, under normal circumstances, the levels of the first emergency stop input signal and the second emergency stop input signal are the same. If the levels of the first emergency stop input signal and the second emergency stop input signal are different, it is considered that the transmission channel between the robot's emergency stop control device and the robot teach pendant may have a fault. Therefore, based on whether the levels of the first emergency stop input signal and the second emergency stop input signal are the same, the robot's transmission channel can be fault-detected. In addition, controlling the robot's emergency stop based on the signal from the robot teach pendant and the signal from the emergency stop input device can prevent the emergency stop command from being mistakenly sent, causing unnecessary losses, thereby extending the service life of the robot.

[0059] In one embodiment, Figure 2 As shown, step 102 further includes step 203.

[0060] Step 203: If the levels of the first emergency stop input signal and the second emergency stop input signal are different, it is determined that the transmission channel is faulty.

[0061] Specifically, since both the first and second emergency stop input signals originate from the robot teach pendant, they normally have the same level. If the levels of the first and second emergency stop input signals differ, a failure in the transmission channel between the data processing device and the robot teach pendant is considered. If this occurs, the data processing device can send a fault report to the robot teach pendant and simultaneously control the robot to enter a fault mode. Once in fault mode, the robot becomes unable to respond to emergency stop input signals.

[0062] In one embodiment, Figure 2 As shown, step 104 includes steps 204 to 208 .

[0063] Step 204: If the levels of the first emergency stop input signal and the second emergency stop input signal are the same, the operation mode of the robot is obtained.

[0064] If the levels of the first emergency stop input signal and the second emergency stop input signal are the same, it is considered that the transmission channel is operating normally at this time, and the robot's operating mode is further obtained. The robot's operating mode represents the robot's operating state. The operating mode can be set to be represented by operating parameters, and these operating parameters can be stored in the data storage module of the data processing device. Different operating parameters can represent different operating modes, and operating modes can include normal mode and safe mode. For example, when the value of the operating parameter is 0, it can indicate that the robot's operating mode is normal mode; when the value of the operating parameter is 1, it can indicate that the robot's operating mode is safe mode.

[0065] When the robot is in Normal mode, it can run at its maximum permitted speed. When the robot is in Safe mode, various safety parameters can be set. Safety parameters include safety planes and safety torques. Operating within these safety parameters can minimize damage to the robot and ensure its safety.

[0066] Step 206: If the operating mode is the safety mode and no reset command is received, determine whether an emergency stop signal is received.

[0067] The reset command restores the robot from an emergency stop to normal operation. The robot can be controlled by a control cabinet, which includes a signal receiving device that recognizes user-triggered reset actions. This signal receiving device can be a reset button. After the robot has made an emergency stop, the user can decide whether to press the reset button based on whether all hazards have been eliminated. The reset button transmits a reset command to the data processing device. When pressed, the reset button transmits the reset command to the data processing device.

[0068] Specifically, when the operating mode is safe, if the user determines that the danger remains unresolved, the reset button will not be pressed. At this point, the data processing device has not received a reset command from the reset button, and there is no need to reset the robot. The data processing device then determines whether it has received an emergency stop signal from an emergency stop input device communicatively connected to the robot, and further determines whether an emergency stop signal needs to be sent to the robot.

[0069] Step 208: If the operating mode is the normal mode, determine whether an emergency stop signal is received.

[0070] When the operation mode is normal mode, the robot is considered to be in normal working condition. It is directly determined whether an emergency stop signal is received, and further determined whether an emergency stop signal needs to be sent to the robot.

[0071] In one embodiment, Figure 2 As shown, after step 206 , the robot emergency stop control method further includes step 207 .

[0072] Step 207: If an emergency stop signal is received, an emergency stop output signal is sent to the robot teaching pendant and / or the emergency stop input device.

[0073] Among them, the emergency stop output signal is used to instruct the robot teach pendant and / or the emergency stop input device to send an emergency stop control signal to the robot. The emergency stop output signal is generally used to control the emergency stop of other robots that are communicatively connected to the current robot. The emergency stop output signal may include a first emergency stop output signal and a second emergency stop output signal. The first emergency stop output signal and the second emergency stop output signal are respectively transmitted through different transmission channels and finally reach the robot teach pendant and / or the emergency stop input device. The first emergency stop output signal and the second emergency stop output signal can reach the same device or different devices respectively, which is not limited here. The transmission channel can generally be an isolation circuit. The robot teach pendant and / or the emergency stop input device receives the emergency stop output signal, generates an emergency stop control signal, and transmits it to the robot that is communicatively connected to the robot teach pendant and / or the emergency stop input device to control the robot to stop suddenly.

[0074] In one embodiment, Figure 2 As shown, step 204 also includes step 205.

[0075] Step 205: If the operating mode is the safe mode and a reset instruction is received, the robot is controlled to enter the normal mode.

[0076] Specifically, when the operating mode is safe mode, if the data processing device receives a reset instruction, it considers that the user has eliminated all dangers and triggers the reset action through the signal receiving device. The signal receiving device generates a reset instruction and sends it to the data processing device. The data processing device controls the robot to reset, update the operating parameters, restore the normal operating state, and the robot enters normal mode.

[0077] In one embodiment, Figure 3 As shown, step 208 includes step 308 , and step 106 includes step 306 .

[0078] Step 308: If the operation mode is the normal mode, determine whether the first emergency stop signal and the second emergency stop signal are received.

[0079] The emergency stop signal may be a dual-path signal, including a first emergency stop signal and a second emergency stop signal, both of which are from the emergency stop input device and are transmitted to the data processing device through different transmission paths. The transmission path is the path between the data processing device and the emergency stop input device, and different transmission paths may be different isolation circuits. Figure 4 As shown, the data processing device may include the safety monitoring MCU and the safety control MCU in the figure. The robot teach pendant can generate a first emergency stop input signal and a second emergency stop input signal, and transmit them to the data processing device through different isolation circuits respectively. The data processing device can generate a first emergency stop output signal and a second emergency stop output signal, and transmit them to the robot teach pendant through different isolation circuits respectively. The emergency stop input device can generate a first emergency stop signal and a second emergency stop signal, and transmit them to the data processing device through different isolation circuits respectively. The data processing device can generate a first emergency stop output signal and a second emergency stop output signal, and transmit them to the emergency stop input device through different isolation circuits respectively.

[0080] Step 306: If the first emergency stop signal and the second emergency stop signal are received, and the levels of the first emergency stop signal and the second emergency stop signal are the same, send an emergency stop signal to the robot.

[0081] Specifically, when the operating mode is normal mode, if the first emergency stop signal and the second emergency stop signal are received, the robot sends an emergency stop signal. If the first emergency stop signal and the second emergency stop signal are not received, the robot does not perform the emergency stop operation and re-acquires the first emergency stop input signal and the second emergency stop input signal.

[0082] Specifically, when the operating mode is normal, if a first emergency stop signal and a second emergency stop signal are received, a determination is made as to whether the levels of the first and second emergency stop signals are identical. If the levels of the first and second emergency stop signals are identical, it is assumed that the transmission path is normal, and the data processing device sends an emergency stop signal to the robot. The robot then performs an emergency stop and enters safe mode. If the levels of the first and second emergency stop signals are different, it indicates that at least one of the transmission paths has failed, and the robot enters failure mode.

[0083] In one embodiment, Figure 5 As shown, step 104 includes step 404 .

[0084] Step 404 : If the levels of the first emergency stop input signal and the second emergency stop input signal are the same and both are levels indicating that the signal is valid, it is determined whether an emergency stop signal is received.

[0085] The fact that the first emergency stop input signal and the second emergency stop input signal are at the same level indicates that the transmission channel is not faulty. At this point, if the levels of the first emergency stop input signal and the second emergency stop input signal are both at a level indicating that the signal is valid, for example, if both are at a high level, the first emergency stop input signal and the second emergency stop input signal are considered valid, and the data processing device can control the robot to begin executing the emergency stop operation. Furthermore, if the levels of the first emergency stop input signal and the second emergency stop input signal are both at a level indicating that the signal is invalid, for example, if both are at a low level, the first emergency stop input signal and the second emergency stop input signal are considered invalid, and the data processing device does not execute subsequent steps.

[0086] In this example, whether the emergency stop signal is received is determined based on whether the valid first emergency stop input signal and the second emergency stop input signal are received, thereby improving control accuracy.

[0087] In order to make the purpose, technical solutions and advantages of this application more clearly understood, this application is further described in detail below with reference to the accompanying drawings and one of the most specific embodiments. It should be understood that the most specific embodiment described herein is only used to explain this application and is not intended to limit this application.

[0088] like Figure 6As shown, it is a flow chart of a specific embodiment. Wherein PORTB_1 and PORTB_2 represent the first emergency stop input signal parameter and the second emergency stop input signal parameter respectively, the first emergency stop input signal parameter is the emergency stop input parameter corresponding to the first emergency stop input signal, and the second emergency stop input signal parameter is the emergency stop input parameter corresponding to the second emergency stop input signal. When the values ​​of PORTB_1 and PORTB_2 are both 0, it can be indicated that the emergency stop input signal is invalid; when the values ​​of PORTB_1 and PORTB_2 are both 1, it can be indicated that the emergency stop input signal is valid. Cox_0 represents the first emergency stop output signal, and Dox_0 represents the second emergency stop output signal. When the values ​​of Cox_0 and Dox_0 are both 0, it can be indicated that the emergency stop output signal is valid; when the values ​​of Cox_0 and Dox_0 are both 1, it can be indicated that the emergency stop output signal is invalid. Estop represents the robot teaching pendant, and the emergency stop input device is a button panel.

[0089] In one specific embodiment, the control steps for the emergency stop of the robot are as follows:

[0090] 1. When the robot is working normally, the emergency stop is not triggered, but the emergency stop detection program is always running. If the emergency stop is triggered, it is necessary to enter the emergency stop mode.

[0091] 2. Obtain the first emergency stop input signal and the second emergency stop input signal. If the levels of the first emergency stop input signal and the second emergency stop input signal are different, a fatal error report is reported, an input error is set, the fault mode is entered, and the first emergency stop input signal and the second emergency stop input signal are read cyclically.

[0092] 3. If the first emergency stop input signal and the second emergency stop input signal are both at the level indicating that the signal is valid, the emergency stop is triggered, and the button panel is set to emergency trigger, and the button panel sends an emergency stop command. If the first emergency stop input signal and the second emergency stop input signal are both at the level indicating that the signal is invalid, the button panel is set to not be triggered, and then the first emergency stop input signal and the second emergency stop input signal are continued to be obtained. The flowchart of the above steps 2 and 3 is as follows Figure 7 shown.

[0093] 4. If the transmission channel between the data processing device and the robot teaching pendant is fault-free, then check the robot's operating status.

[0094] 5. If in safe mode, continue to confirm whether the robot operation is reset. If the robot operation is reset, set it to normal operation mode, set the values ​​of PORTB_1 and PORTB_2 to 0, and leave safe mode. If the robot operation is not reset, confirm whether the button panel emergency stop is triggered. If the button panel emergency stop is triggered, report Estop, keep the power off, and set Cox_0 = 0 and Dox_0 = 0. If the button panel emergency stop is not triggered, leave safe mode.

[0095] 6. If in normal mode, check whether the emergency stop on the push button panel is triggered. If the emergency stop on the push button panel is triggered, set the values ​​of PORTB_1 and PORTB_2 to 1. At the same time, if the first and second emergency stop input signals are at the same level after setting, the robot enters safe mode; otherwise, it enters fault mode.

[0096] The control step of the above-mentioned robot emergency stop is to obtain the first emergency stop input signal and the second emergency stop input signal from the robot teach pendant, and determine whether the first emergency stop input signal and the second emergency stop input signal have the same level. Since the first emergency stop input signal and the second emergency stop input signal both come from the robot teach pendant, under normal circumstances, the first emergency stop input signal and the second emergency stop input signal have the same level. If the first emergency stop input signal and the second emergency stop input signal have different levels, it is considered that the transmission channel between the robot's emergency stop control device and the robot teach pendant may have a fault. Therefore, the robot's transmission channel can be fault-detected based on whether the levels of the first emergency stop input signal and the second emergency stop input signal are the same. In addition, controlling the robot's emergency stop based on the signal from the robot teach pendant and the signal from the button panel can prevent the emergency stop command from being mistakenly sent, causing unnecessary losses, thereby extending the service life of the robot.

[0097] It should be understood that, although the various steps in the flowcharts involved in the various embodiments described above are displayed in sequence according to the instructions of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the various embodiments described above can include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0098] In one embodiment, Figure 8As shown, a robot emergency stop control device is provided, comprising: a signal acquisition module 610, a signal processing module 620 and an emergency stop output module 630, wherein:

[0099] a signal acquisition module 610 for acquiring a first emergency stop input signal and a second emergency stop input signal, both of which are from a robot teaching pendant in communication with the robot and are transmitted through different transmission channels;

[0100] A signal processing module 620 is configured to determine whether an emergency stop signal is received if the first emergency stop input signal and the second emergency stop input signal have the same level; the emergency stop signal comes from an emergency stop input device that is communicatively connected to the robot;

[0101] The emergency stop output module 630 is used to send an emergency stop signal to the robot if it receives an emergency stop signal. The emergency stop signal is used to control the robot to stop running.

[0102] In one embodiment, the robot emergency stop control device also includes a fault judgment module, which is used to judge that the transmission channel has a fault if the levels of the first emergency stop input signal and the second emergency stop input signal are different after the signal acquisition module obtains the first emergency stop input signal and the second emergency stop input signal.

[0103] In one embodiment, the above-mentioned signal processing module is also used to obtain the operating mode of the robot if the levels of the first emergency stop input signal and the second emergency stop input signal are the same; if the operating mode is a safe mode and no reset command is received, determine whether an emergency stop signal is received; if the operating mode is a normal mode, determine whether an emergency stop signal is received.

[0104] In one embodiment, the above-mentioned signal processing module is also used to send an emergency stop output signal to the robot teach pendant and / or emergency stop input device if an emergency stop signal is received; the emergency stop output signal is used to instruct the robot teach pendant and / or emergency stop input device to send an emergency stop input signal to the robot.

[0105] In one embodiment, the signal processing module is further configured to control the robot to enter a normal mode if the operating mode is a safety mode and a reset instruction is received.

[0106] In one embodiment, the emergency stop signal includes a first emergency stop signal and a second emergency stop signal. The above-mentioned signal processing module is also used to determine whether the first emergency stop signal and the second emergency stop signal are received if the operating mode is normal mode. The emergency stop output module is used to send an emergency stop signal to the robot if the first emergency stop signal and the second emergency stop signal are received and the levels of the first emergency stop signal and the second emergency stop signal are the same.

[0107] In one embodiment, the signal processing module may also be configured to determine whether an emergency stop signal is received if the first emergency stop input signal and the second emergency stop input signal have the same level and are both levels indicating that the signal is valid.

[0108] Each module in the aforementioned robot emergency stop control device can be implemented in whole or in part through software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in hardware form, or can be stored in a computer device's memory in software form, so that the processor can call and execute the corresponding operations of each module.

[0109] In one embodiment, a computer device is further provided, including a memory and a processor. The memory stores a computer program, and the processor implements the steps in the above method embodiments when executing the computer program.

[0110] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0111] The above-mentioned robot emergency stop control device, computer equipment and storage medium, the robot emergency stop control device obtains the first emergency stop input signal and the second emergency stop input signal from the robot teach pendant, and determines whether the levels of the first emergency stop input signal and the second emergency stop input signal are the same. Since the first emergency stop input signal and the second emergency stop input signal are both from the robot teach pendant, under normal circumstances, the levels of the first emergency stop input signal and the second emergency stop input signal are the same. If the levels of the first emergency stop input signal and the second emergency stop input signal are different, it is considered that the transmission channel between the robot and the robot teach pendant may have a fault. Therefore, the transmission channel of the robot can be detected for faults based on the levels of the first emergency stop input signal and the second emergency stop input signal. In addition, controlling the emergency stop of the robot based on the signal from the robot teach pendant and the signal from the emergency stop input device can prevent the emergency stop command from being mistakenly sent, causing unnecessary losses, thereby extending the service life of the robot.

[0112] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM may be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0113] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0114] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A robot emergency stop control method, characterized in that: The method comprises: Obtaining a first emergency stop input signal and a second emergency stop input signal; the first emergency stop input signal and the second emergency stop input signal both come from a robot teaching pendant that is communicatively connected to the robot and are transmitted through different transmission channels; If the levels of the first emergency stop input signal and the second emergency stop input signal are the same, obtaining the operation mode of the robot; If the operating mode is the safe mode and no reset command is received, or if the operating mode is the normal mode, determining whether an emergency stop signal is received; the emergency stop signal comes from an emergency stop input device communicatively connected to the robot; If an emergency stop signal is received, an emergency stop signal is sent to the robot; the emergency stop signal is used to control the robot to stop running.

2. The method according to claim 1, characterized in that After obtaining the first emergency stop input signal and the second emergency stop input signal, the method further includes: If the levels of the first emergency stop input signal and the second emergency stop input signal are different, it is determined that the transmission channel is faulty.

3. The method according to claim 1, characterized in that The transmission channel is an isolation circuit connected between the data processing device and the robot teaching pendant; The isolation circuit includes a first isolation circuit and a second isolation circuit. The first emergency stop input signal is obtained by transmitting through the first isolation circuit, and the second emergency stop input signal is obtained by transmitting through the second isolation circuit.

4. The method according to claim 1, wherein If the operating mode is the safety mode and no reset instruction is received, after determining whether an emergency stop signal is received, the method further includes: If the emergency stop signal is received, an emergency stop output signal is sent to the robot teach pendant and / or the emergency stop input device; the emergency stop output signal is used to instruct the robot teach pendant and / or the emergency stop input device to send an emergency stop control signal to the robot.

5. The method according to claim 1, characterized in that If the levels of the first emergency stop input signal and the second emergency stop input signal are the same, after obtaining the operation mode of the robot, the method further includes: If the operating mode is the safety mode and a reset instruction is received, the robot is controlled to enter the normal mode.

6. The method according to claim 1, wherein The emergency stop signal includes a first emergency stop signal and a second emergency stop signal. If the operation mode is the normal mode, determining whether the emergency stop signal is received includes: If the operating mode is the normal mode, determining whether the first emergency stop signal and the second emergency stop signal are received; If an emergency stop signal is received, sending the emergency stop signal to the robot includes: If the first emergency stop signal and the second emergency stop signal are received, and the levels of the first emergency stop signal and the second emergency stop signal are the same, an emergency stop signal is sent to the robot.

7. The method according to claim 1, characterized in that If the first emergency stop input signal and the second emergency stop input signal have the same level, determining whether an emergency stop signal is received includes: If the levels of the first emergency stop input signal and the second emergency stop input signal are the same and both are levels indicating that the signal is valid, it is determined whether an emergency stop signal is received.

8. A robot emergency stop control device, characterized in that: The device comprises: a signal acquisition module, configured to acquire a first emergency stop input signal and a second emergency stop input signal, wherein the first emergency stop input signal and the second emergency stop input signal are both from a robot teaching pendant connected to the robot for communication, and are respectively obtained by being transmitted through different transmission channels; a signal processing module, configured to, if the first emergency stop input signal and the second emergency stop input signal have the same level, obtain an operating mode of the robot; if the operating mode is a safe mode and no reset command has been received, or if the operating mode is a normal mode, determine whether an emergency stop signal has been received; the emergency stop signal comes from an emergency stop input device communicatively connected to the robot; The emergency stop output module is used to send an emergency stop signal to the robot if it receives an emergency stop signal. The emergency stop signal is used to control the robot to stop running.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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