Autonomous mobile robot and robot protection method

Abstract

The invention provides an autonomous mobile robot and a robot protection method. The method comprises the steps that a control module collects motor current of a motor and transmits the motor current to a current limiting circuit; after the current limiting circuit receives the motor current from the control module, the motor current is compared with hardware current, and the hardware current is a threshold value set through the current limiting circuit; and if the motor current is greater than or equal to the hardware current, the current limiting circuit disconnects the bus power supply. The condition of the motor of the robot can be obtained simply and conveniently, the bus power supply can be cut off in time when the motor is in a dangerous state, and the condition that the motor is damaged due to the fact that the temperature of the motor exceeds the temperature threshold value in the pile mounting process is reduced.

Description

Technical Field

[0001] The present application belongs to the field of robotics technology, and in particular relates to an autonomous mobile robot and a robot protection method. Background Art

[0002] When the robot's battery level is lower than a certain threshold, it will autonomously plan a path to the charging pile based on the location information of the charging pile, and follow the path to the charging pile for charging.

[0003] During the process of charging the robot, if the charging pile output is abnormal, the robot cannot charge. This causes the robot to think that the contact is not successful and keep pressing towards the charging pile, causing the temperature of the motor to continue to rise, thus risking damage to the motor. Summary of the invention

[0004] The embodiments of the present application provide a robot protection method, an autonomous mobile robot, and a computer-readable storage medium, which can solve the problem that the robot's motor is easily damaged when the output of a charging pile is abnormal.

[0005] In a first aspect, an embodiment of the present application provides a robot protection method, which is applied to an autonomous mobile robot including a motor, a current limiting circuit, a control module and a bus power supply, wherein the motor is electrically connected to the current limiting circuit and the control module respectively, and the current limiting circuit is electrically connected to the control module and the bus power supply respectively; the method comprises:

[0006] The control module collects the motor current of the motor and transmits the motor current to the current limiting circuit;

[0007] After receiving the motor current from the control module, the current limiting circuit compares the motor current with a hardware current, the hardware current being a threshold value set by the current limiting circuit;

[0008] If the motor current is greater than or equal to the hardware current, the current limiting circuit disconnects the bus power supply.

[0009] In one embodiment, the autonomous mobile robot further comprises: a motor drive module and a drive power supply, wherein the motor drive module is electrically connected to the motor and the drive power supply respectively, and the drive power supply is electrically connected to the control module;

[0010] The method further comprises:

[0011] If the motor current is less than the hardware current, the control module collects the motor voltage of the motor, and determines the motor power according to the motor voltage and the motor current;

[0012] The control module compares the motor power with a preset power;

[0013] If the motor power is greater than or equal to the preset power, the control module disconnects the driving power supply, and the current limiting circuit disconnects the bus power supply.

[0014] In one embodiment, the method further comprises:

[0015] If the motor power is less than the preset power, the control module compares the motor current with the stall current and the maximum current respectively;

[0016] If the motor current is greater than the stall current and less than the maximum current, the control module controls the motor to work at the stall current for a first working time and then unlocks the motor.

[0017] In one embodiment, the method further comprises:

[0018] If the motor current is greater than the maximum current, the control module controls the motor to work at the maximum current for a second working time and then unlocks the motor.

[0019] In one embodiment, the first working duration is determined based on a first completion status under various working environments, and the first completion status is obtained by performing an action using the locked-rotor current. The second working duration is determined based on a second completion status under various working environments, and the second completion status is obtained by performing an action using the maximum current.

[0020] In one embodiment, the autonomous mobile robot uses the stall current or the maximum current to perform actions including passing a slope, passing a bump, passing a threshold of a transportation device, and passing a ground object.

[0021] In one embodiment, the hardware current is less than an over-current burnout threshold of the motor.

[0022] In one embodiment, the preset power is set according to the maximum current.

[0023] In a second aspect, an embodiment of the present application provides an autonomous mobile robot, comprising: a current limiting circuit, a control module, a motor and a bus power supply, wherein the motor is electrically connected to the current limiting circuit and the control module respectively, and the current limiting circuit is electrically connected to the control module and the bus power supply respectively;

[0024] The control module is used to collect the motor current of the motor and transmit the motor current to the current limiting circuit;

[0025] The current limiting circuit is used to provide hardware current;

[0026] and further configured to compare the motor current with the hardware current after receiving the motor current from the control module;

[0027] It is also used to disconnect the bus power supply if the motor current is greater than or equal to the hardware current.

[0028] In a third aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method as described in any one of the above-mentioned first aspects is implemented.

[0029] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0030] The embodiment of the present application adds a current limiting circuit, and the bus power supply, current limiting circuit and motor are electrically connected in sequence; the control module collects the motor current of the motor and transmits the motor current to the current limiting circuit. After the current limiting circuit receives the motor current from the control module, the motor current is compared with the hardware current, and the hardware current is the threshold set by the current limiting circuit; if the motor current is greater than or equal to the hardware current, the current limiting circuit disconnects the bus power supply; the condition of the robot's motor can be easily known, and the bus power supply can be disconnected in time when the motor is in a dangerous state, thereby reducing the situation where the motor temperature exceeds the temperature threshold and damages the motor during the pile-mounting process.

[0031] It can be understood that the beneficial effects of the second to third aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present application, 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. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0033] Figure 1 This is a first flow chart of a robot protection method provided by an embodiment of the present application;

[0034] Figure 2 This is a second flow chart of the robot protection method provided by an embodiment of the present application;

[0035] Figure 3 This is a third flow chart of a robot protection method provided by an embodiment of the present application;

[0036] Figure 4 This is a schematic diagram of the first structure of an autonomous mobile robot provided by an embodiment of the present application;

[0037] Figure 5 This is a second structural diagram of the autonomous mobile robot provided in one embodiment of the present application. DETAILED DESCRIPTION

[0038] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0039] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0040] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0041] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0042] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0043] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0044] In one embodiment, Figure 1 This is a schematic diagram of the first flow chart of the robot protection method provided by an embodiment of the present application. Figure 1 As shown, the method is applied to an autonomous mobile robot including a motor, a current limiting circuit, a control module and a bus power supply. The motor is electrically connected to the current limiting circuit and the control module respectively, and the current limiting circuit is electrically connected to the control module and the bus power supply respectively.

[0045] The specific steps include:

[0046] S11: The control module collects the motor current of the motor and transmits the motor current to the current limiting circuit.

[0047] In the application, the robot identifies the location of the charging pile during the charging process and performs automatic charging operation. If the charging pile output is abnormal, the autonomous mobile robot will not be able to charge, causing the autonomous mobile robot to determine that the contact with the charging pile is unsuccessful and squeeze in the direction of the charging pile. Because the charging pile is placed at the edge of the area, the autonomous mobile robot continues to squeeze but cannot move forward, causing the wheel hub of the autonomous mobile robot to continue to stall, making the autonomous mobile robot in a state of maintaining high power output but unable to move, causing the temperature of the autonomous mobile robot's motor to continue to rise, causing damage to the motor.

[0048] In order to reduce the possibility of motor damage during the pile-driving process, the autonomous mobile robot is equipped with a current limiting circuit. The control module of the autonomous mobile robot collects the current motor current of the motor and transmits the motor current to the current limiting circuit.

[0049] Specifically, the control module samples the current of the motor through the board, samples the AB phase current of the motor, calculates the C phase current, realizes the board to detect the three-phase current, and obtains the motor current.

[0050] S12: After receiving the motor current from the control module, the current limiting circuit compares the motor current with the hardware current.

[0051] S13: If the motor current is greater than or equal to the hardware current, the current limiting circuit disconnects the bus power supply.

[0052] The hardware current is a threshold value set by the current limiting circuit. The hardware current is less than the overcurrent burnout threshold value of the motor, which can ensure that the real-time current of the motor will not reach the overcurrent burnout threshold value and protect the motor from burning out.

[0053] In the application, a new current limiting circuit is added and the hardware current is limited to below the overcurrent burnout threshold of the motor. After receiving the motor current, the current limiting circuit compares the motor current with the hardware current. The current limiting circuit does not perform current detection, but performs threshold trigger judgment. If the motor current is greater than or equal to the hardware current, the hardware current is triggered, and the current limiting circuit disconnects the bus power supply of the motor and unlocks the motor. After unlocking the motor and powering off, the autonomous mobile robot cannot move autonomously, reducing the possibility of motor damage. Subsequent autonomous movement of the robot can be achieved by locking the motor.

[0054] In this embodiment, a new current limiting circuit is added, and the bus power supply, current limiting circuit and motor are electrically connected in sequence; the control module collects the motor current of the motor and transmits the motor current to the current limiting circuit. After the current limiting circuit receives the motor current from the control module, the motor current is compared with the hardware current, and the hardware current is the threshold set by the current limiting circuit; if the motor current is greater than or equal to the hardware current, the current limiting circuit disconnects the bus power supply; the condition of the robot's motor can be easily known, and the bus power supply can be disconnected in time when the motor is in a dangerous state, thereby reducing the situation in which the motor temperature exceeds the temperature threshold and is damaged during the pile-mounting process.

[0055] In one embodiment, the autonomous mobile robot may encounter certain emergencies during wheel movement, such as: the robot hits a wall, the wheels get caught on objects, the wheels are entangled by objects, or the working scene is a dirty scene (such as a cleaning robot), and the wheels are entangled with garbage when performing cleaning tasks, etc., causing the autonomous mobile robot to control the motor to output high power but the wheels cannot move. Or, there is a problem inside the autonomous mobile robot, causing the motor to maintain a certain power to move forward or backward, while the actual speed is much lower than the expected speed, resulting in the autonomous mobile robot originally supposed to travel a certain distance at a certain speed within a certain time, but it actually cannot move, and the speed is very low. For example: idling, wheels not turning smoothly, etc.

[0056] When the autonomous mobile robot encounters the above-mentioned stall phenomenon, it is easy to cause overcurrent in the motor and damage the motor. This embodiment proposes a software power limitation method to reduce motor damage in various situations.

[0057] Specifically, the autonomous mobile robot further includes: a motor drive module and a drive power supply, the motor drive module is electrically connected to the motor and the drive power supply respectively, and the drive power supply is electrically connected to the control module.

[0058] Figure 2 1 is a second flow chart of the robot protection method provided by an embodiment of the present application. Figure 2 As shown, the method further includes:

[0059] S14: If the motor current is less than the hardware current, the control module collects the motor voltage of the motor and determines the motor power according to the motor voltage and the motor current.

[0060] In the application, when the motor current is less than the hardware current, the output power may be too large and damage the motor. It is also necessary to compare the current power of the motor with the preset power. The control module collects the current motor voltage and calculates the current motor power based on it.

[0061] S15: The control module compares the motor power with the preset power.

[0062] In the application, the control module compares the current motor power of the motor with the preset power.

[0063] S16: If the motor power is greater than or equal to the preset power, the control module disconnects the drive power supply, and the current limiting circuit disconnects the bus power supply.

[0064] In the application, if the motor power is greater than or equal to the preset power, it means that the motor is in a high-power output state and the motor is likely to be damaged. The current limiting circuit disconnects the bus power supply while the control module disconnects the drive power supply to unlock the motor.

[0065] In this embodiment, if the motor current is less than the hardware current, the control module collects the motor voltage of the motor, and determines the motor power based on the motor voltage and the motor current; the control module compares the motor power with the preset power; if the motor power is greater than or equal to the preset power, the control module disconnects the drive power supply, and the current limiting circuit disconnects the bus power supply. In this way, it is possible to promptly detect the stall phenomenon of the robot in a variety of scenarios, and disconnect the power supply in time, thereby reducing the situation where the autonomous mobile robot is in a high-power output state and causes damage to the motor.

[0066] In one embodiment, the autonomous mobile robot is in various working environments, and it may happen that the motor is not in a high-power output state, but the motor is in an overcurrent state, resulting in the motor being damaged.

[0067] When the above situation occurs in the autonomous mobile robot, this embodiment proposes a software current limiting method to ensure the safety of the motor while enabling the autonomous mobile robot to cope with various working conditions.

[0068] Figure 3 FIG. 1 is a third flow chart of a robot protection method provided in an embodiment of the present application. Figure 3 As shown, the method further includes:

[0069] S17: If the motor power is less than the preset power, the control module compares the motor current with the stall current and the maximum current respectively.

[0070] In applications, when the motor power is less than the preset power, the current may be too large and damage the motor, and the motor current needs to be compared with the stall current and the maximum current. The control module also compares the current motor current with the stall current and the maximum current.

[0071] S18: If the motor current is greater than the stall current and less than the maximum current, the control module controls the motor to work at the stall current for a first working time and then unlocks the motor.

[0072] In the application, if the motor current is greater than the stall current and less than the maximum current, it means that the motor is in a state of high current. If the autonomous mobile robot continues to work for a long time, the motor will be damaged with a high probability. In this case, if the power is directly disconnected, the autonomous mobile robot in the working condition will be in an unsafe situation. The corresponding allowable working time, i.e., the first working time, is determined according to the current motor current. After the control module controls the motor to work for the first working time under the stall current, the motor is unlocked.

[0073] S19: If the motor current is greater than the maximum current, the control module controls the motor to work at the maximum current for a second working time and then unlocks the motor.

[0074] In the application, if the motor current is greater than the maximum current, it means that the motor is in a state of excessive current. If the autonomous mobile robot continues to work, the motor will most likely be damaged. In this case, if the power is directly disconnected, the autonomous mobile robot in the working condition will be in an unsafe situation. The corresponding allowable working time, i.e., the second working time, is determined according to the current motor current. After the control module controls the motor to work at the maximum current for the second working time, the motor is unlocked.

[0075] In one possible implementation, the first working duration is determined based on a first completion status under various working environments, and the first completion status is obtained by performing an action using a locked-rotor current. The second working duration is determined based on a second completion status under various working environments, and the second completion status is obtained by performing an action using a maximum current.

[0076] Among them, the autonomous mobile robot uses the stall current or the maximum current to perform actions including passing through a slope, passing through a bump, passing through the threshold of a transport equipment, and passing through a ground object. Specifically, passing through a ground object includes passing through a curled carpet, passing through a ground decoration, passing through an elevator threshold, etc. By completing the actions of passing through a slope, passing through a bump, passing through the threshold of a transport equipment, and passing through a ground object, the power required by the autonomous mobile robot to cope with various working conditions can be more accurately determined, ensuring that the autonomous mobile robot has sufficient power to cope with various working conditions.

[0077] The autonomous mobile robot determines the working time according to the completion of the actions performed at different current thresholds, which can ensure that the autonomous mobile robot has sufficient power to cope with various working conditions.

[0078] In this embodiment, if the motor power is less than the preset power, the control module compares the motor current with the stall current and the maximum current respectively; it is possible to promptly know that the motor is in a dangerous state, providing a basis for timely providing sufficient power and protecting the motor.

[0079] If the motor current is greater than the stall current and less than the maximum current, the control module controls the motor to work for a first working time and then unlocks the motor; if the motor current is greater than the maximum current, the control module controls the motor to work for a second working time and then unlocks the motor, so that the autonomous mobile robot can protect the motor while having sufficient power to cope with various working conditions.

[0080] In one embodiment, the preset power is set according to the maximum current.

[0081] In this embodiment, the preset power is set according to the maximum current, thereby further reducing the situation where the autonomous mobile robot is in a high-power output state and the motor is damaged.

[0082] It should be understood that the order of execution of the steps in the above embodiments does not mean the order of execution, and the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application. In addition, the data collection in the above embodiments is compliant, and its use or implementation does not involve any infringement on the public interest.

[0083] Corresponding to the method described in the above embodiment, for the convenience of explanation, only the part related to the embodiment of the present application is shown.

[0084] Figure 4 1 is a schematic diagram of the first structure of an autonomous mobile robot provided in an embodiment of the present application. Figure 4As shown, an autonomous mobile robot includes: a motor 10, a current limiting circuit 11, a control module 12 and a bus power supply 13, the motor 10 is electrically connected to the current limiting circuit 11 and the control module 12 respectively, and the current limiting circuit 11 is electrically connected to the control module 12 and the bus power supply 13 respectively.

[0085] The control module is used for collecting the motor current of the motor and transmitting the motor current to the current limiting circuit.

[0086] A current limiting circuit for providing hardware current;

[0087] It is also used to compare the motor current with the hardware current after receiving the motor current from the control module;

[0088] Also used to disconnect bus power if the motor current is greater than or equal to the hardware current.

[0089] Figure 5 is a schematic diagram of a second structure of an autonomous mobile robot provided in an embodiment of the present application. Figure 5 As shown, the autonomous mobile robot further includes: a motor driving module 14 and a driving power supply 15 . The motor driving module 14 is electrically connected to the motor 10 and the driving power supply 15 , respectively. The driving power supply 15 is electrically connected to the control module 12 .

[0090] The control module is further used to collect the motor voltage of the motor if the motor current is less than the hardware current, and determine the motor power according to the motor voltage and the motor current;

[0091] It is also used to compare the motor power with the preset power; if the motor power is greater than or equal to the preset power, the drive power supply is disconnected.

[0092] The current limiting circuit is also used to disconnect the bus power supply if the motor power is greater than or equal to the preset power.

[0093] In one embodiment, the control module is further configured to compare the motor current with the stall current and the maximum current respectively if the motor power is less than the preset power;

[0094] It is also used to unlock the motor after controlling the motor to work under the stall current for a first working time if the motor current is greater than the stall current and less than the maximum current.

[0095] In one embodiment, the control module is further used to control the motor to work at the maximum current for a second working time if the motor current is greater than the maximum current, and then unlock the motor.

[0096] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0097] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0098] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0099] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium can at least include: any entity or device that can carry the computer program code to the camera / terminal device, recording medium, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), electric carrier signal, telecommunication signal and software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some cases, the computer-readable medium cannot be an electric carrier signal and a telecommunication signal.

[0100] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0101] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0102] In the embodiments provided in the present application, it should be understood that the disclosed devices / network equipment and methods can be implemented in other ways. For example, the device / network equipment embodiments described above are merely schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0103] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0104] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A robot protection method, characterized in that: Applicable to an autonomous mobile robot including a motor, a current limiting circuit, a control module and a bus power supply, wherein the motor is electrically connected to the current limiting circuit and the control module respectively, and the current limiting circuit is electrically connected to the control module and the bus power supply respectively; the method comprises: The control module collects the motor current of the motor and transmits the motor current to the current limiting circuit; After receiving the motor current from the control module, the current limiting circuit compares the motor current with a hardware current, the hardware current being a threshold value set by the current limiting circuit; If the motor current is greater than or equal to the hardware current, the current limiting circuit disconnects the bus power supply.

2. The method according to claim 1, characterized in that: The autonomous mobile robot further comprises: a motor drive module and a drive power supply, wherein the motor drive module is electrically connected to the motor and the drive power supply respectively, and the drive power supply is electrically connected to the control module; The method further comprises: If the motor current is less than the hardware current, the control module collects the motor voltage of the motor, and determines the motor power according to the motor voltage and the motor current; The control module compares the motor power with a preset power; If the motor power is greater than or equal to the preset power, the control module disconnects the driving power supply, and the current limiting circuit disconnects the bus power supply.

3. The method according to claim 2, characterized in that Also includes: If the motor power is less than the preset power, the control module compares the motor current with the stall current and the maximum current respectively; If the motor current is greater than the stall current and less than the maximum current, the control module controls the motor to work at the stall current for a first working time and then unlocks the motor.

4. The method according to claim 3, characterized in that Also includes: If the motor current is greater than the maximum current, the control module controls the motor to work at the maximum current for a second working time and then unlocks the motor.

5. The method according to claim 4, characterized in that The first working duration is determined based on a first completion status under various working environments, and the first completion status is obtained by performing an action using the locked-rotor current. The second working duration is determined based on a second completion status under various working environments, and the second completion status is obtained by performing an action using the maximum current.

6. The method according to claim 5, characterized in that The autonomous mobile robot uses the stall current or the maximum current to perform actions including passing a slope, passing a bump, passing a threshold of a transportation device, and passing a ground object.

7. The method according to any one of claims 1 to 6, characterized in that: The hardware current is less than an overcurrent burning threshold of the motor.

8. The method according to claim 3, characterized in that The preset power is set according to the maximum current.

9. An autonomous mobile robot, characterized in that: include: A current limiting circuit, a control module, a motor and a bus power supply, wherein the motor is electrically connected to the current limiting circuit and the control module respectively, and the current limiting circuit is electrically connected to the control module and the bus power supply respectively; The control module is used to collect the motor current of the motor and transmit the motor current to the current limiting circuit; The current limiting circuit is used to provide hardware current; and further configured to compare the motor current with the hardware current after receiving the motor current from the control module; It is also used to disconnect the bus power supply if the motor current is greater than or equal to the hardware current.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

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