A robot anti-slip control method, system, and mobile robot

Abstract

This invention provides a robot anti-slip control method, system, and mobile robot. The method includes: acquiring a slippage signal of the robot in a powered-off state; controlling a motor to rotate based on the slippage signal, causing the motor to generate a back electromotive force (EMF) signal; if the back EMF signal reaches a preset back EMF threshold, controlling the generation of a wake-up signal; waking up a battery management subsystem based on the wake-up signal, and controlling the battery management subsystem to send a control signal to a control circuit board; activating the control circuit board based on the control signal, and controlling the motor to stop rotating through the control circuit board, thereby braking the robot. This invention can effectively prevent the mobile robot from slipping due to external forces in a powered-off state.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a method, system, and mobile robot for preventing robot slippage. Background Technology

[0002] With rapid economic development and technological advancements, mobile robots are becoming increasingly prevalent in people's daily lives. A mobile robot is a machine that automatically performs tasks. It can be directed by humans, run pre-programmed routines, or act according to principles established using artificial intelligence technology. Its purpose is to assist or replace human workers in jobs such as manufacturing, construction, or hazardous work.

[0003] When a mobile robot is powered off, it may slip under certain natural conditions without mechanical braking. These include wind, human contact, or placement on uneven surfaces. If left unchecked, the robot could collide with people or other objects, causing harm or damage. Therefore, it is necessary to control the robot's movement when powered off. Adding external mechanical braking devices would increase costs and the workload of robot design. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to overcome the shortcomings of the prior art and provide a robot anti-slip control method, system and mobile robot.

[0005] This invention provides the following technical solution: Firstly, this application provides a robot anti-slip control method, including: The robot's gliding signal when it is powered off is acquired, and the motor is controlled to rotate based on the gliding signal, so that the motor rotates to generate a back electromotive force signal; If the back EMF signal reaches a preset back EMF threshold, a wake-up signal is generated. The battery management subsystem is activated according to the wake-up signal, and the battery management subsystem is controlled to send control signals to the control circuit board. The control circuit board is activated according to the control signal, and the motor is controlled to stop rotating through the control circuit board so as to brake the robot.

[0006] In one embodiment, the formula for calculating the back electromotive force signal is: U=N*BLV U is the back electromotive force, N is the number of conductor turns, B is the magnetic flux density, L is the length of the conductor in the motor, and V is the speed at which the magnetic field lines are cut.

[0007] In one embodiment, before acquiring the robot's movement signal in the powered-off state, the following steps are included: The system determines the robot's state. If the robot is powered off, the system controls the battery management subsystem to turn on; if the robot is powered on, the system controls the battery management subsystem to turn off.

[0008] In one embodiment, the preset back EMF threshold is a preset wake-up voltage value of the battery management subsystem.

[0009] Secondly, this application also provides a robot anti-slip control system, comprising: The robot mobile device, electric motor, battery management subsystem, and control circuit board are provided. The robot mobile device is connected to the electric motor via a connecting shaft. The electric motor is connected to both the battery management subsystem and the control circuit board. The battery management subsystem is also connected to the control circuit board. When the robot's mobile device moves while powered off, it drives the connecting shaft to rotate, and the connecting shaft drives the electric motor to rotate. The motor generates a back electromotive force signal when it rotates; The electric motor is also used to control the generation of a wake-up signal when the back EMF signal reaches a preset back EMF threshold, and to send the wake-up signal to the battery management subsystem to wake up the battery management subsystem. The battery management subsystem is used to generate a control signal based on the wake-up signal and send the control signal to the control circuit board to activate the control circuit board; The control circuit board is used to control the motor to stop rotating, so as to brake the robot.

[0010] In one embodiment, the robot anti-slip control system further includes a battery connected to the control circuit board, the battery being used to power the control circuit board.

[0011] In one embodiment, the battery management subsystem is connected to the battery, and the battery management subsystem is further configured to control the battery to supply power to the control circuit board after receiving the wake-up signal, so as to activate the control circuit board.

[0012] In one embodiment, the robot anti-slip control system further includes an alarm subsystem, which is connected to the battery management subsystem.

[0013] In one embodiment, the alarm subsystem includes a sound alarm or a light alarm.

[0014] Thirdly, this application also provides a mobile robot, including the robot anti-slip control system as described in the second aspect.

[0015] The embodiments of the present invention have the following beneficial effects: The robot anti-slip control method provided by this invention can effectively prevent the robot from slipping due to external forces when it is powered off without adding an additional mechanical braking device, thereby reducing the risks caused by robot slippage.

[0016] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A flowchart illustrating a robot anti-slip control method is shown. Figure 2 A schematic diagram of the framework structure of a mobile robot anti-slip control system is shown; Figure 3 A schematic diagram of the structure of a mobile robot is shown.

[0019] Explanation of key component symbols: 10. Robot body; 20. Base; 100. Robot anti-slip control system; 101. Robot moving device; 102. Motor; 103. Battery management subsystem; 104. Control circuit board. Detailed Implementation

[0020] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0021] It should be noted that when an element is said to be "fixed" to another element, it can be directly on the other element or there may be an intervening element. When an element is said to be "connected" to another element, it can be directly connected to the other element or there may be an intervening element. Conversely, when an element is said to be "directly" on another element, there is no intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0022] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0023] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the template description is for the purpose of describing particular embodiments only and is not intended to limit the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0025] Example 1 See Figure 1 , Figure 1 This application provides a robot anti-slip control system 100 (hereinafter referred to as the "control system"). The control system 100 is applied to various mobile robots, such as humanoid robots.

[0026] The control system 100 includes: a robot mobile device 101, a motor 102, a battery management subsystem 103, and a control circuit board 104. The robot mobile device 101 and the motor 102 are coaxially connected via a connecting shaft. The motor 102 is connected to both the battery management subsystem 103 and the control circuit board 104. The battery management subsystem 103 is connected to the control circuit board 104.

[0027] When the robot is powered on, the robot's moving device 101 can be automatically locked via the control circuit board 104 to prevent the robot from slipping. When the robot is powered off, the control circuit board 104 is de-energized, and the robot's moving device 101 is unlocked. If the ground on which the robot is located is uneven or is subjected to external forces, it may slip.

[0028] In this embodiment, when the robot is in a powered-off state, if the robot moves due to various reasons, the robot moving device 101 will cause the connecting shaft to rotate, which in turn will cause the motor 102 to rotate. When the motor 102 rotates, the coil in the motor will change the current, thereby generating a back electromotive force. Since the motor 102 is connected to the battery management subsystem 103, when the back electromotive force in the motor reaches a preset electromotive force threshold, it will control and wake up the battery management subsystem 103. After the battery management subsystem 103 is woken up, it sends a control signal to the control circuit board 104. The control circuit board 104 controls the motor 102 to stop rotating according to the control signal, so as to brake the robot moving device 101.

[0029] Since the robot can automatically lock the robot movement device 101 when it is powered on, there is no need to detect the robot's movement at this time. Therefore, the battery management subsystem 103 is in the off state at this time. The battery management subsystem 103 is turned on when the robot is powered off in order to detect whether the robot has moved.

[0030] Back electromotive force (EMF) is the electromotive force generated against the tendency of a changing current. Back EMF is commonly found in electromagnetic coils, such as relay coils, solenoid valves, contactor coils, motors, and inductors. Therefore, when motor 102 rotates, it also generates back EMF, at which point the motor acts as a generator.

[0031] When the robot is powered off, it may slip due to various reasons. This application addresses this by using the movement of the mobile robot's moving device 101 to drive the motor 102 to rotate. When the motor 102 rotates, it causes the coil inside the motor 102 to cut magnetic field lines, generating a back electromotive force (EMF). The faster the rotation, the greater the back EMF. When the back EMF reaches a preset EMF threshold, the battery management subsystem 103 is activated. The battery management subsystem 103 then sends a control signal to the control circuit board 104, which in turn controls the motor 102 to stop rotating, thereby stopping the robot's moving device 101. This application utilizes back EMF to activate the battery management subsystem, making the motor function as a generator. Furthermore, it eliminates the need for external mechanical braking devices, preventing the mobile robot from slipping due to external forces when powered off.

[0032] In one embodiment, the robot mobile device 101 includes a moving wheel, which is coaxially connected to the motor 102. The rotation of the moving wheel can drive the motor 102 to rotate, and similarly, the rotation of the motor 102 can also drive the moving wheel to rotate, thereby realizing mutual control between the robot mobile device 101 and the motor 102.

[0033] In one embodiment, the control circuit board 104 includes: ACIM-AC induction motor control board, brushed DC motor control board, BLDC-brushless DC motor control board, PMSM-permanent magnet synchronous motor control board, stepper motor drive control board, asynchronous motor control board, synchronous motor control board, servo motor control board, or tubular motor drive control board. Users can select one of them according to their needs.

[0034] The robot anti-slip control system 100 also includes a battery, which is connected to the control circuit board 104 and the battery management subsystem 103 respectively.

[0035] The battery management subsystem 103, also commonly referred to as BMS (BATTERY MANAGEMENT SYSTEM), is primarily used for intelligent battery management. When the back electromotive force generated by the rotation of the motor 102 reaches the wake-up threshold of the battery management subsystem 103, the battery management subsystem 103 is activated. It then controls the battery switch to turn on, supplying power to the control circuit board 104, which in turn controls the robot's moving device 101 to stop moving. Because the battery management subsystem 103 integrates multiple functions, it is more effective for back electromotive force monitoring and battery management.

[0036] In one embodiment, the battery is connected to the motor 102, and the battery is also used to provide operating power to the motor 102 when the robot is powered on.

[0037] When the robot is powered on, the battery provides power to the motor 102. The motor 102 rotates after the power is connected, thereby moving the robot's mobile device 101. Alternatively, the motor 102 may lock after the power is connected, thus stopping the robot's mobile device 101. Therefore, when the battery management subsystem 103 receives a wake-up signal, it controls the battery switch to turn on, at which point the mobile robot is powered on and can operate normally according to user instructions. The battery can be a lithium battery, which is lightweight, has a large capacity, and is suitable for the long-term operation requirements of mobile robots.

[0038] In one embodiment, the mobile robot control system 100 further includes an alarm subsystem connected to the battery management subsystem 103.

[0039] To prevent the mobile robot from continuing to slip away, when the battery management subsystem 103 receives the wake-up signal, it generates an alarm message and sends the alarm message to the alarm subsystem, thereby triggering an alarm so that the user can handle the mobile robot in a timely manner.

[0040] The alarm subsystem includes a sound alarm, a light alarm, or other alarms. Specifically, the sound alarm includes a speaker, and the light alarm includes an LED light. The speaker or LED light is used to sound an alarm based on the alarm signal, allowing the user to quickly detect robot movement and take appropriate measures, such as moving the mobile robot to a flat area to prevent it from continuing to move.

[0041] In one embodiment, the formula for calculating the back electromotive force is: U=N*BLV U is the back electromotive force, N is the number of conductor turns, B is the magnetic flux density, L is the length of the conductor in the motor, and V is the speed at which the magnetic field lines are cut.

[0042] According to the law of electromagnetic induction, the magnitude of the back electromotive force can be calculated. Users can set the wake-up voltage of the battery management subsystem according to actual needs, thereby achieving precise braking of the mobile robot.

[0043] Example 2 See Figure 2 , Figure 2 This is a flowchart of the robot anti-slip control method provided in this embodiment. The method includes: S201. Obtain the gliding signal of the robot in the off state, and control the motor to rotate according to the gliding signal, so that the motor rotates to generate a back electromotive force signal.

[0044] The connecting shaft described in Embodiment 1 can be used as a "signal receiver". Since the robot moving device 101 is connected to the motor 102 through the connecting shaft, when the robot moves in the off state, it will drive the connecting shaft to rotate. After the connecting shaft rotates, it will drive the motor 102 to rotate, thereby generating a back electromotive force signal.

[0045] S202. If the back EMF signal reaches a preset back EMF threshold, a wake-up signal is generated.

[0046] The faster the motor 102 rotates, the greater the back electromotive force. By setting a back electromotive force threshold, we can determine whether the robot is slipping and take corresponding measures when the threshold is reached.

[0047] S203. The battery management subsystem is woken up according to the wake-up signal, and the battery management subsystem is controlled to send a control signal to the control circuit board.

[0048] The preset back EMF threshold can be set as the wake-up voltage of the battery management subsystem. When the back EMF generated by the motor reaches the preset back EMF threshold, the battery management subsystem is woken up and sends a control signal to the control circuit board.

[0049] In one embodiment, the robot anti-slip control also includes a battery. After the battery management subsystem is activated, it controls the battery to supply power to the control circuit board. Therefore, the control signal can be an electrical signal.

[0050] S204. Activate the control circuit board according to the control signal, and control the motor to stop rotating through the control circuit board so as to brake the robot.

[0051] When the control circuit board receives a control signal, that is, when the battery powers the control circuit board, the control circuit board is activated, the robot is turned on, and the motor is automatically locked, and the robot stops moving.

[0052] In one embodiment, the formula for calculating the back electromotive force signal is: U=N*BLV U is the back electromotive force, N is the rotational speed of the motor, B is the magnetic flux density, L is the length of the conductor in the motor, and V is the speed at which the magnetic field lines are cut.

[0053] In one embodiment, the preset back EMF threshold is a preset wake-up voltage value of the battery management subsystem, and the generation of the wake-up signal includes: The battery management subsystem is activated based on the wake-up signal.

[0054] The robot anti-slip control method provided in this embodiment can effectively prevent the robot from slipping due to external forces when it is powered off without adding an additional mechanical braking device, thereby reducing the risks caused by robot slippage.

[0055] The mobile robot control method provided in this embodiment can realize all the functions of the robot anti-slip control system corresponding to Embodiment 1, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0056] Example 3 See Figure 3 This application also provides a mobile robot, including a robot body 10, a base 20, and a robot moving device 101. The robot body 10 is disposed on the base 20, and the base 20 is disposed on the robot moving device 101.

[0057] The base 20 is used to fix the robot body 10 to the robot moving device 101, so that the robot moving device 101 can drive the robot body 10 to move.

[0058] The robot body 10 includes a motor 102, a battery management subsystem 103, and a control circuit board 104. The robot moving device 101 is coaxially connected to the motor 102 via a connecting shaft. The motor 102 is connected to both the battery management subsystem 103 and the control circuit board 104. The battery management subsystem 103 is connected to the control circuit board 104.

[0059] When the robot moving device 101 moves, it drives the connecting shaft to rotate, and the connecting shaft drives the motor 102 to rotate and generate a back electromotive force; The motor 102 is also used to generate a wake-up signal when the back electromotive force reaches a preset electromotive force threshold, and the motor 102 is also used to transmit the wake-up signal to the battery management subsystem 103. The battery management subsystem 103 is used to receive the wake-up signal, and the battery management subsystem 103 is also used to generate a control signal according to the wake-up signal and send the control signal to the control circuit board 104; The control circuit board 104 is used to receive the control signal, and the control circuit board 104 is also used to control the motor 102 to stop rotating according to the control signal so as to brake the robot moving device 101.

[0060] The mobile robot provided in this application embodiment can realize all the functions of the mobile robot control system corresponding to Embodiment 1, and can achieve the same technical effect.

[0061] In all examples shown and described herein, any specific values ​​should be interpreted as merely exemplary and not as limitations; therefore, other examples of exemplary embodiments may have different values.

[0062] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0063] The above-described embodiments are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention.

Claims

1. A robot anti-slip control method, characterized in that, include: The robot's gliding signal when it is powered off is acquired, and the motor is controlled to rotate based on the gliding signal, so that the motor rotates to generate a back electromotive force signal; If the back EMF signal reaches a preset back EMF threshold, a wake-up signal is generated. The battery management subsystem is activated according to the wake-up signal, and the battery management subsystem is controlled to send control signals to the control circuit board. The control circuit board is activated according to the control signal, and the motor is controlled to stop rotating through the control circuit board so as to brake the robot; Before acquiring the robot's movement signal in the powered-off state, the following steps are included: The robot's status is determined; if the robot is powered off, the battery management subsystem is turned on. If the robot is powered on, then the battery management subsystem is shut down.

2. The robot anti-slip control method according to claim 1, characterized in that, The formula for calculating the back electromotive force signal is: U=N*BLV U is the back electromotive force, N is the number of conductor turns, B is the magnetic flux density, L is the length of the conductor in the motor, and V is the speed at which the magnetic field lines are cut.

3. The robot anti-slip control method according to claim 1, characterized in that, The preset back EMF threshold is the wake-up voltage value preset by the battery management subsystem.

4. A robot anti-slip control system, characterized in that, include: The robot mobile device, electric motor, battery management subsystem, and control circuit board are provided. The robot mobile device is connected to the electric motor via a connecting shaft. The electric motor is connected to both the battery management subsystem and the control circuit board. The battery management subsystem is also connected to the control circuit board. When the robot's mobile device moves while powered off, it drives the connecting shaft to rotate, and the connecting shaft drives the electric motor to rotate. The motor generates a back electromotive force signal when it rotates; The electric motor is also used to control the generation of a wake-up signal when the back EMF signal reaches a preset back EMF threshold, and to send the wake-up signal to the battery management subsystem to wake up the battery management subsystem. The battery management subsystem is used to generate a control signal based on the wake-up signal and send the control signal to the control circuit board to activate the control circuit board; The control circuit board is used to control the motor to stop rotating, so as to brake the robot; The robot anti-slip control system is also used to determine the state of the robot before acquiring a slip signal when the robot is in the off state. If the robot is in the off state, the system controls the battery management subsystem to turn on; if the robot is in the on state, the system controls the battery management subsystem to turn off.

5. The robot anti-slip control system according to claim 4, characterized in that, The robot anti-slip control system also includes a battery connected to the control circuit board, which powers the control circuit board.

6. The robot anti-slip control system according to claim 5, characterized in that, The battery management subsystem is connected to the battery. After receiving the wake-up signal, the battery management subsystem also controls the battery to supply power to the control circuit board to activate the control circuit board.

7. The robot anti-slip control system according to claim 4, characterized in that, The robot anti-slip control system also includes an alarm subsystem, which is connected to the battery management subsystem.

8. The robot anti-slip control system according to claim 7, characterized in that, The alarm subsystem includes a sound alarm or a light alarm.

9. A mobile robot, characterized in that, Including the robot anti-slip control system as described in any one of claims 4-8.

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