Motor safety control circuit, motor control method and mobile equipment

Abstract

The embodiment of the invention provides a motor safety control circuit, a motor control method and a mobile device.The motor safety control circuit comprises a power source, a power switch, a safety controller, a safety driver and a motor, the motor is provided with a motor band-type brake, and the safety controller is electrically connected with the safety driver, the motor band-type brake and the power switch; the power source is electrically connected with the safety driver through the power switch, the safety driver is electrically connected with the motor band-type brake and the motor, and the motor is used for driving the mobile device to move. The safety controller is used for disconnecting the power switch and starting the motor band-type brake when the mobile equipment is in an abnormal condition; and / or the safety driver is used for controlling the motor to stop and starting the motor band-type brake when the mobile equipment is in an abnormal condition. As the safety controller and / or the safety driver can control the motor to stop through the corresponding control mode when the mobile equipment is in the abnormal condition, the motor is controlled to enable the mobile equipment to stop safely.

Description

Technical Field

[0001] The present application relates to the technical field of motor motion control, and in particular to a motor safety control circuit, a motor control method and a mobile device. Background Art

[0002] Motors are widely used as power sources in all walks of life, bringing great convenience to production and life. For mobile devices driven by motors, how to control the safe stop of mobile devices when abnormal situations such as possible collisions occur is a crucial issue. For example, when obstacles invade the driving area of ​​the mobile device or the speed of the mobile device is abnormal, the mobile device needs to stop moving to avoid collision or damage.

[0003] Mobile devices are moved by motors. Therefore, when the mobile device encounters abnormal situations such as possible collisions, how to control the motors to stop the mobile device safely is an urgent problem to be solved. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a motor safety control circuit, a motor control method and a mobile device, so as to control the motor to stop the mobile device safely when the mobile device is in an abnormal situation. The specific technical solution is as follows:

[0005] In a first aspect, an embodiment of the present application provides a motor safety control circuit, the motor safety control circuit comprising a power supply, a power switch, a safety controller, a safety driver and a motor, the motor being provided with a motor brake, wherein:

[0006] The safety controller is electrically connected to the safety driver, the motor brake and the power switch respectively, the power supply is electrically connected to the safety driver through the power switch, the safety driver is electrically connected to the motor brake and the motor respectively, and the motor is used to drive the mobile device to move;

[0007] The safety controller is used to disconnect the power switch and activate the motor brake when the mobile device is in an abnormal situation; and / or

[0008] The safety driver is used to control the motor to stop and open the motor brake when the mobile device is in an abnormal situation.

[0009] Optionally, the motor safety control circuit further includes a high-side control switch and a low-side control switch;

[0010] The power supply is electrically connected to the motor brake through the power switch and the high-side control switch, the safety controller is electrically connected to the power switch and the high-side control switch respectively, the safety driver is electrically connected to the motor brake through the low-side control switch, and the low-side control switch is grounded;

[0011] The safety controller is specifically configured to disconnect at least one of the power switch and the high-side control switch when the mobile device is in an abnormal situation; and / or,

[0012] The safety driver is specifically used to control the motor to stop and disconnect the low-side control switch when the mobile device is in an abnormal situation.

[0013] Optionally, the motor safety control circuit further includes a high-side control switch and a low-side control switch, and the safety controller includes a built-in power supply;

[0014] The built-in power supply is electrically connected to the motor brake through the high-side control switch, the safety controller is electrically connected to the power switch and the high-side control switch respectively, the safety driver is electrically connected to the motor brake through the low-side control switch, and the low-side control switch is grounded;

[0015] The safety controller is specifically used to disconnect the power switch and the high-side control switch when the mobile device is in an abnormal situation; and / or,

[0016] The safety driver is specifically used to control the motor to stop and disconnect the low-side control switch when the mobile device is in an abnormal situation.

[0017] Optionally, the motor safety control circuit further includes a safety input device, and the safety input device is electrically connected to the safety controller;

[0018] The safety input device is used to send a safety signal to the safety controller when an obstacle is detected around the mobile device or a stop instruction triggered by an external trigger is obtained;

[0019] The safety controller is specifically configured to receive the safety signal sent by the safety input device, and when it is determined based on the safety signal that the mobile device is in an abnormal condition, disconnect the power switch and open the motor brake;

[0020] The security controller is further configured to send a control instruction to the security driver when determining that the mobile device is in an abnormal situation;

[0021] The safety driver is specifically configured to receive the control instruction sent by the safety controller, and when it is determined that the control instruction instructs the mobile device to stop, control the motor to stop and open the motor brake.

[0022] Optionally, the motor is further provided with a motor encoder, and the motor encoder is electrically connected to the safety driver;

[0023] The motor encoder is used to detect speed information of the motor and send the speed information to the safety driver;

[0024] The safety driver is specifically configured to receive the speed information sent by the motor encoder, and when it is determined based on the speed information that the mobile device is in an abnormal condition, control the motor to stop and open the motor brake;

[0025] The safety driver is further configured to send the speed information to the safety controller after receiving the speed information sent by the motor encoder;

[0026] The safety controller is specifically configured to receive the speed information sent by the safety driver, and when it is determined based on the speed information that the mobile device is in an abnormal condition, disconnect the power switch and activate the motor brake.

[0027] Optionally, the safety driver includes a motor winding drive and a motor brake drive, the motor winding drive is electrically connected to the motor, and the motor brake drive is electrically connected to the low-side control switch;

[0028] The safety driver is specifically used to turn off the motor winding drive to stop the motor when the mobile device is in an abnormal situation, and disconnect the low-side control switch through the motor brake drive.

[0029] Optionally, the safety controller includes an input module, a processing module and an output module, the processing module is electrically connected to the input module, the safety driver and the output module respectively, and the output module is electrically connected to the power switch and the motor brake respectively;

[0030] The input module is used to obtain an external input safety signal and send the safety signal to the processing module;

[0031] The processing module is configured to receive the safety signal or the speed information sent by the safety driver, and send a control instruction to the safety driver and the output module when determining that the mobile device is in an abnormal condition based on the safety signal, and send a control instruction to the output module when determining that the mobile device is in an abnormal condition based on the speed information;

[0032] The output module is used to receive the control instruction sent by the processing module, and when it is determined that the control instruction instructs the mobile device to stop, output a control signal to turn off the power switch and turn on the motor brake.

[0033] Optionally, the input module includes a first master controller, a first slave controller, a first input interface and a first output interface, the first master controller and the first slave controller are electrically connected to the first input interface and the first output interface respectively, and the first master controller is electrically connected to the first slave controller;

[0034] The first master controller is used to obtain an external input safety signal through the first input interface, and send the safety signal to the first slave controller;

[0035] The first slave controller is used to obtain an external input safety signal through the first input interface, and send the safety signal to the first master controller;

[0036] The first master controller is further configured to determine whether the acquired external input safety signal is identical to the safety signal sent by the first slave controller, and if so, output the safety signal to the processing module through the first output interface;

[0037] The first slave controller is also used to determine whether the obtained external input safety signal is the same as the safety signal sent by the first master controller. If they are the same, the safety signal output by the first master controller is obtained, and it is determined whether the obtained external input safety signal is consistent with the obtained safety signal output by the first master controller. If they are inconsistent, an alarm signal is output to the processing module through the first output interface, so that the processing module shields the safety signal output by the first master controller, disconnects the power switch, and turns on the motor brake.

[0038] Optionally, the processing module includes a second main controller, a second slave controller, a second input interface, a second output interface and a third output interface, the second main controller and the second slave controller are electrically connected to the second input interface, the second output interface and the third output interface respectively, and the second main controller and the second slave controller are electrically connected;

[0039] The second master controller is configured to obtain the safety signal input by the input module through the second input interface, determine whether the mobile device is in an abnormal situation based on the safety signal, obtain a first determination result, and send the first determination result to the second slave controller;

[0040] The second slave controller is used to obtain the safety signal input by the input module through the second input interface, determine whether the mobile device is in an abnormal situation based on the safety signal, obtain a second judgment result, and send the second judgment result to the second master controller;

[0041] The second main controller is further used to determine whether the first determination result is the same as the second determination result, and if they are the same, output the control instruction to the output module and the safety driver through the second output interface and the third output interface respectively;

[0042] The second slave controller is also used to determine whether the first judgment result is the same as the second judgment result. If they are the same, obtain the control instruction output by the second main controller, and determine whether the control instruction determined based on the first judgment result and the second judgment result is consistent with the control instruction output by the second main controller. If they are inconsistent, output an alarm signal to the output module and the safety driver through the second output interface and the third output interface respectively, so that the output module shields the safety signal output by the second main controller, disconnects the power switch, turns on the motor brake, and causes the safety driver to shield the safety signal output by the second main controller, control the motor to stop, and turn on the motor brake.

[0043] Optionally, the processing module includes a second main controller, a second slave controller, a third input interface, a second output interface and a third output interface, the second main controller and the second slave controller are electrically connected to the second input interface, the second output interface and the third output interface respectively, and the second main controller and the second slave controller are electrically connected;

[0044] The second master controller is configured to obtain the speed information sent by the security driver through the third input interface, determine whether the mobile device is in an abnormal situation based on the speed information, obtain a third determination result, and send the third determination result to the second slave controller;

[0045] The second slave controller is used to obtain the speed information sent by the security driver through the third input interface, determine whether the mobile device is in an abnormal situation based on the speed information, obtain a fourth judgment result, and send the fourth judgment result to the second master controller;

[0046] The second main controller is further used to determine whether the third determination result is the same as the fourth determination result, and if they are the same, output the control instruction to the output module through the second output interface;

[0047] The second slave controller is also used to determine whether the third judgment result is the same as the fourth judgment result. If they are the same, obtain the control instruction output by the second main controller, and determine whether the control instruction determined based on the third judgment result and the fourth judgment result is consistent with the control instruction obtained from the second main controller. If they are inconsistent, output an alarm signal to the output module through the second output interface, so that the output module shields the safety signal output by the second main controller, disconnects the power switch, and turns on the motor brake.

[0048] Optionally, the output module includes a third master controller, a third slave controller, a fourth input interface and a fourth output interface, the third master controller and the third slave controller are electrically connected to the fourth input interface and the fourth output interface respectively, and the third master controller is electrically connected to the third slave controller;

[0049] The third master controller is used to obtain the control instruction input by the processing module through the fourth input interface, and send the control instruction to the third slave controller;

[0050] The third slave controller is used to obtain the control instruction input by the processing module through the fourth input interface, and send the control instruction to the third master controller;

[0051] The third master controller is further configured to determine whether the control instruction input by the processing module is the same as the control instruction sent by the third slave controller, and if they are the same, output the control signal through the fourth output interface to turn off the power switch and turn on the motor brake;

[0052] The third slave controller is also used to determine whether the control instruction obtained by the processing module input is the same as the control instruction sent by the third main controller. If they are the same, obtain the control signal output by the third main controller, and determine whether the control signal determined based on the control instruction is consistent with the control signal obtained by the third main controller output. If they are inconsistent, output an alarm signal through the fourth output interface to disconnect the power switch and open the motor brake.

[0053] Optionally, the safety driver includes a fourth master controller, a fourth slave controller, a fifth input interface, the motor winding drive and the motor brake drive, the fourth master controller and the fourth slave controller are electrically connected to the fifth input interface, the motor winding drive and the motor brake drive respectively, and the fourth master controller is electrically connected to the fourth slave controller;

[0054] The fourth master controller is used to obtain the control instruction input by the processing module through the fifth input interface, and send the control instruction to the fourth slave controller;

[0055] The fourth slave controller is used to obtain the control instruction input by the processing module through the fifth input interface, and send the control instruction to the fourth master controller;

[0056] The fourth main controller is further used to determine whether the control instruction input by the processing module is the same as the control instruction sent by the fourth slave controller, and if they are the same, output a stop signal to the motor winding drive to turn off the motor winding drive to stop the motor, and output a brake signal to the motor brake drive to disconnect the low-side control switch through the motor brake drive;

[0057] The fourth slave controller is also used to determine whether the control instruction obtained by the processing module input is the same as the control instruction sent by the fourth main controller. If they are the same, obtain the stop signal and the brake signal output by the fourth main controller, and determine whether the stop signal and the brake signal determined based on the obtained control instruction input by the processing module and the control instruction sent by the fourth main controller are consistent with the obtained stop signal and the brake signal output by the fourth main controller. If they are inconsistent, output an alarm signal to the motor winding drive, so that the motor winding drive shields the stop signal output by the fourth main controller and turns off the motor winding drive to stop the motor, and enables the motor brake drive to shield the brake signal output by the fourth main controller and disconnect the low-side control switch through the motor brake drive.

[0058] Optionally, the safety driver includes a fourth master controller, a fourth slave controller, a sixth input interface, the motor winding drive and the motor brake drive, the fourth master controller and the fourth slave controller are electrically connected to the sixth input interface, the motor winding drive and the motor brake drive respectively, and the fourth master controller is electrically connected to the fourth slave controller;

[0059] The fourth master controller is configured to obtain speed information input externally through the sixth input interface, determine whether the mobile device is in an abnormal situation based on the speed information, obtain a fifth determination result, and send the fifth determination result to the fourth slave controller;

[0060] The fourth slave controller is used to obtain speed information input externally through the sixth input interface, determine whether the mobile device is in an abnormal situation based on the speed information, obtain a sixth judgment result, and send the sixth judgment result to the fourth master controller;

[0061] The fourth main controller is further used to determine whether the fifth judgment result is the same as the sixth judgment result, and if they are the same, output a stop signal to the motor winding drive to turn off the motor winding drive to stop the motor, and output a brake signal to the motor brake drive to disconnect the low-side control switch through the motor brake drive;

[0062] The fourth slave controller is also used to determine whether the fifth judgment result is the same as the sixth judgment result. If they are the same, obtain the stop signal and the brake signal output by the fourth main controller, and determine whether the stop signal and the brake signal determined based on the fifth judgment result and the sixth judgment result are consistent with the stop signal and the brake signal output by the fourth main controller. If they are inconsistent, output an alarm signal to the motor winding drive, so that the motor winding drive shields the stop signal output by the fourth main controller and turns off the motor winding drive to stop the motor, and enables the motor brake drive to shield the brake signal output by the fourth main controller and disconnect the low-side control switch through the motor brake drive.

[0063] In a second aspect, an embodiment of the present application provides a motor safety control method, the method being applied to a safety controller in a motor safety control circuit according to any one of the first aspects above, the method comprising:

[0064] When the mobile device is in an abnormal situation, turning off the power switch and opening the motor brake; and / or,

[0065] When the mobile device is in an abnormal situation, a control instruction is sent to the safety driver, so that the safety driver controls the motor to stop and opens the motor brake.

[0066] In a third aspect, an embodiment of the present application provides a mobile device, wherein the mobile device comprises the motor safety control circuit described in any one of the first aspects above.

[0067] Beneficial effects of the embodiments of the present application:

[0068] In the solution provided by the embodiment of the present application, the motor safety control circuit may include a power supply, a power switch, a safety controller, a safety driver and a motor, and the motor is provided with a motor brake, wherein: the safety controller is electrically connected to the safety driver, the motor brake and the power switch respectively, the power supply is electrically connected to the safety driver through the power switch, the safety driver is electrically connected to the motor brake and the motor respectively, and the motor is used to drive the mobile device to move; the safety controller is used to disconnect the power switch and turn on the motor brake when the mobile device is in an abnormal situation; and / or the safety driver is used to control the motor to stop and turn on the motor brake when the mobile device is in an abnormal situation. Since the safety controller and / or the safety driver can control the motor to stop and keep the position unchanged through the corresponding control method when the mobile device is in an abnormal situation, the effect of controlling the motor to stop the mobile device safely is achieved when the mobile device is in an abnormal situation.

[0069] Of course, implementing any product or method of the present application does not necessarily require achieving all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0071] Figure 1 A schematic diagram of the structure of a motor safety control circuit provided in an embodiment of the present application;

[0072] Figure 2 Based on Figure 1 A schematic structural diagram of a motor brake control circuit of the illustrated embodiment;

[0073] Figure 3 Based on Figure 1 A schematic structural diagram of another motor brake control circuit of the illustrated embodiment;

[0074] Figure 4 Based on Figure 1 A schematic structural diagram of a control circuit for controlling a motor through a safety signal in the illustrated embodiment;

[0075] Figure 5 Based on Figure 1 A schematic diagram of the structure of a control circuit for controlling a motor through speed information in the illustrated embodiment;

[0076] Figure 6 Based on Figure 2 or Figure 3A schematic structural diagram of a safety driver and a motor connection method in the illustrated embodiment;

[0077] Figure 7 Based on Figure 1 A schematic diagram of the structure of a control circuit including a multi-module safety controller according to the illustrated embodiment;

[0078] Figure 8 Based on Figure 7 A schematic diagram of the structure of the input module of the illustrated embodiment;

[0079] Fig. 9 Based on Figure 7 A schematic diagram of the structure of the processing module of the illustrated embodiment;

[0080] Fig.10 Based on Figure 7 Another structural schematic diagram of the processing module of the illustrated embodiment;

[0081] Fig.11 Based on Figure 7 A schematic diagram of the structure of the output module of the illustrated embodiment;

[0082] Fig.12 Based on Figure 6 A schematic structural diagram of a safety driver of the illustrated embodiment;

[0083] Fig.13 Based on Figure 6 Another schematic diagram of the structure of the safety driver of the illustrated embodiment;

[0084] Fig.14 Based on Figure 1 A schematic diagram of the specific structure of a motor safety control circuit in the illustrated embodiment;

[0085] Fig.15 Based on Figure 1 A schematic diagram of the specific structure of another motor safety control circuit of the illustrated embodiment;

[0086] in, Figure 1-Figure 15 The corresponding relationship between the component names and the corresponding reference numerals is as follows:

[0087] 101 power supply, 102 power switch, 103 safety controller, 104 safety driver, 105 motor, 106 motor brake, 107 high-side control switch, 108 low-side control switch, 109 safety input device, 110 motor encoder, 1031 built-in power supply, 1032 input module, 1033 processing module, 1034 output module, 10321 first master controller, 10322 first slave controller, 10323 first input interface, 10324 first output interface, 10331 second master Controller, 10332 second slave controller, 10333 second input interface, 10334 second output interface, 10335 third output interface, 10336 third input interface, 10341 third master controller, 10342 third slave controller, 10343 fourth input interface, 10344 fourth output interface, 1041 motor winding drive, 1042 motor brake drive, 1043 fourth master controller, 1044 fourth slave controller, 1045 fifth input interface, 1046 sixth input interface. DETAILED DESCRIPTION

[0088] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field based on the present application belong to the scope of protection of the present application.

[0089] In order to control the motor to stop the mobile device safely when the mobile device is in an abnormal situation, an embodiment of the present application provides a motor safety control circuit, a motor control method and a mobile device. The following first introduces a motor safety control circuit provided in an embodiment of the present application.

[0090] The motor safety control circuit provided in the embodiment of the present application can be applied to any mobile device that is driven by a motor to move, such as a mobile intelligent robot, a mobile handling device, etc., which is not specifically limited here. For the sake of clarity, it is referred to as a mobile device below.

[0091] like Figure 1 As shown, a motor safety control circuit includes a power supply 101, a power switch 102, a safety controller 103, a safety driver 104 and a motor 105, wherein the motor 105 is provided with a motor brake 106, wherein:

[0092] The safety controller 103 is electrically connected to the safety driver 104, the motor brake 106 and the power switch 102 respectively. The power supply 101 is electrically connected to the safety driver 104 through the power switch 102. The safety driver 104 is electrically connected to the motor brake 106 and the motor 105 respectively. The motor 105 is used to drive the mobile device to move;

[0093] The safety controller 103 is used to disconnect the power switch 102 and open the motor brake 106 when the mobile device is in an abnormal situation; and / or,

[0094] The safety driver 104 is used to control the motor 105 to stop and open the motor brake 106 when the mobile device is in an abnormal situation.

[0095] In the solution provided by the embodiment of the present application, the motor safety control circuit may include a power supply, a power switch, a safety controller, a safety driver and a motor, and the motor is provided with a motor brake, wherein: the safety controller is electrically connected to the safety driver, the motor brake and the power switch respectively, the power supply is electrically connected to the safety driver through the power switch, the safety driver is electrically connected to the motor brake and the motor respectively, and the motor is used to drive the mobile device to move; the safety controller is used to disconnect the power switch and turn on the motor brake when the mobile device is in an abnormal situation; and / or the safety driver is used to control the motor to stop and turn on the motor brake when the mobile device is in an abnormal situation. Since the safety controller and / or the safety driver can control the motor to stop and keep the position unchanged through the corresponding control method when the mobile device is in an abnormal situation, the effect of controlling the motor to stop the mobile device safely is achieved when the mobile device is in an abnormal situation.

[0096] When the mobile device is in a normal state, the motor 105 needs to maintain normal movement to ensure the normal operation of the mobile device. In this case, the safety controller 103 can control the power switch 102 to close through the electrical connection with the power switch 102, so that the electrical connection path between the power supply 101 and the safety driver 104 is closed, so that the power supply 101 can provide electrical energy for the safety driver 104. Further, the safety driver 104 can convert the electrical energy provided by the power supply 101 into electrical energy for driving the motor 105 to move, and provide electrical energy to the motor 105 through the electrical connection with the motor 105, thereby controlling the motor 105 to move.

[0097] And because the motor brake is used to lock the position of the motor when the motor stops and prevent the motor from moving due to external force, the motor brake does not need to work when the motor is working normally. Therefore, when the mobile device is in a normal state, the safety controller 103 and the safety driver 104 can also close the motor brake 106 through their electrical connection with the motor brake 106 respectively.

[0098] For example, when the motor 105 operates normally, the safety controller 103 and the safety driver 104 can respectively provide electric energy to the motor brake 106 through their electrical connections with the motor brake 106 so that the motor brake 106 does not brake.

[0099] When the mobile device is in an abnormal situation such as an obstacle invading the driving area of ​​the mobile device, the speed of the mobile device is abnormal, the emergency stop button for controlling the emergency stop of the mobile device is triggered, the mobile device needs to stop moving to avoid collision or damage. In this case, it is necessary to control the motor used to drive the mobile device to move to stop, so that the mobile device stops.

[0100] Among them, the method of detecting whether the mobile device is in an abnormal situation can be based on the specific type of the pre-set abnormal situation, and the existing detection algorithm can be selected for detection, which is not specifically limited here. For example, for the abnormal situation that an obstacle invades the driving area of ​​the mobile device, the existing path planning algorithm and obstacle detection algorithm can be combined to determine whether the obstacle invades the driving area of ​​the mobile device to determine whether the mobile device is in an abnormal situation. For the abnormal situation that the speed of the mobile device is abnormal, the moving speed of the mobile device can be monitored, and whether the mobile device is in an abnormal situation can be determined by judging whether the moving speed exceeds a preset threshold, etc.

[0101] Since the electric energy that the motor 105 relies on to move is first provided to the safety driver 104 by the power supply 101 through the power switch 102, and then the safety driver 104 converts the electric energy provided by the power supply 101 and provides it to the motor 105. Therefore, when the mobile device is in an abnormal situation and needs to control the motor 105 to stop, the safety controller 103 can turn off the power switch 102 to cut off the power supply of the safety driver 104, so that the safety driver 104 can no longer supply power to the motor 105, thereby indirectly controlling the motor 105 to stop. The safety driver 104 can also directly control the motor 105 to stop by stopping the power supply or sending instructions.

[0102] In order to prevent the motor 105 from moving due to external force after stopping, the safety controller 103 and the safety driver 104 can also respectively open the motor brake 106 through the electrical connection with the motor brake 106. For example, the safety controller 103 and the safety driver 104 can respectively stop providing power to the motor brake 106 through the electrical connection with the motor brake 106, so that the motor brake 106 is braked.

[0103] In one embodiment, when the mobile device is in an abnormal situation and the motor needs to be controlled to stop, the motor 105 can be stopped and the motor brake 106 can be opened only by the safety controller 103 or the safety driver 104, that is, when the mobile device is in an abnormal situation, the safety controller 103 disconnects the power switch 102 and opens the motor brake 106; or, when the mobile device is in an abnormal situation, the safety driver 104 controls the motor 105 to stop and opens the motor brake 106, thereby saving the resources required to control the motor 105 to stop.

[0104] In another embodiment, when the mobile device is in an abnormal situation and the motor needs to be controlled to stop, the safety controller 103 and the safety driver 104 can stop the motor 105 and open the motor brake 106 at the same time, that is, when the mobile device is in an abnormal situation, the safety controller 103 disconnects the power switch 102 and opens the motor brake 106, and the safety driver 104 controls the motor 105 to stop and opens the motor brake 106. In this way, when at least one of the safety controller 103 and the safety driver 104 successfully completes the process of controlling the motor to stop, it can be ensured that the motor 105 stops and remains motionless, thereby ensuring the success rate of controlling the motor 105 to stop, and achieving a more stable control effect when controlling the mobile device to stop.

[0105] In the solution provided in the embodiment of the present application, since the safety controller and / or the safety driver can control the motor to stop and maintain the position unchanged through a corresponding control method when the mobile device is in an abnormal situation, the effect of controlling the motor to stop the mobile device safely is achieved when the mobile device is in an abnormal situation.

[0106] As an implementation method of the present application, Figure 2 As shown, the motor safety control circuit may further include a high-side control switch 107 and a low-side control switch 108, the power supply 101 is electrically connected to the motor brake 106 through the power switch 102 and the high-side control switch 107, the safety controller 103 is electrically connected to the power switch 102 and the high-side control switch 107 respectively, the safety driver 104 is electrically connected to the motor brake 106 through the low-side control switch 108, and the low-side control switch 108 is grounded;

[0107] The safety controller 103 is specifically configured to disconnect at least one of the power switch 102 and the high-side control switch 107 when the mobile device is in an abnormal situation; and / or,

[0108] The safety driver 104 is specifically used to control the motor 105 to stop and disconnect the low-side control switch 108 when the mobile device is in an abnormal situation.

[0109] When the motor brake 106 and the motor 105 share the power supply 101, the motor safety control circuit may further include a high-side control switch 107 between the power supply 101 and the motor brake 106 and a low-side control switch 108 between the motor brake 106 and the ground terminal. The safety controller 103 and the safety driver 104 may control the opening and closing of the motor brake 106 through the high-side control switch 107 and the low-side control switch 108, respectively. Specifically:

[0110] The power supply 101 can be electrically connected to the motor brake 106 through the power switch 102 and the high-side control switch 107. The safety controller 103 can be electrically connected to the power switch 102 and the high-side control switch 107 respectively to control the opening and closing of the power switch 102 and the high-side control switch 107. The safety driver 104 can be electrically connected to the low-side control switch 108 to control the opening and closing of the low-side control switch 108. One end of the low-side control switch 108 is electrically connected to the motor brake 106, and the other end is connected to the ground end, that is, the safety driver 104 can be electrically connected to the motor brake 106 through the low-side control switch 108, and the low-side control switch 108 is grounded.

[0111] Because the power switch 102 is originally located on the path between the power supply 101 and the motor 105, in this case, the power switch 102 is also located on the path between the power supply 101 and the motor brake 106, so when the power switch 102 is disconnected, the power supply of the motor 105 can be cut off to achieve the effect of stopping the motor, and the power supply of the motor brake 106 can be cut off to achieve the effect of holding the brake. And when the high-side control switch 107 located between the power switch 102 and the motor brake 106 is specifically located at the common part of the power supply circuit of the motor brake 106 and the power supply circuit of the motor 105, for example, when the high-side control switch 107 is located between the power switch 102 and the safety driver 104, the high-side control switch 107 can also be disconnected to cut off the power supply of the motor 105 to achieve the effect of stopping the motor, and can also cut off the power supply of the motor brake 106 to achieve the effect of holding the brake.

[0112] Therefore, in the above motor safety control circuit, when the mobile device is in an abnormal situation, the safety controller 103 can simultaneously achieve the effects of stopping the motor and braking by disconnecting at least one of the power switch 102 and the high-side control 107 switch.

[0113] Of course, it is understandable that when the high-side control switch 107 is not located in the common part of the power supply circuit of the motor brake 106 and the power supply circuit of the motor 105, the high-side control switch 107 cannot cut off the power supply of the motor 105 to achieve the effect of stopping the motor, and can only cut off the power supply of the motor brake 106 to achieve the effect of the brake. In this case, when the mobile device is in an abnormal situation, the safety controller 103 can turn off the power switch 102 and turn off the high-side control switch 107.

[0114] For the safety driver 104, because the low-side control switch 108 electrically connected thereto is located between the motor brake 106 and the ground terminal, when the low-side control switch 108 is disconnected, the motor brake 106 cannot be energized, thereby achieving the effect of the brake. Therefore, when the mobile device is in an abnormal situation, the safety driver 104 can disconnect the low-side control switch 108 to open the motor brake.

[0115] However, because the low-side control switch 108 is located between the motor brake 106 and the ground terminal, it can only control the path where the motor brake 106 is located, and cannot control the path where the motor 105 is located. Therefore, disconnecting the low-side control switch 108 cannot control the motor 105 to stop. Therefore, when the mobile device is in an abnormal situation, in addition to disconnecting the low-side control switch 108 to open the motor brake, the safety driver 104 also needs to control the motor 105 to stop.

[0116] In one embodiment, the safety driver 104 may include a power supply, which is mainly used to convert the electric energy of the power supply 101 and then supply power to the motor 105. Accordingly, the motor brake 106 and the motor 105 share the power supply 101, which may be the power supply shared by the motor brake 106 and the motor 105. In this case, because the power supply is mainly used to convert the electric energy of the power supply 101 and then supply power to the motor 105, the voltage of the electric energy output by the power supply is consistent with the rated voltage of the motor 105, while the rated voltage of the motor brake 106 and the rated voltage of the motor 105 may not be the same. Therefore, in order to enable the motor brake 106 to work normally, the safety driver 104 may also include a voltage conversion device, which can convert the voltage of the electric energy from the power supply to the rated voltage of the motor brake 106 through PWM (Pulse width modulation) and then output it to the motor brake 106.

[0117] In the solution provided in the embodiment of the present application, when the motor brake and the motor share a common power supply, the above-mentioned motor safety control circuit may further include a high-side control switch located between the power supply and the motor brake and a low-side control switch located between the motor brake and the ground terminal. In this way, when the mobile device is in an abnormal situation, the safety driver can control the motor to stop and disconnect the low-side control switch to turn on the motor brake. When the mobile device is in an abnormal situation, the safety controller can disconnect at least one of the power switch and the high-side control switch to simultaneously control the motor to stop and turn on the motor brake.

[0118] As an implementation method of the present application, Figure 3 As shown, the motor safety control circuit may further include a high-side control switch 107 and a low-side control switch 108, and the safety controller 103 may include a built-in power supply 1031; the built-in power supply 1031 is electrically connected to the motor brake 106 through the high-side control switch 107, the safety controller 103 is electrically connected to the power switch 102 and the high-side control switch 107 respectively, the safety driver 104 is electrically connected to the motor brake 106 through the low-side control switch 108, and the low-side control switch 108 is grounded;

[0119] The safety controller 103 is specifically used to disconnect the power switch 102 and the high-side control switch 107 when the mobile device is in an abnormal situation; and / or,

[0120] The safety driver 104 is specifically used to control the motor 105 to stop and disconnect the low-side control switch 108 when the mobile device is in an abnormal situation.

[0121] The safety controller 103 may further include a built-in power supply 1031, which may be used to supply power to the motor brake 106. The motor safety control circuit may further include a high-side control switch 107 between the built-in power supply 1031 and the motor brake 106 and a low-side control switch 108 between the motor brake 106 and the ground terminal. The safety controller 103 and the safety driver 104 may control the opening and closing of the motor brake 106 through the high-side control switch 107 and the low-side control switch 108, respectively. Specifically:

[0122] The built-in power supply 1031 can be electrically connected to the motor brake 106 through the high-side control switch 107, the safety controller 103 can be electrically connected to the power switch 102 and the high-side control switch 107 respectively to control the opening and closing of the power switch 102 and the high-side control switch 107, the safety driver 104 can be electrically connected to the low-side control switch 108 to control the opening and closing of the low-side control switch 108, one end of the low-side control switch 108 is electrically connected to the motor brake 106, and the other end is connected to the ground end, that is, the safety driver 104 can be electrically connected to the motor brake 106 through the low-side control switch 108, and the low-side control switch 108 is grounded.

[0123] In this case, because the power switch 102 is only located on the path between the power supply 101 and the motor 105, and is not located on the path between the built-in power supply 1031 and the motor brake 106, when the power switch 102 is disconnected, only the power supply of the motor 105 can be cut off to achieve the effect of stopping the motor, and the power supply of the motor brake 106 cannot be cut off to achieve the effect of the brake. At the same time, because the high-side control switch 107 is only located on the path between the built-in power supply 1031 and the motor brake 106, and is not located on the path between the power supply 101 and the motor 105, when the high-side control switch 107 is disconnected, only the power supply of the motor brake 106 can be cut off to achieve the effect of the brake, and the power supply of the motor 105 cannot be cut off to achieve the effect of stopping the motor.

[0124] Therefore, when the mobile device is in an abnormal situation, the safety controller 103 can control the motor 105 to stop and open the motor brake 106 by turning off the power switch 102 and the high-side control 107 switch.

[0125] For the safety driver 104, because the low-side control switch 108 electrically connected thereto is located between the motor brake 106 and the ground terminal, when the low-side control switch 108 is disconnected, the motor brake 106 cannot be energized, and thus the motor brake 106 will be locked. Therefore, when the mobile device is in an abnormal situation, the safety driver 104 can disconnect the low-side control switch 108 to open the motor brake.

[0126] However, because the low-side control switch 108 is located between the motor brake 106 and the ground terminal, it can only control the path where the motor brake 106 is located, and cannot control the path where the motor 105 is located. Therefore, by disconnecting the low-side control switch 108, the motor 105 cannot be controlled to stop. Therefore, when the mobile device is in an abnormal situation, in addition to disconnecting the low-side control switch 108 to open the motor brake, the safety driver 104 also needs to control the motor 105 to stop. For example, the safety driver 104 can control the motor 105 to stop by stopping powering the motor 105 or sending a stop command.

[0127] In the solution provided in the embodiment of the present application, when the motor brake is powered by the built-in power supply in the safety controller, that is, the motor brake and the motor do not share a common power supply, the above-mentioned motor safety control circuit may also include a high-side control switch located between the built-in power supply and the motor brake and a low-side control switch located between the motor brake and the ground terminal. In this way, when the mobile device is in an abnormal situation, the safety driver can control the motor to stop and disconnect the low-side control switch to turn on the motor brake. When the mobile device is in an abnormal situation, the safety controller can disconnect the power switch to control the motor to stop and disconnect the high-side control switch to turn on the motor brake.

[0128] As an implementation method of the present application, Figure 4 As shown, the motor safety control circuit may further include a safety input device 109, and the safety input device 109 is electrically connected to the safety controller 103;

[0129] The safety input device 109 is used to send a safety signal to the safety controller when an obstacle is detected around the mobile device or a stop command triggered by an external trigger is obtained;

[0130] The safety controller 103 is specifically used to receive the safety signal sent by the safety input device 109, and when it is determined based on the safety signal that the mobile device is in an abnormal situation, the power switch 102 is turned off and the motor brake 106 is turned on;

[0131] The security controller 103 is further configured to send a control instruction to the security driver 104 when determining that the mobile device is in an abnormal situation;

[0132] The safety driver 104 is specifically used to receive the control instruction sent by the safety controller 103, and when it is determined that the control instruction instructs the mobile device to stop, it controls the motor 105 to stop and opens the motor brake 106.

[0133] The safety input device 109 is mainly divided into two types: contactless and non-contact. Among them, the non-contact safety input device may include a laser radar, an infrared detector, etc. This type of safety input device can be set on a mobile device, and then the surrounding environment of the mobile device can be detected to determine whether there are obstacles around the mobile device. For example, a certain range of area around the mobile device can be set in advance as a safety area for the mobile device, and then the safety input device can detect in real time whether there are people or objects invading the safety area. If so, it is determined that there are obstacles around the mobile device, and then a safety signal can be sent to the safety controller.

[0134] Contact-type safety input devices may include emergency stop buttons, reset buttons, manual-automatic buttons, etc. Such safety input devices may or may not be set on mobile devices, and may also be virtual buttons displayed on other electronic devices. When the safety input device is triggered externally, for example, a person manually taps the emergency stop button, it is determined that the externally triggered stop command has been obtained, and a safety signal can be sent to the safety controller.

[0135] The safety controller 103 may receive the safety signal sent by the safety input device 109, and determine whether the mobile device is in an abnormal situation based on the safety signal. For example, the safety controller 103 may directly determine that the mobile device is in an abnormal situation when receiving the safety signal sent by the safety input device 109, or may determine whether the safety signal is the same as a preset safety signal after receiving the safety signal sent by the safety input device 109, and if they are the same, determine that the mobile device is in an abnormal situation, etc. When the safety controller 103 determines that the mobile device is in an abnormal situation based on the safety signal, it may turn off the power switch 102 and turn on the motor brake 106 to stop and brake the motor 105.

[0136] At the same time, in order to ensure the success rate of controlling the motor 105 to stop and brake, when the safety controller 103 determines that the mobile device is in an abnormal situation, in addition to disconnecting the power switch 102 and opening the motor brake 106 by itself, it can also send a control instruction to the safety driver 104 so that the safety driver 104 can also control the motor 105 to stop and brake.

[0137] In this case, the safety driver 104 can receive the control instruction sent by the safety controller 103, and determine the instruction action corresponding to the control instruction based on the correspondence between the instructions and the instruction actions stored in itself. If the control instruction instructs the mobile device to stop, then the safety driver 104 can control the motor 105 to stop and open the motor brake 106, thereby controlling the motor 105 to stop and brake.

[0138] In the solution provided by the embodiment of the present application, the motor safety control circuit may also include a safety input device, which can send a safety signal to the safety controller through its electrical connection with the safety controller when an obstacle is detected around the mobile device, or when an externally triggered stop command is obtained, that is, when it is determined that the mobile device may have an abnormal situation such as a collision, so that the safety controller and the safety driver can control the motor to stop and brake when the mobile device is in an abnormal situation, thereby stopping the mobile device safely. And when the safety controller determines that the mobile device is in an abnormal situation, in addition to controlling the motor to stop and brake by itself, it can also send a control instruction to the safety driver so that the safety driver can also control the motor to stop and brake through another control line, thereby improving the success rate of controlling the motor to stop and brake.

[0139] As an implementation method of the present application, Figure 5 As shown, the motor 105 may also be provided with a motor encoder 110, and the motor encoder 110 is electrically connected to the safety driver 104;

[0140] The motor encoder 110 is used to detect the speed information of the motor 105 and send the speed information to the safety driver 104;

[0141] The safety driver 104 is specifically used to receive the speed information sent by the motor encoder 110, and when it is determined based on the speed information that the mobile device is in an abnormal situation, control the motor 105 to stop and open the motor brake 106;

[0142] The safety driver 104 is further used to send speed information to the safety controller 103 after receiving the speed information sent by the motor encoder 110;

[0143] The safety controller 103 is specifically configured to receive speed information sent by the safety driver 104 , and when it is determined based on the speed information that the mobile device is in an abnormal situation, disconnect the power switch 102 and open the motor brake 106 .

[0144] In some cases, there may be no obstacles around the mobile device, and the emergency stop button, reset button, manual button and other devices used to control the mobile device are not triggered, but the mobile device may still be at risk of collision or damage, for example, the mobile device is out of control or the mobile speed of the mobile device is set incorrectly, causing the mobile device to move at an excessively fast speed. For another example, the mobile wheels of the mobile device are entangled by external objects, causing the mobile wheels to move at an excessively slow speed.

[0145] Therefore, in addition to the motor brake 106 , the mobile device motor 105 may also be provided with a motor encoder 110 , which can be used to detect the speed information of the motor 105 and send the speed information to the safety driver 104 through the electrical connection between the motor encoder 110 and the safety driver 104 .

[0146] The safety driver 104 may receive the speed information sent by the motor encoder 110 , and determine whether the mobile device is in an abnormal situation based on the speed information.

[0147] In one embodiment, after receiving the speed information, the safety driver 104 can determine whether the speed information is within a preset speed range. If so, it is determined that the current speed of the motor 105 is normal, and further it can be determined that the mobile device is not in an abnormal condition. If not, it is determined that the current speed of the motor 105 is abnormal, and further it can be determined that the mobile device is in an abnormal condition.

[0148] In another embodiment, after receiving the speed information, the safety driver 104 can determine the difference between the speed information and the ideal speed currently corresponding to the mobile device, and judge whether the difference is less than a preset threshold value. If it is less than, it is determined that the current speed of the motor 105 basically meets the ideal speed, and then it can be determined that the mobile device is not in an abnormal condition. If it is not less than, it is determined that the difference between the current speed of the motor 105 and the ideal speed is too large, and then it can be determined that the mobile device is in an abnormal condition.

[0149] In another embodiment, there may be multiple motor encoders 110. After receiving the speed information sent by the motor encoder 110, the safety driver 104 may determine whether the various speed information are the same. If they are the same, it can be determined that the mobile device is not in an abnormal situation. If they are not the same, it can be determined that the mobile device is in an abnormal situation.

[0150] When the safety driver 104 determines that the mobile device is in an abnormal situation based on the speed information, it can control the motor 105 to stop and open the motor brake 106 to stop and brake the motor 105.

[0151] At the same time, in order to ensure the success rate of controlling the motor 105 to stop and brake, after receiving the speed information sent by the motor encoder 110, the safety driver 104 can not only determine whether the mobile device is in an abnormal situation based on the speed information, and control the motor 105 to stop and open the motor brake 106 when the mobile device is in an abnormal situation, but also send the speed information to the safety controller 103, so that the safety controller 103 can also control the motor 105 to stop and brake.

[0152] In this case, the safety controller 103 can receive the speed information sent by the safety driver 104, and determine whether the mobile device is in an abnormal situation based on the speed information. If the mobile device is in an abnormal situation, the safety controller 103 can turn off the power switch 102 and turn on the motor brake 106, thereby controlling the motor 105 to stop and brake. The way in which the safety controller 103 determines whether the mobile device is in an abnormal situation based on the speed information can refer to the way in which the safety driver 104 determines whether the mobile device is in an abnormal situation based on the speed information, and will not be repeated here.

[0153] In the solution provided by the embodiment of the present application, the motor safety control circuit may also include a motor encoder, which can detect the speed information of the motor, and send the speed information to the safety driver through its electrical connection with the safety driver, so that when the safety controller and the safety driver determine that the mobile device is in an abnormal situation based on the speed information, they can control the motor to stop and brake, thereby stopping the mobile device safely. After receiving the speed information, the safety driver can determine whether the mobile device is in an abnormal situation based on the speed information, and control the motor to stop and open the motor brake when the mobile device is in an abnormal situation. In addition, the speed information can also be sent to the safety controller so that the safety controller can also control the motor to stop and brake, thereby improving the success rate of controlling the motor to stop and brake.

[0154] As an implementation method of the present application, Figure 6 , the safety driver 104 may include a motor winding driver 1041 and a motor brake driver 1042 , the motor winding driver 1041 is electrically connected to the motor 105 , and the motor brake driver 1042 is electrically connected to the low-side control switch 108 ;

[0155] The safety driver 104 is specifically used to turn off the motor winding driver 1041 to stop the motor 105 when the mobile device is in an abnormal situation, and disconnect the low-side control switch 108 through the motor brake driver 1042.

[0156] The safety driver 104 may include a motor winding drive 1041 and a motor brake drive 1042, wherein the motor winding drive 1041 is electrically connected to the motor 105 for controlling the movement of the motor 105, and the motor brake drive 1042 is electrically connected to the low-side control switch 108 for controlling the opening and closing of the motor brake 106 by controlling the opening and closing of the low-side control switch 108.

[0157] Therefore, when the mobile device is in an abnormal situation, the safety driver 104 controls the motor 105 to stop, and opens the motor brake 106, which can be specifically achieved by turning off the motor winding drive 1041 to stop the motor 105, and disconnecting the low-side control switch 108 through the motor brake drive 1042 to open the motor brake 106. The safety driver 104 can turn off the motor winding drive 1041 by stopping the power supply or by sending a command, which is not specifically limited here.

[0158] In the solution provided in the embodiment of the present application, the safety driver may include a motor winding drive and a motor brake drive. In this way, when the mobile device is in an abnormal situation, the safety driver can control the motor to stop by turning off the motor winding drive, and disconnect the low-side control switch through the motor brake drive and turn on the motor brake, thereby stopping the mobile device safely.

[0159] As an implementation method of the present application, Figure 7 As shown, the safety controller 103 may include an input module 1032, a processing module 1033 and an output module 1034, the processing module 1033 is electrically connected to the input module 1032, the safety driver 104 and the output module 1034 respectively, and the output module 1034 is electrically connected to the power switch 102 and the motor brake 106 respectively;

[0160] The input module 1032 is used to obtain a safety signal input from the outside and send the safety signal to the processing module 1033;

[0161] The processing module 1033 is used to receive the safety signal or the speed information sent by the safety driver 104, and send a control instruction to the safety driver 104 and the output module 1034 when it is determined that the mobile device is in an abnormal situation based on the safety signal, and send a control instruction to the output module 1034 when it is determined that the mobile device is in an abnormal situation based on the speed information;

[0162] The output module 1034 is used to receive the control instruction sent by the processing module 1033, and when it is determined that the control instruction instructs the mobile device to stop, output a control signal to turn off the power switch and open the motor brake.

[0163] The safety controller 103 may include multiple modules, namely an input module 1032, a processing module 1033 and an output module 1034, wherein the input module 1032 is connected to the outside to obtain a safety signal input from the outside. For example, the input module 1032 may be electrically connected to a safety input device to send a safety signal when the safety input device detects an obstacle around the mobile device or obtains a stop command triggered by an external trigger.

[0164] The processing module 1033 can be electrically connected to the input module 1032 and the safety driver 104, respectively, to obtain external input safety signals and speed information obtained by monitoring the speed of the motor from the input module 1032 and the safety driver 104, respectively. Then, the processing module 1033 can determine whether the mobile device is in an abnormal condition based on the safety signal and / or speed information.

[0165] The processing module 1033 may also be electrically connected to the output module 1034, so that when the processing module 1033 determines that the mobile device is in an abnormal situation based on the safety signal, the control instruction may be sent to the output module 1034 and the safety driver 104 respectively through the electrical connection between the processing module 1033 and the output module 1034 and the safety driver 104. When the processing module 1033 determines that the mobile device is in an abnormal situation based on the speed information, because the speed information is sent to the processing module 1033 by the safety driver 104, the safety driver 104 itself can determine whether the mobile device is in an abnormal situation based on the speed information, so the processing module 1033 can send the control instruction to the output module 1034 only through the electrical connection between the processing module 1033 and the output module 1034.

[0166] The output module 1034 can receive the control instruction sent by the processing module 1033 and determine the content indicated by the control instruction. When the control instruction instructs the mobile device to stop, the output module 1034 can output control signals to the power switch 102 and the motor brake 106 respectively based on its electrical connection with the power switch 102 and the motor brake 106, so as to disconnect the power switch 102 and turn on the motor brake 106.

[0167] For example, the output module 1034 can receive the control instruction sent by the processing module 1033, and determine the indication action corresponding to the control instruction based on the correspondence between the instructions stored in itself and the indication action. If the control instruction instructs the mobile device to stop, then the output module 1034 can output control signals to the power switch 102 and the motor brake 106 respectively based on its electrical connection with the power switch 102 and the motor brake 106, so as to disconnect the power switch 102 and turn on the motor brake 106.

[0168] In the solution provided in the embodiment of the present application, the safety controller may include an input module, a processing module and an output module, wherein the input module and the processing module may be used to obtain an external input safety signal and obtain speed information sent by a safety driver, respectively. In this way, on the one hand, the speed information sent by the safety driver can reach the processing module faster to determine whether the mobile device is in an abnormal situation and achieve faster control. On the other hand, even if the input module used to obtain the external input safety signal fails, the processing module can directly obtain the speed information sent by the safety driver and then determine that the mobile device is in an abnormal situation, thereby ensuring the success rate of controlling the motor to stop and brake.

[0169] As an implementation method of the present application, Figure 8 As shown, the input module 1032 may include a first main controller 10321, a first slave controller 10322, a first input interface 10323 and a first output interface 10324, the first main controller 10321 and the first slave controller 10322 are electrically connected to the first input interface 10323 and the first output interface 10324 respectively, and the first main controller 10321 and the first slave controller 10322 are electrically connected;

[0170] The first master controller 10321 is used to obtain an external input safety signal through the first input interface 10323 and send the safety signal to the first slave controller 10322;

[0171] The first slave controller 10322 is used to obtain an external input safety signal through the first input interface 10323 and send the safety signal to the first master controller 10321;

[0172] The first master controller 10321 is further used to determine whether the acquired external input safety signal is the same as the safety signal sent by the first slave controller 10322, and if they are the same, output the safety signal to the processing module through the first output interface 10324;

[0173] The first slave controller 10322 is also used to determine whether the obtained external input safety signal is the same as the safety signal sent by the first main controller 10321. If they are the same, the safety signal output by the first main controller 10321 is obtained, and it is determined whether the obtained external input safety signal is consistent with the obtained safety signal output by the first main controller 10321. If they are inconsistent, an alarm signal is output to the processing module 1033 through the first output interface 10324, so that the processing module 1033 shields the safety signal output by the first main controller 10321, disconnects the power switch 102, and turns on the motor brake 106.

[0174] The input module 1032 may include a first main controller 10321, a first slave controller 10322, a first input interface 10323, and a first output interface 10324. The first main controller 10321 may obtain an external input safety signal from the first input interface 10323 through an electrical connection between the first main controller 10321 and the first input interface 10323, and after obtaining the safety signal, the first main controller 10321 may send the safety signal to the first slave controller 10322 through an electrical connection between the first main controller 10321 and the first slave controller 10322. Similarly, the first slave controller 10322 may also obtain an external input safety signal from the first input interface 10323 through an electrical connection between the first main controller 10323 and the first slave controller 10322 may also send the safety signal to the first main controller 10321 through an electrical connection between the first main controller 10321 and the first input interface 10323.

[0175] In this way, the first main controller 10321 and the first slave controller 10322 can both obtain the safety signal obtained by themselves and the safety signal sent by another controller. After obtaining the two safety signals, the first main controller 10321 can determine whether the two safety signals it obtained are the same. If they are the same, the first main controller 10321 can output the safety signal to the processing module 1033 through the first output interface 10324.

[0176] After obtaining the two safety signals, the first slave controller 10322 can also determine whether the two safety signals it has obtained are the same. If they are different, the first slave controller 10322 can output a prompt message. In order to avoid dangerous situations, the first slave controller 10322 can further output an alarm signal to the processing module 1033 through the first output interface 10324 to control the disconnection of the power switch 102 and the opening of the motor brake 106.

[0177] If the first slave controller 10322 determines that the two safety signals it obtains are the same, then the first slave controller 10322 can further determine whether the safety signal output by the first master controller 10321 is correct. Specifically, the first slave controller 10322 can obtain the safety signal output by the first master controller 10321, and determine whether the obtained external input safety signal is consistent with the obtained safety signal output by the first master controller 10321. If they are inconsistent, it means that there may be an error in the safety signal output by the first master controller 10321. At this time, the first slave controller 10322 can output an alarm signal to the processing module 1033 through the first output interface 10324, so that the processing module 1033 shields the safety signal output by the first master controller 10321. At the same time, in order to avoid the dangerous situation caused by the possible error in the safety signal output by the first master controller 10321, the alarm signal output by the first slave controller 10322 to the processing module 1033 through the first output interface 10324 can also control the disconnection of the power switch 102 and the opening of the motor brake 106.

[0178] When the first slave controller 10322 determines that the acquired external input safety signal is consistent with the acquired safety signal output by the first master controller 10321, no operation may be performed.

[0179] In the solution provided in the embodiment of the present application, the input module may include a first main controller and a first slave controller. The first main controller and the first slave controller can respectively determine whether the safety signal obtained from the input interface is the same as the safety signal sent by another controller. If they are the same, it means that the input interface can normally receive the safety signal output by the outside world, and then the first main controller can output the safety signal to the processing module through the first output interface, so that the processing module can perform subsequent judgment process, and the first slave controller can further determine whether the safety signal output by the first main controller is accurate to ensure safety.

[0180] As an implementation method of the present application, Fig. 9 As shown, the processing module 1033 includes a second main controller 10331, a second slave controller 10332, a second input interface 10333, a second output interface 10334 and a third output interface 10335, the second main controller 10331 and the second slave controller 10332 are electrically connected to the second input interface 10333, the second output interface 10334 and the third output interface 10335 respectively, and the second main controller 10331 and the second slave controller 10332 are electrically connected;

[0181] The second master controller 10331 is used to obtain the safety signal input by the input module 1032 through the second input interface 10333, determine whether the mobile device is in an abnormal situation based on the safety signal, obtain a first judgment result, and send the first judgment result to the second slave controller 10332;

[0182] The second slave controller 10332 is used to obtain the safety signal input by the input module 1032 through the second input interface 10333, determine whether the mobile device is in an abnormal situation based on the safety signal, obtain a second determination result, and send the second determination result to the second master controller 10331;

[0183] The second main controller 10331 is further used to determine whether the first determination result is the same as the second determination result. If they are the same, the second output interface 10334 and the third output interface 10335 are used to output the control instruction to the output module 1034 and the safety driver 104 respectively.

[0184] The second slave controller 10332 is also used to determine whether the first judgment result is the same as the second judgment result. If they are the same, obtain the control instruction output by the second main controller 10331, and determine whether the control instruction determined based on the first judgment result and the second judgment result is consistent with the obtained control instruction output by the second main controller 10331. If they are inconsistent, output alarm signals to the output module 1034 and the safety driver 104 through the second output interface 10334 and the third output interface 10335 respectively, so that the output module 1034 shields the safety signal output by the second main controller 10331, disconnects the power switch 102, turns on the motor brake 106, and enables the safety driver 104 to shield the safety signal output by the second main controller 10331, and control the motor 105 to stop and turn on the motor brake 106.

[0185] The processing module 1033 may include a second main controller 10331, a second slave controller 10332, a second input interface 10333, a second output interface 10334 and a third output interface 10335. The second main controller 10331 may obtain the safety signal input by the input module 1032 from the second input interface 10333 through an electrical connection between the second main controller 10331 and the second input interface 10333, and determine whether the mobile device is in an abnormal situation based on the safety signal to obtain a first judgment result. After obtaining the first judgment result, the second main controller 10331 may also send the first judgment result to the second slave controller 10332 through an electrical connection between the second main controller 10331 and the second slave controller 10332.

[0186] Similarly, the second slave controller 10332 can obtain the safety signal input by the input module 1032 from the second input interface 10333 through the electrical connection between the second slave controller 10332 and the second input interface 10333, and judge whether the mobile device is in an abnormal situation based on the safety signal to obtain a second judgment result. After obtaining the second judgment result, the second slave controller 10332 can also send the second judgment result to the second main controller 10331 through the electrical connection between the second slave controller 10332 and the second main controller 10331.

[0187] In this way, the second main controller 10331 and the second slave controller 10332 can both obtain their own judgment results on the safety signal and the corresponding judgment results of the other controller on the safety signal. After obtaining the two judgment results, the second main controller 10331 can determine whether the two judgment results it obtained are the same. If they are the same, the second main controller 10331 can output control instructions to the output module 1034 through the second output interface 10334, and output control instructions to the safety driver 104 through the third output interface 10335.

[0188] After obtaining the two judgment results, the second slave controller 10332 can also determine whether the two judgment results it obtains are the same. If different, the second slave controller 10332 can output a prompt message. In order to avoid dangerous situations, the second slave controller 10332 can further output an alarm signal to the output module 1034 through the second output interface 10334, and output an alarm signal to the safety driver 104 through the third output interface 10335 to disconnect the power switch 102, turn on the motor brake 106, control the motor 105 to stop, and turn on the motor brake 106.

[0189] If the second slave controller 10332 determines that the two judgment results it obtains are the same, then the second slave controller 10332 can further determine whether the safety signal output by the second master controller 10331 is correct. Specifically, the second slave controller 10332 can obtain the control instruction output by the second master controller 10331, and determine whether the control instruction determined based on the first judgment result and the second judgment result is consistent with the control instruction output by the second master controller 10331. If they are inconsistent, it means that the safety signal output by the second master controller 10331 may be wrong. At this time, the second slave controller 10332 can The second output interface 10334 and the third output interface 10335 output alarm signals to the output module 1034 and the safety driver 104 respectively, so that the output module 1034 and the safety driver 104 shield the safety signal output by the second main controller 10331. At the same time, in order to avoid dangerous situations caused by possible errors in the safety signal output by the second main controller 10331, the second slave controller 10332 outputs the alarm signal through the second output interface 10334 and the third output interface 10335, and can also disconnect the power switch 102, turn on the motor brake 106, control the motor 105 to stop, and turn on the motor brake 106.

[0190] When the second slave controller 10332 determines that the control instruction determined based on the first judgment result and the second judgment result is consistent with the control instruction output by the second master controller 10331 , the second slave controller 10332 may not perform any operation.

[0191] In the solution provided in the embodiment of the present application, the processing module may include a second main controller and a second slave controller. The second main controller and the second slave controller may respectively determine whether the mobile device is in an abnormal situation based on the safety signal to obtain a first judgment result and a second judgment result. Then, the second main controller and the second slave controller may respectively determine whether the first judgment result and the second judgment result are the same. If they are not the same, it is very likely that one of the controllers has failed. In this case, a prompt message may be output. If they are the same, it is very likely that the second main controller and the second slave controller are both operating normally. In this case, control instructions may be output to the output module and the safety driver through the second output interface and the third output interface, respectively, to ensure the accuracy of the motor control according to the safety signal. The second slave controller may further determine whether the control instructions output by the second main controller are accurate to ensure safety.

[0192] As an implementation method of the present application, Fig.10As shown, the processing module 1033 includes a second main controller 10331, a second slave controller 10332, a third input interface 10336, a second output interface 10334 and a third output interface 10335, the second main controller 10331 and the second slave controller 10332 are electrically connected to the second input interface 10333, the second output interface 10334 and the third output interface 10335 respectively, and the second main controller 10331 and the second slave controller 10332 are electrically connected;

[0193] The second master controller 10331 is used to obtain the speed information sent by the security driver 104 through the third input interface 10336, determine whether the mobile device is in an abnormal situation based on the speed information, obtain a third determination result, and send the third determination result to the second slave controller 10332;

[0194] The second slave controller 10332 is used to obtain the speed information sent by the security driver 104 through the third input interface 10336, determine whether the mobile device is in an abnormal situation based on the speed information, obtain a fourth determination result, and send the fourth determination result to the second master controller 10331;

[0195] The second main controller 10331 is further used to determine whether the third determination result is the same as the fourth determination result, and if they are the same, output the control instruction to the output module 1034 through the second output interface 10334;

[0196] The second slave controller 10332 is also used to determine whether the third judgment result is the same as the fourth judgment result. If they are the same, obtain the control instruction output by the second main controller 10331, and determine whether the control instruction determined based on the third judgment result and the fourth judgment result is consistent with the control instruction output by the second main controller 10331. If they are inconsistent, output an alarm signal to the output module 1034 through the second output interface 10334, so that the output module 1034 shields the safety signal output by the second main controller 10334, disconnects the power switch 102, and turns on the motor brake 106.

[0197] The processing module 1033 may include a second main controller 10331, a second slave controller 10332, a third input interface 10336, a second output interface 10334 and a third output interface 10335. The second main controller 10331 may obtain the speed information sent by the security drive 104 from the third input interface 10336 through an electrical connection between the second main controller 10331 and the third input interface 10336, and determine whether the mobile device is in an abnormal situation based on the speed information to obtain a third judgment result. After obtaining the third judgment result, the second main controller 10331 may also send the third judgment result to the second slave controller 10332 through an electrical connection between the second main controller 10331 and the second slave controller 10332.

[0198] Similarly, the second slave controller 10332 can obtain the speed information sent by the security drive 104 from the third input interface 10336 through the electrical connection between the second slave controller 10332 and the third input interface 10336, and judge whether the mobile device is in an abnormal situation based on the speed information to obtain a fourth judgment result. After obtaining the fourth judgment result, the second slave controller 10332 can also send the fourth judgment result to the second main controller 10331 through the electrical connection between the second slave controller 10331 and the second main controller 10331.

[0199] In this way, the second main controller 10331 and the second slave controller 10332 can both obtain their own judgment results on the speed information and the corresponding judgment results of the other controller on the speed information. After obtaining the two judgment results, the second main controller 10331 can determine whether the two judgment results it obtained are the same.

[0200] Because the speed information is sent by the security driver 104 to the processing module 1033, the security driver 104 itself can determine whether the mobile device is in an abnormal situation based on the speed information. Therefore, when the second main controller 10331 determines that the two judgment results it obtains are the same, the second main controller 10331 can only output the control instruction to the output module 1034 through the second output interface 10334.

[0201] After obtaining the two judgment results, the second slave controller 10332 can also determine whether the two judgment results it obtains are the same. If they are different, the second slave controller 10332 can output a prompt message. In order to avoid dangerous situations, the second slave controller 10332 can further output an alarm signal to the output module 1034 through the second output interface 10334 to control the disconnection of the power switch 102 and the opening of the motor brake 106.

[0202] If the second slave controller 10332 determines that the two judgment results it obtains are the same, then the second slave controller 10332 can further determine whether the control instruction output by the second main controller 10331 is correct. Specifically: the second slave controller 10332 obtains the control instruction output by the second main controller 10331, and determines whether the control instruction determined based on the third judgment result and the fourth judgment result is consistent with the control instruction output by the second main controller 10331. If they are inconsistent, it means that the control instruction output by the second main controller 10331 may be erroneous. At this time, the second slave controller 10332 outputs an alarm signal to the output module 1034 through the second output interface 10334, so that the output module 1034 shields the safety signal output by the second main controller 10334. At the same time, in order to avoid dangerous situations caused by possible errors in the safety signal output by the second main controller 10331, the alarm signal output by the second slave controller 10332 through the second output interface 10334 can also disconnect the power switch 102 and turn on the motor brake 106.

[0203] When the second slave controller 10332 determines that the control instruction determined based on the third judgment result and the fourth judgment result is consistent with the control instruction output by the second master controller 10331 , the second slave controller 10332 may not perform any operation.

[0204] In the solution provided in the embodiment of the present application, the processing module may include a second main controller and a second slave controller. The second main controller and the second slave controller may respectively determine whether the mobile device is in an abnormal situation based on the speed information to obtain a third judgment result and a fourth judgment result. Then, the second main controller and the second slave controller may respectively determine whether the third judgment result and the fourth judgment result are the same. If they are not the same, it is very likely that one of the controllers has failed. In this case, a prompt message may be output. If they are the same, it is very likely that the second main controller and the second slave controller are both operating normally. In this case, the control instruction may be output to the output module through the second output interface, thereby ensuring the accuracy of the motor control according to the safety signal. The second slave controller may further determine whether the control instruction output by the second main controller is accurate to ensure safety.

[0205] As an implementation method of the present application, Fig.11 As shown, the output module 1034 may include a third main controller 10341, a third slave controller 10342, a fourth input interface 10343 and a fourth output interface 10344, the third main controller 10341 and the third slave controller 10342 are electrically connected to the fourth input interface 10343 and the fourth output interface 10344 respectively, and the third main controller 10341 and the third slave controller 10342 are electrically connected;

[0206] The third master controller 10341 is used to obtain the control instruction input by the processing module 1033 through the fourth input interface 10343, and send the control instruction to the third slave controller 10342;

[0207] The third slave controller 10342 is used to obtain the control instruction input by the processing module 1033 through the fourth input interface 10343, and send the control instruction to the third master controller 10341;

[0208] The third master controller 10341 is further used to determine whether the control instruction input by the processing module 1033 is the same as the control instruction sent by the third slave controller 10342. If they are the same, output a control signal through the fourth output interface 10344 to turn off the power switch 102 and turn on the motor brake 106;

[0209] The third slave controller 10342 is also used to determine whether the control instruction input by the processing module 1033 is the same as the control instruction sent by the third main controller 10341. If they are the same, the control signal output by the third main controller 10341 is obtained, and it is determined whether the control signal determined based on the control instruction is consistent with the control signal output by the third main controller 10341. If they are inconsistent, an alarm signal is output through the fourth output interface 10344 to disconnect the power switch 102 and open the motor brake 106.

[0210] The input module 1032 may include a third main controller 10341, a third slave controller 10342, a fourth input interface 10343, and a fourth output interface 10344. The third main controller 10341 may obtain the control instruction input by the processing module 1033 from the fourth input interface 10343 through the electrical connection between the third main controller 10341 and the fourth input interface 10343, and after obtaining the control instruction, the third main controller 10341 may send the control instruction to the third slave controller 10342 through the electrical connection between the third main controller 10341 and the third slave controller 10342. Similarly, the third slave controller 10342 may also obtain the control instruction input by the processing module 1033 from the fourth input interface 10343 through the electrical connection between the third main controller 10341 and the fourth input interface 10343, and after obtaining the control instruction, the third slave controller 10342 may also send the control instruction to the third main controller 10341 through the electrical connection between the third main controller 10341 and the third slave controller 10341.

[0211] In this way, the third main controller 10341 and the third slave controller 10342 can both obtain the control instructions obtained by themselves and the control instructions sent by another controller. After obtaining the two control instructions, the third main controller 10341 can determine whether the two control instructions it obtained are the same. If they are the same, the third main controller 10341 can output a control signal through the fourth output interface 10344 to disconnect the power switch 102 and turn on the motor brake 106.

[0212] After the third slave controller 10342 obtains the two control instructions, it can also determine whether the two control instructions it obtains are the same. If they are different, the third slave controller 10342 can output a prompt message. In order to avoid dangerous situations, the third slave controller 10342 can further output an alarm signal to the processing module 1033 through the fourth output interface 10344 to disconnect the power switch 102 and turn on the motor brake 106.

[0213] If the third slave controller 10342 determines that the two control instructions it has obtained are the same, then the third slave controller 10342 can further determine whether the control signal output by the third master controller 10341 is correct. Specifically, the third slave controller 10342 can obtain the control signal output by the third master controller 10341, and determine whether the control signal determined based on the control instruction is consistent with the control signal output by the third master controller 10341. If they are inconsistent, it means that the safety signal output by the third master controller 10341 may be erroneous. At this time, in order to avoid dangerous situations caused by possible errors in the safety signal output by the third master controller 10341, the third slave controller 10342 can output an alarm signal through the fourth output interface 10344 to disconnect the power switch 102 and turn on the motor brake 106.

[0214] The third slave controller 10342 may not perform any operation when determining whether the control signal determined based on the control instruction is consistent with the control signal output by the third master controller 10341 .

[0215] In the solution provided in the embodiment of the present application, the output module may include a third master controller and a third slave controller. The third master controller and the third slave controller may respectively determine whether the control instructions obtained from the input interface are the same as the control instructions sent to them by another controller. If they are the same, it means that the input interface can normally receive the control instructions output by the outside world, and then the third master controller and the third slave controller can output a control signal through the fourth output interface to disconnect the power switch and turn on the motor brake. That is, the output module can ensure the accuracy of the output control instructions from the perspective of the control instructions, thereby ensuring the accuracy of the motor control, and the third slave controller can further determine whether the safety signal output by the third master controller is accurate to ensure safety.

[0216] As an implementation method of the present application, Fig.12 As shown, the safety driver 104 includes a fourth master controller 1043, a fourth slave controller 1044, a fifth input interface 1045, a motor winding drive 1041, and a motor brake drive 1042, the fourth master controller 1043 and the fourth slave controller 1044 are electrically connected to the fifth input interface 1045, the motor winding drive 1041, and the motor brake drive 1042, respectively, and the fourth master controller 1043 and the fourth slave controller 1044 are electrically connected;

[0217] The fourth master controller 1043 is used to obtain the control instruction input by the processing module 1033 through the fifth input interface 1045, and send the control instruction to the fourth slave controller 1044;

[0218] The fourth slave controller 1044 is used to obtain the control instruction input by the processing module 1033 through the fifth input interface 1045, and send the control instruction to the fourth master controller 1043;

[0219] The fourth master controller 1043 is further used to determine whether the control instruction input by the acquired processing module 1033 is the same as the control instruction sent by the fourth slave controller 1044. If they are the same, output a stop signal to the motor winding driver 1041 to turn off the motor winding driver 1041 to stop the motor 105, and output a brake signal to the motor brake driver 1042 to disconnect the low-side control switch 108 through the motor brake driver 1042;

[0220] The fourth slave controller 1044 is also used to determine whether the control instruction input by the acquired processing module 1033 is the same as the control instruction sent by the fourth main controller 1043. If they are the same, the stop signal and the brake signal output by the fourth main controller 1043 are obtained, and the stop signal and the brake signal determined based on the acquired control instruction input by the processing module 1033 and the control instruction sent by the fourth main controller 1043 are consistent with the obtained stop signal and the brake signal output by the fourth main controller 1043. If they are inconsistent, an alarm signal is output to the motor winding drive 1041, so that the motor winding drive 1041 shields the stop signal output by the fourth main controller 1043 and turns off the motor winding drive 1041 to stop the motor 105, and the motor brake drive 1042 shields the brake signal output by the fourth main controller 1043 and disconnects the low-side control switch 108 through the motor brake drive 1042.

[0221] The safety driver 104 may include a fourth master controller 1043, a fourth slave controller 1044, a fifth input interface 1045, a motor winding drive 1041, and a motor brake drive 1042. The fourth master controller 1043 may obtain the control instruction input by the processing module 1033 from the fifth input interface 1045 through its electrical connection with the fifth input interface 1045, and after obtaining the control instruction, the fourth master controller 1043 may send the control instruction to the fourth slave controller 1044 through its electrical connection with the fourth slave controller 1044. Similarly, the fourth slave controller 1044 may also obtain the control instruction input by the processing module 1033 from the fifth input interface 1045 through its electrical connection with the fifth input interface 1045, and after obtaining the control instruction, the fourth slave controller 1044 may also send the control instruction to the fourth master controller 1043 through its electrical connection with the fourth master controller 1043.

[0222] In this way, the fourth main controller 1043 and the fourth slave controller 1044 can both obtain the control instructions obtained by themselves and the control instructions sent by another controller. After obtaining the two control instructions, the fourth main controller 1043 can determine whether the two control instructions it obtained are the same. If they are the same, the fourth main controller 1043 can respectively turn off the motor winding drive 1041 to stop the motor, and disconnect the low-side control switch 108 through the motor brake drive 1042.

[0223] After obtaining the two control instructions, the fourth slave controller 1044 can also determine whether the two control instructions it has obtained are the same. If they are different, the fourth slave controller 1044 can output a prompt message, and in order to avoid dangerous situations, the fourth slave controller 1044 can further turn off the motor winding drive 1041 to stop the motor, and disconnect the low-side control switch 108 through the motor brake drive 1042.

[0224] If the fourth slave controller 1044 determines that the two control instructions it has obtained are the same, then the fourth slave controller 1044 can further determine whether the stop signal and the brake signal output by the fourth master controller 1043 are correct. Specifically, the fourth slave controller 1044 can obtain the stop signal and the brake signal output by the fourth master controller 1043, and determine whether the stop signal and the brake signal determined based on the control instruction input by the obtained processing module 1033 and the control instruction sent by the fourth master controller 1043 are consistent with the stop signal and the brake signal output by the fourth master controller 1043. If they are inconsistent, it means that the fourth master The stop signal and brake signal output by the controller 1043 may contain errors. At this time, the fourth slave controller 1044 can output an alarm signal to the motor winding drive 1041, so that the motor winding drive 1041 and the motor brake drive 1042 shield the stop signal output by the fourth main controller 1043. At the same time, in order to avoid dangerous situations caused by possible errors in the stop signal and brake signal output by the fourth main controller 1043, the alarm signal that the fourth slave controller 1044 can output can also turn off the motor winding drive 1041 to stop the motor 105, and disconnect the low-side control switch 108 through the motor brake drive 1042.

[0225] The fourth slave controller 1044 may not perform any operation when it determines that the stop signal and brake signal determined based on the control instructions input by the processing module 1033 and the control instructions sent by the fourth main controller 1043 are consistent with the stop signal and brake signal output by the fourth main controller 1043.

[0226] In the solution provided in the embodiment of the present application, the safety driver may include a fourth master controller and a fourth slave controller. The fourth master controller and the fourth slave controller may respectively determine whether the control instructions obtained from the input interface are the same as the control instructions sent to them by another controller. If they are the same, it means that the input interface can normally receive the control instructions output by the outside world, and then the fourth master controller and the fourth slave controller can turn off the motor winding drive to stop the motor, and disconnect the low-side control switch through the motor brake drive, thereby ensuring the accuracy of the motor control according to the control instruction, and the fourth slave controller can further determine whether the safety signal output by the fourth master controller is accurate to ensure safety.

[0227] As an implementation method of the present application, Fig.13 As shown, the safety driver includes a fourth master controller 1043, a fourth slave controller 1044, a sixth input interface 1046, a motor winding drive 1041, and a motor brake drive 1042, the fourth master controller 1043 and the fourth slave controller 1044 are electrically connected to the sixth input interface, the motor winding drive 1041, and the motor brake drive 1042, respectively, and the fourth master controller 1043 and the fourth slave controller 1044 are electrically connected;

[0228] The fourth master controller 1043 is used to obtain speed information input externally through the sixth input interface 1046, determine whether the mobile device is in an abnormal situation based on the speed information, obtain a fifth determination result, and send the fifth determination result to the fourth slave controller 1044;

[0229] The fourth slave controller 1044 is used to obtain external input speed information through the sixth input interface 1046, determine whether the mobile device is in an abnormal situation based on the speed information, obtain a sixth judgment result, and send the sixth judgment result to the fourth master controller 1043;

[0230] The fourth main controller 1043 is further used to determine whether the fifth judgment result is the same as the sixth judgment result. If they are the same, output a stop signal to the motor winding driver to turn off the motor winding driver 1041 to stop the motor 105, and output a brake signal to the motor brake driver to disconnect the low-side control switch 108 through the motor brake driver 1042;

[0231] The fourth slave controller 1044 is also used to determine whether the fifth judgment result is the same as the sixth judgment result. If they are the same, the stop signal and the brake signal output by the fourth main controller 1043 are obtained, and it is determined whether the stop signal and the brake signal determined based on the fifth judgment result and the sixth judgment result are consistent with the obtained stop signal and the brake signal output by the fourth main controller 1043. If they are inconsistent, an alarm signal is output to the motor winding drive 1041, so that the motor winding drive 1041 shields the stop signal output by the fourth main controller 1043 and turns off the motor winding drive 1041 to stop the motor 105, and the motor brake drive 1042 shields the brake signal output by the fourth main controller 1043 and disconnects the low-side control switch 108 through the motor brake drive 1042.

[0232] The safety driver 104 may include a fourth main controller 1043, a fourth slave controller 1044, a sixth input interface 1046, a motor winding drive 1041 and a motor brake drive 1042. The fourth main controller 1043 can obtain external input speed information from the sixth input interface 1046 through an electrical connection with the sixth input interface 1046, and determine whether the mobile device is in an abnormal situation based on the speed information. After obtaining the fifth judgment result, the fourth main controller 1043 can also send the fifth judgment result to the fourth slave controller 1044 through an electrical connection with the fourth slave controller 1044.

[0233] Similarly, the fourth slave controller 1044 can also obtain speed information of external input from the sixth input interface 1046 through its electrical connection with the sixth input interface 1046, and determine whether the mobile device is in an abnormal situation based on the speed information. After obtaining the sixth judgment result, the fourth slave controller 1044 can also send the sixth judgment result to the fourth main controller 1043 through its electrical connection with the fourth main controller 1043.

[0234] In this way, the fourth main controller 1043 and the fourth slave controller 1044 can both obtain their own judgment results on the speed information and the corresponding judgment results of the other controller on the speed information. After obtaining the two judgment results, the fourth main controller 1043 and the fourth slave controller 1044 can respectively determine whether the two judgment results they obtained are the same. If they are the same, the fourth main controller 1043 can turn off the motor winding drive 1041 to stop the motor 105, and disconnect the low-side control switch 108 through the motor brake drive 1042.

[0235] After obtaining the two judgment results, the fourth slave controller 1044 can also determine whether the two judgment results it obtains are the same. If they are different, the fourth slave controller 1044 can output a prompt message, and in order to avoid dangerous situations, the fourth slave controller 1044 can further turn off the motor winding drive 1041 to stop the motor, and disconnect the low-side control switch 108 through the motor brake drive 1042.

[0236] If the fourth slave controller 1044 determines that the two judgment results it obtains are the same, then the fourth slave controller 1044 can further determine whether the stop signal and the brake signal output by the fourth master controller 1043 are correct. Specifically, the fourth slave controller 1044 can obtain the stop signal and the brake signal output by the fourth master controller 1043, and determine whether the stop signal and the brake signal determined based on the fifth judgment result and the sixth judgment result are consistent with the stop signal and the brake signal output by the fourth master controller 1043. If they are inconsistent, it means that the stop signal and the brake signal output by the fourth master controller 1043 are incorrect. There may be errors in the signal and the brake signal. At this time, the fourth slave controller 1044 can output an alarm signal to the motor winding drive 1041, so that the motor winding drive 1041 and the motor brake drive 1042 shield the stop signal output by the fourth main controller 1043. At the same time, in order to avoid the dangerous situation caused by the possible errors in the stop signal and the brake signal output by the fourth main controller 1043, the alarm signal that the fourth slave controller 1044 can output can also turn off the motor winding drive 1041 to stop the motor 105, and disconnect the low-side control switch 108 through the motor brake drive 1042.

[0237] The fourth slave controller 1044 may not perform any operation when it is determined that the stop signal and the brake signal determined based on the fifth judgment result and the sixth judgment result are consistent with the obtained stop signal and the brake signal output by the fourth master controller 1043 .

[0238] In the solution provided in the embodiment of the present application, the processing module may include a fourth main controller and a fourth slave controller. The fourth main controller and the fourth slave controller may respectively determine whether the mobile device is in an abnormal situation based on the speed information to obtain a fifth judgment result and a sixth judgment result. Then, the fourth main controller and the fourth slave controller may respectively determine whether the fifth judgment result and the sixth judgment result are the same. If they are not the same, it is very likely that one of the controllers has failed. At this time, a prompt message may be output. If they are the same, it is very likely that the fifth judgment result and the sixth judgment result are both operating normally. At this time, the fifth judgment result and the sixth judgment result ensure the accuracy of the motor control according to the speed information, and the fourth slave controller may further determine whether the safety signal output by the fourth main controller is accurate to ensure safety.

[0239] Below Fig.14 and Fig.15 Taking the motor safety control circuit provided in the embodiment of the present application as an example, the following will introduce the motor safety control circuit provided in the embodiment of the present application.

[0240] like Fig.14 and Fig.15As shown, the safety input device 109 may include lasers 1 to lasers N and buttons 1 to buttons N, that is, the safety input device 109 may include non-contact devices such as laser radars, and may also include contact devices such as buttons. When the safety input device 109 detects obstacles around the mobile device, or obtains an externally triggered stop command, it can send a safety signal to the input module 1032 in the safety controller 103. After receiving the safety signal, the input module 1032 can output the safety signal to the processing module 1033, so that the processing module 1033 determines whether the mobile device is in an abnormal condition based on the safety signal.

[0241] If the processing module 1033 determines that the mobile device is in an abnormal situation based on the safety signal, the processing module 1033 can send control instructions to the output module 1034 and the safety driver 104 respectively. After receiving the control instructions, the safety driver 104 can turn off the winding drive 1041, that is, the motor winding drive, to stop the motor 105, and can also disconnect the low-side control switch 108 through the brake drive 1042, that is, the motor brake drive to open the motor brake 106.

[0242] After receiving the control instruction, the output module 1034 can disconnect the power switch 102 and the high-side control switch 107 to open the motor brake 106. Fig.14 In the example shown, because the motor brake 106 is powered by the built-in power supply in the safety controller 103, the power switch 102 is only located in the path between the power supply 101 and the motor 105, and is not located in the path between the built-in power supply and the motor brake 106. Similarly, the high-side control switch 107 is only located in the path between the built-in power supply and the motor brake 106, and is not located in the path between the power supply 101 and the motor 105. Therefore, in this case, the output module 1034 needs to disconnect the power switch 102 and the high-side control switch 107 respectively to control the motor 105 to stop and open the motor brake.

[0243] But in Fig.15 In the example shown, because the motor brake 106 and the motor 105 are both powered by the power supply in the safety driver 104, and the power switch 102 and the high-side control switch 107 are both located on the path between the power supply 101 and the power supply, when the power switch 102 or the high-side control switch 107 is disconnected, the power supply of the motor 105 can be cut off to achieve the effect of stopping the motor, and the power supply of the motor brake 106 can be cut off to achieve the effect of braking. Therefore, in this case, the output module 1034 needs to disconnect the power switch 102 and the high-side control switch 107 respectively to control the motor 105 to stop, and open the motor brake.

[0244] In addition, the motor 105 can also be provided with a motor encoder 110, which can detect the speed information of the motor 105 and send the speed information to the safety driver 104. After receiving the speed information, the safety driver 104 can send the speed information to the processing module 1033, so that the processing module 1033 determines whether the mobile device is in an abnormal situation based on the speed information. If it is determined that the mobile device is in an abnormal situation, the processing module 1033 can send a control instruction to the output module 1034, so that the output module 1034 disconnects the power switch 102 and disconnects the high-side control switch 107 to open the motor brake 106.

[0245] At the same time, after receiving the speed information, the safety driver 104 can also determine whether the mobile device is in an abnormal situation based on the speed information. If the mobile device is in an abnormal situation, the winding drive 1041, that is, the motor winding drive, can be turned off to stop the motor 105, and the low-side control switch 108 can also be disconnected through the brake drive 1042, that is, the motor brake drive.

[0246] In the solution provided by the embodiment of the present application, the motor safety control circuit can control the motor to stop and brake when the safety input device detects obstacles around the mobile device, or when the safety input device obtains an externally triggered stop command, or when the motor speed captured by the motor encoder is abnormal, so that the mobile device stops safely. In addition, the motor safety control circuit safety controller and the safety driver can control the motor to stop and brake through their respective control processes when the mobile device is in an abnormal situation, thereby ensuring the success rate of controlling the motor to stop.

[0247] Corresponding to the above-mentioned motor safety control circuit, an embodiment of the present application further provides a motor safety control method. The following introduces a motor safety control method provided by an embodiment of the present application.

[0248] The motor safety control method provided in the embodiment of the present application can be applied to the safety controller 103 in the motor safety control circuit described in any of the above embodiments, and the method includes:

[0249] When the mobile device is in an abnormal situation, turning off the power switch and opening the motor brake; and / or,

[0250] When the mobile device is in an abnormal situation, a control instruction is sent to the safety driver, so that the safety driver controls the motor to stop and opens the motor brake.

[0251] When the mobile device is in an abnormal situation, the safety controller 103 in the above-mentioned motor safety control circuit can disconnect the power switch 102 and open the motor brake 106 by the safety controller 103 alone; it can also send a control instruction to the safety driver 104 so that the safety driver 104 controls the motor 105 to stop and open the motor brake 106; it can also disconnect the power switch 102 and open the motor brake 106 by itself, and also send a control instruction to the safety driver 104 so that the safety driver 104 controls the motor 105 to stop and open the motor brake 106.

[0252] For example, when the safety controller 103 determines that the mobile device is in an abnormal situation based on the safety signal input by the safety input device 109, the safety controller 103 can only disconnect the power switch 102 and open the motor brake 106; it can also send a control instruction to the safety driver 104 so that the safety driver 104 controls the motor 105 to stop and open the motor brake 106; it can also disconnect the power switch 102 and open the motor brake 106 by itself, and also send a control instruction to the safety driver 104 so that the safety driver 104 controls the motor 105 to stop and open the motor brake 106.

[0253] When the safety controller 103 determines that the mobile device is in an abnormal situation based on the speed information input by the safety driver 104, because the safety driver 104 has already determined whether the mobile device is in an abnormal situation based on the speed information while sending the speed information to the safety controller 103, and will control the motor 105 to stop and turn on the motor brake 106 when the mobile device is in an abnormal situation, in this case, the safety controller 103 can only disconnect the power switch 102 and turn on the motor brake 106, without sending control instructions to the safety driver 104.

[0254] In the solution provided by the embodiment of the present application, the safety controller in the motor safety control circuit can disconnect the power switch by itself and open the motor brake when the mobile device is in an abnormal situation; and / or send a control instruction to the safety driver so that the safety driver controls the motor to stop and open the motor brake. Therefore, the motor can be stopped and the position can be kept unchanged, achieving the effect of controlling the motor to stop the mobile device safely when the mobile device is in an abnormal situation.

[0255] Corresponding to the above-mentioned motor safety control circuit, an embodiment of the present application further provides a mobile device. The following is an introduction to a mobile device provided by an embodiment of the present application.

[0256] A mobile device comprises the motor safety control circuit described in any one of the above embodiments.

[0257] In the solution provided in the embodiment of the present application, since the motor safety control circuit in the mobile device can control the motor to stop and keep the position unchanged through a corresponding control method by the safety controller and / or safety driver in the motor safety control circuit when the mobile device is in an abnormal situation, the effect of controlling the motor to stop the mobile device safely is achieved when the mobile device is in an abnormal situation.

[0258] The mobile device may further include a processor, a communication interface, and a memory, wherein the processor, the communication interface, and the memory communicate with each other via a communication bus.

[0259] The communication bus mentioned in the mobile device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0260] The communication interface is used for communication between the above mobile device and other devices.

[0261] The memory may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0262] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0263] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0264] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the method and mobile device embodiments, since they are basically similar to the circuit embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0265] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. A motor safety control circuit, characterized in that: The motor safety control circuit includes a power supply, a power switch, a safety controller, a safety driver and a motor, and the motor is provided with a motor brake, wherein: The safety controller is electrically connected to the safety driver, the motor brake and the power switch respectively, the power supply is electrically connected to the safety driver through the power switch, the safety driver is electrically connected to the motor brake and the motor respectively, and the motor is used to drive the mobile device to move; The safety controller is used to disconnect the power switch and activate the motor brake when the mobile device is in an abnormal situation; and / or The safety driver is used to control the motor to stop and open the motor brake when the mobile device is in an abnormal situation.

2. The circuit according to claim 1, characterized in that The motor safety control circuit also includes a high-side control switch and a low-side control switch; The power supply is electrically connected to the motor brake through the power switch and the high-side control switch, the safety controller is electrically connected to the power switch and the high-side control switch respectively, the safety driver is electrically connected to the motor brake through the low-side control switch, and the low-side control switch is grounded; The safety controller is specifically configured to disconnect at least one of the power switch and the high-side control switch when the mobile device is in an abnormal situation; and / or, The safety driver is specifically used to control the motor to stop and disconnect the low-side control switch when the mobile device is in an abnormal situation.

3. The circuit according to claim 1, characterized in that The motor safety control circuit also includes a high-side control switch and a low-side control switch, and the safety controller includes a built-in power supply; The built-in power supply is electrically connected to the motor brake through the high-side control switch, the safety controller is electrically connected to the power switch and the high-side control switch respectively, the safety driver is electrically connected to the motor brake through the low-side control switch, and the low-side control switch is grounded; The safety controller is specifically used to disconnect the power switch and the high-side control switch when the mobile device is in an abnormal situation; and / or, The safety driver is specifically used to control the motor to stop and disconnect the low-side control switch when the mobile device is in an abnormal situation.

4. The circuit according to claim 1, characterized in that The motor safety control circuit further comprises a safety input device, wherein the safety input device is electrically connected to the safety controller; The safety input device is used to send a safety signal to the safety controller when an obstacle is detected around the mobile device or a stop instruction triggered by an external trigger is obtained; The safety controller is specifically configured to receive the safety signal sent by the safety input device, and when it is determined based on the safety signal that the mobile device is in an abnormal condition, disconnect the power switch and open the motor brake; The security controller is further configured to send a control instruction to the security driver when determining that the mobile device is in an abnormal situation; The safety driver is specifically configured to receive the control instruction sent by the safety controller, and when it is determined that the control instruction instructs the mobile device to stop, control the motor to stop and open the motor brake.

5. The circuit according to claim 1, characterized in that The motor is also provided with a motor encoder, and the motor encoder is electrically connected to the safety driver; The motor encoder is used to detect speed information of the motor and send the speed information to the safety driver; The safety driver is specifically configured to receive the speed information sent by the motor encoder, and when it is determined based on the speed information that the mobile device is in an abnormal condition, control the motor to stop and open the motor brake; The safety driver is further configured to send the speed information to the safety controller after receiving the speed information sent by the motor encoder; The safety controller is specifically configured to receive the speed information sent by the safety driver, and when it is determined based on the speed information that the mobile device is in an abnormal condition, disconnect the power switch and activate the motor brake.

6. The circuit according to claim 2 or 3, characterized in that The safety driver comprises a motor winding driver and a motor brake driver, wherein the motor winding driver is electrically connected to the motor, and the motor brake driver is electrically connected to the low-side control switch; The safety driver is specifically used to turn off the motor winding drive to stop the motor when the mobile device is in an abnormal situation, and disconnect the low-side control switch through the motor brake drive.

7. The circuit according to any one of claims 1 to 5, characterized in that: The safety controller comprises an input module, a processing module and an output module, wherein the processing module is electrically connected to the input module, the safety driver and the output module respectively, and the output module is electrically connected to the power switch and the motor brake respectively; The input module is used to obtain an external input safety signal and send the safety signal to the processing module; The processing module is configured to receive the safety signal or the speed information sent by the safety driver, and send a control instruction to the safety driver and the output module when determining that the mobile device is in an abnormal condition based on the safety signal, and send a control instruction to the output module when determining that the mobile device is in an abnormal condition based on the speed information; The output module is used to receive the control instruction sent by the processing module, and when it is determined that the control instruction instructs the mobile device to stop, output a control signal to turn off the power switch and turn on the motor brake.

8. The circuit according to claim 7, characterized in that The input module includes a first master controller, a first slave controller, a first input interface and a first output interface, the first master controller and the first slave controller are electrically connected to the first input interface and the first output interface respectively, and the first master controller is electrically connected to the first slave controller; The first master controller is used to obtain an external input safety signal through the first input interface, and send the safety signal to the first slave controller; The first slave controller is used to obtain an external input safety signal through the first input interface, and send the safety signal to the first master controller; The first master controller is further configured to determine whether the acquired external input safety signal is identical to the safety signal sent by the first slave controller, and if so, output the safety signal to the processing module through the first output interface; The first slave controller is also used to determine whether the obtained external input safety signal is the same as the safety signal sent by the first master controller. If they are the same, the safety signal output by the first master controller is obtained, and it is determined whether the obtained external input safety signal is consistent with the obtained safety signal output by the first master controller. If they are inconsistent, an alarm signal is output to the processing module through the first output interface, so that the processing module shields the safety signal output by the first master controller, disconnects the power switch, and turns on the motor brake.

9. The circuit according to claim 7, characterized in that The processing module includes a second main controller, a second slave controller, a second input interface, a second output interface and a third output interface, the second main controller and the second slave controller are electrically connected to the second input interface, the second output interface and the third output interface respectively, and the second main controller and the second slave controller are electrically connected; The second master controller is configured to obtain the safety signal input by the input module through the second input interface, determine whether the mobile device is in an abnormal situation based on the safety signal, obtain a first determination result, and send the first determination result to the second slave controller; The second slave controller is used to obtain the safety signal input by the input module through the second input interface, determine whether the mobile device is in an abnormal situation based on the safety signal, obtain a second judgment result, and send the second judgment result to the second master controller; The second main controller is further used to determine whether the first determination result is the same as the second determination result, and if they are the same, output the control instruction to the output module and the safety driver through the second output interface and the third output interface respectively; The second slave controller is also used to determine whether the first judgment result is the same as the second judgment result. If they are the same, obtain the control instruction output by the second main controller, and determine whether the control instruction determined based on the first judgment result and the second judgment result is consistent with the control instruction output by the second main controller. If they are inconsistent, output an alarm signal to the output module and the safety driver through the second output interface and the third output interface respectively, so that the output module shields the safety signal output by the second main controller, disconnects the power switch, turns on the motor brake, and causes the safety driver to shield the safety signal output by the second main controller, control the motor to stop, and turn on the motor brake.

10. The circuit according to claim 7, characterized in that The processing module includes a second main controller, a second slave controller, a third input interface, a second output interface and a third output interface, the second main controller and the second slave controller are electrically connected to the second input interface, the second output interface and the third output interface respectively, and the second main controller and the second slave controller are electrically connected; The second master controller is configured to obtain the speed information sent by the security driver through the third input interface, determine whether the mobile device is in an abnormal situation based on the speed information, obtain a third determination result, and send the third determination result to the second slave controller; The second slave controller is used to obtain the speed information sent by the security driver through the third input interface, determine whether the mobile device is in an abnormal situation based on the speed information, obtain a fourth judgment result, and send the fourth judgment result to the second master controller; The second main controller is further used to determine whether the third determination result is the same as the fourth determination result, and if they are the same, output the control instruction to the output module through the second output interface; The second slave controller is also used to determine whether the third judgment result is the same as the fourth judgment result. If they are the same, obtain the control instruction output by the second main controller, and determine whether the control instruction determined based on the third judgment result and the fourth judgment result is consistent with the control instruction obtained from the second main controller. If they are inconsistent, output an alarm signal to the output module through the second output interface, so that the output module shields the safety signal output by the second main controller, disconnects the power switch, and turns on the motor brake.

11. The circuit according to claim 7, characterized in that The output module includes a third master controller, a third slave controller, a fourth input interface and a fourth output interface, the third master controller and the third slave controller are electrically connected to the fourth input interface and the fourth output interface respectively, and the third master controller is electrically connected to the third slave controller; The third master controller is used to obtain the control instruction input by the processing module through the fourth input interface, and send the control instruction to the third slave controller; The third slave controller is used to obtain the control instruction input by the processing module through the fourth input interface, and send the control instruction to the third master controller; The third master controller is further configured to determine whether the control instruction input by the processing module is the same as the control instruction sent by the third slave controller, and if they are the same, output the control signal through the fourth output interface to turn off the power switch and turn on the motor brake; The third slave controller is also used to determine whether the control instruction obtained by the processing module input is the same as the control instruction sent by the third main controller. If they are the same, obtain the control signal output by the third main controller, and determine whether the control signal determined based on the control instruction is consistent with the control signal obtained by the third main controller output. If they are inconsistent, output an alarm signal through the fourth output interface to disconnect the power switch and open the motor brake.

12. The circuit according to claim 6, characterized in that The safety driver comprises a fourth master controller, a fourth slave controller, a fifth input interface, the motor winding drive and the motor brake drive, the fourth master controller and the fourth slave controller are electrically connected to the fifth input interface, the motor winding drive and the motor brake drive respectively, and the fourth master controller is electrically connected to the fourth slave controller; The fourth master controller is used to obtain the control instruction input by the processing module through the fifth input interface, and send the control instruction to the fourth slave controller; The fourth slave controller is used to obtain the control instruction input by the processing module through the fifth input interface, and send the control instruction to the fourth master controller; The fourth main controller is further used to determine whether the control instruction input by the processing module is the same as the control instruction sent by the fourth slave controller, and if they are the same, output a stop signal to the motor winding drive to turn off the motor winding drive to stop the motor, and output a brake signal to the motor brake drive to disconnect the low-side control switch through the motor brake drive; The fourth slave controller is also used to determine whether the control instruction obtained by the processing module input is the same as the control instruction sent by the fourth main controller. If they are the same, obtain the stop signal and the brake signal output by the fourth main controller, and determine whether the stop signal and the brake signal determined based on the obtained control instruction input by the processing module and the control instruction sent by the fourth main controller are consistent with the obtained stop signal and the brake signal output by the fourth main controller. If they are inconsistent, output an alarm signal to the motor winding drive, so that the motor winding drive shields the stop signal output by the fourth main controller and turns off the motor winding drive to stop the motor, and enables the motor brake drive to shield the brake signal output by the fourth main controller and disconnect the low-side control switch through the motor brake drive.

13. The circuit according to claim 6, characterized in that The safety driver comprises a fourth master controller, a fourth slave controller, a sixth input interface, the motor winding drive and the motor brake drive, the fourth master controller and the fourth slave controller are electrically connected to the sixth input interface, the motor winding drive and the motor brake drive respectively, and the fourth master controller is electrically connected to the fourth slave controller; The fourth master controller is configured to obtain speed information input externally through the sixth input interface, determine whether the mobile device is in an abnormal situation based on the speed information, obtain a fifth determination result, and send the fifth determination result to the fourth slave controller; The fourth slave controller is used to obtain speed information input externally through the sixth input interface, determine whether the mobile device is in an abnormal situation based on the speed information, obtain a sixth judgment result, and send the sixth judgment result to the fourth master controller; The fourth main controller is further used to determine whether the fifth judgment result is the same as the sixth judgment result, and if they are the same, output a stop signal to the motor winding drive to turn off the motor winding drive to stop the motor, and output a brake signal to the motor brake drive to disconnect the low-side control switch through the motor brake drive; The fourth slave controller is also used to determine whether the fifth judgment result is the same as the sixth judgment result. If they are the same, obtain the stop signal and the brake signal output by the fourth main controller, and determine whether the stop signal and the brake signal determined based on the fifth judgment result and the sixth judgment result are consistent with the stop signal and the brake signal output by the fourth main controller. If they are inconsistent, output an alarm signal to the motor winding drive, so that the motor winding drive shields the stop signal output by the fourth main controller and turns off the motor winding drive to stop the motor, and enables the motor brake drive to shield the brake signal output by the fourth main controller and disconnect the low-side control switch through the motor brake drive.

14. A motor safety control method, characterized in that: The method is applied to a safety controller in a motor safety control circuit according to any one of claims 1 to 13, and the method comprises: When the mobile device is in an abnormal situation, turning off the power switch and opening the motor brake; and / or, When the mobile device is in an abnormal situation, a control instruction is sent to the safety driver, so that the safety driver controls the motor to stop and opens the motor brake.

15. A mobile device, characterized in that: The mobile device comprises the motor safety control circuit according to any one of claims 1-13.

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