Hub motor abnormity processing method, robot and storage medium

Abstract

The embodiment of the invention provides a hub motor exception handling method, a robot and a storage medium. In the embodiment of the invention, before the driver triggers overload protection, the working state parameters of the hub motor are collected by monitoring the hub motor in real time, whether the hub motor meets the overload protection early warning condition or not is judged according to the working state parameters, and under the condition that the overload protection early warning condition is met, overload protection of the hub motor is achieved. And early warning processing for preventing the hub motor from triggering overload protection of a driver is executed for the hub motor. In the embodiment of the invention, an early warning mechanism is provided before the robot directly enters the overload protection mode, the probability that the hub motor triggers overload protection is reduced, the probability that the hub motor is in an uncontrollable state is further reduced, it is ensured that the hub motor can stably and safely run, and then the safety of the robot is improved.

Description

Technical Field

[0001] The present application relates to the field of artificial intelligence technology, and in particular to a method for handling abnormalities in a hub motor, a robot, and a storage medium. Background Art

[0002] With the development of robot technology, some service robots have begun to adopt wheel hub motor drive technology, that is, integrating the motor, transmission and brake devices into the wheel hub, which can simplify the mechanical structure of the service robot. Specifically, the motor set in the wheel hub (referred to as the wheel hub motor) drives the entire wheel hub to rotate under the control of the driver, and the driver controls the speed and direction of the wheel hub motor by controlling the current.

[0003] In order to protect the wheel hub motor, the driver usually adopts overload protection technology, that is, when the output power of the wheel hub motor exceeds the rated value, the overload protection is triggered. When the overload protection is triggered, the driver can cut off the power to the wheel hub motor through the overload protection circuit to protect the wheel hub motor. Before the overload protection is released, the wheel hub motor will be out of control due to power failure, which increases the uncontrollable factors of the mobile state of the service robot and easily creates safety hazards. Summary of the invention

[0004] Multiple aspects of the present application provide a hub motor abnormality handling method, a robot and a storage medium to reduce the probability of the hub motor triggering overload protection, thereby reducing the probability of the hub motor being in an uncontrollable state and improving the safety of the robot.

[0005] An embodiment of the present application provides a method for handling an abnormality of a hub motor, including: a method for handling an abnormality of a hub motor, applied to a service robot, wherein a hub motor is arranged in a wheel hub of the service robot, the method comprising: collecting working state parameters of the hub motor; judging whether the hub motor satisfies an overload protection warning condition according to the working state parameters, the overload protection warning condition refers to a condition that should be met for providing an early warning for triggering overload protection of the hub motor; when the overload protection warning condition is met, performing warning processing on the hub motor to prevent it from triggering overload protection.

[0006] An embodiment of the present application also provides a service robot, comprising: a robot body; a wheel hub, arranged on the robot body, and a wheel hub motor is arranged in the wheel hub; a driver, arranged on the robot body, and the driver is electrically connected to the wheel hub motor to implement the steps in the above method to control the drive motor.

[0007] An embodiment of the present application also provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the processor is enabled to implement the steps in the above method.

[0008] In the embodiment of the present application, before the driver triggers the overload protection, the working state parameters of the wheel hub motor are collected through real-time monitoring of the wheel hub motor, and the working state parameters are judged whether the wheel hub motor meets the overload protection warning conditions. If the overload protection warning conditions are met, the wheel hub motor is subjected to warning processing to prevent it from triggering the driver overload protection. In the embodiment of the present application, a warning mechanism is provided before directly entering the overload protection mode, which reduces the probability of the wheel hub motor triggering the overload protection, thereby reducing the probability of the wheel hub motor being in an uncontrollable state, ensuring that the wheel hub motor can operate stably and safely, thereby improving the safety of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0010] Figure 1 A schematic diagram of the relationship between a driver, a wheel hub and a wheel hub motor provided by an exemplary embodiment of the present application;

[0011] Figure 2 A schematic flow chart of a method for handling an abnormality of a hub motor provided by another exemplary embodiment of the present application;

[0012] Figure 3a A schematic flow chart of another method for handling an abnormality of a hub motor provided by another exemplary embodiment of the present application;

[0013] Figure 3b A schematic diagram of a first duration in a method for handling an abnormality of a hub motor provided by another exemplary embodiment of the present application;

[0014] Figure 4 A schematic flow chart of another method for handling an abnormality of a hub motor provided by another exemplary embodiment of the present application;

[0015] Figure 5 A schematic flow chart of another method for handling an abnormality of a hub motor provided by another exemplary embodiment of the present application;

[0016] Figure 6 A schematic structural diagram of a service robot provided as yet another exemplary embodiment of the present application. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in combination with the specific embodiments of the present application and the corresponding drawings. 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 without making creative work are within the scope of protection of the present application.

[0018] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0019] In view of the existing safety hazard caused by the hub motor being in an out-of-control state due to power failure when the driver triggers the overload protection, the embodiment of the present application provides a hub motor abnormality processing method. Before the driver triggers the overload protection, the hub motor is monitored in real time to collect its working state parameters, and it is determined whether the hub motor meets the overload protection warning conditions according to the working state parameters. When the overload protection warning conditions are met, the hub motor is subjected to warning processing to prevent it from triggering the driver overload protection. In the embodiment of the present application, a warning mechanism is provided before directly entering the overload protection mode, which reduces the probability of the hub motor triggering the overload protection, thereby reducing the probability of the hub motor being in an uncontrollable state, ensuring that the hub motor can operate stably and safely, thereby improving the safety of the robot.

[0020] It should be noted in advance that in the embodiments of the present application, for the sake of simplicity and ease of description, in some descriptions, the "hub motor" may be referred to as the "motor", and the "service robot" may be referred to as the "robot".

[0021] In the embodiments of the present application, the service robot may be any mechanical device that can move in space in its operating environment with a high degree of autonomy, for example, it may be an unmanned vehicle, a robot, a purifier, etc. Among them, the robot may be a cleaning robot, a non-cleaning robot, or other types of robots. A cleaning robot refers to a robot that can autonomously perform cleaning tasks in its operating environment, including commercial cleaning robots, sweeping robots, glass-wiping robots, etc. A non-cleaning robot refers to a robot that can autonomously move in its operating environment and provide non-cleaning services, including air purification robots, home care robots, welcoming robots, etc.

[0022] In an embodiment of the present application, the service robot adopts a wheel hub motor drive technology, that is, the motor, transmission and braking device are integrated into the wheel hub. The torque generated by the wheel hub motor can be transmitted to the wheel hub, and the wheel hub rotates to drive the robot forward. Among them, the wheel hub motor is controlled by a driver, and the driver is responsible for receiving instructions from the upper control system, and controlling the rotation speed and rotation direction of the wheel hub motor by controlling the current to achieve the purpose of driving the wheel hub to rotate. It is hereby explained that the wheel hub in the embodiment of the present application may or may not have a braking device, and this is not limited. The braking device is used to reduce or stop the movement speed of the robot by applying a reaction force. For example, the braking device can be but is not limited to a brake pad and a brake disc. Optionally, for a wheel hub with a braking device, when deceleration is required, the kinetic energy of the robot can be converted into heat energy by, for example, causing the brake disc and the brake pad to generate friction, thereby achieving braking.

[0023] It should be noted that, considering that wheel hub motors are generally large, the service robots involved in the embodiments of the present application mainly refer to robots with larger bodies, such as various large commercial robots. Furthermore, large commercial robots include: large commercial cleaning / sweeping robots, large household companion robots, welcoming robots, etc. Of course, with the continuous advancement of mechanical technology, wheel hub motors can also develop towards miniaturization. Some small or mini wheel hub motors can be applied to some smaller robots, such as various household cleaning robots, such as household sweeping robots, window cleaning robots, etc.

[0024] In an embodiment of the present application, the wheel hub motor is located in the wheel hub, and the wheel hub motor is electrically connected to the driver. Figure 1 The figure shows the relationship between the driver, wheel hub and wheel hub motor in the robot. Figure 1 The main controller in the figure is the upper control system mentioned above. This figure is only for the convenience of understanding the relationship between the driver, the wheel hub and the wheel hub motor, and does not mean that the method provided in the embodiment of the present application is limited to application in such Figure 1 The robot shown.

[0025] Among them, the wheel hub motor is connected to the drive circuit, and the drive circuit is connected to the power supply; the drive circuit is included in the driver, and the driver controls the wheel hub motor through the drive circuit; optionally, taking voltage drive as an example, the drive circuit can convert the voltage provided by the power supply into the voltage required by the wheel hub motor. In practical applications, the working state parameters of the wheel hub motor can be monitored, and various controls can be performed on the wheel hub motor according to the working state of the wheel hub motor. For ease of understanding, some working state parameters of the wheel hub motor are briefly explained as follows:

[0026] Torque: Torque is a physical quantity that describes the moment of force, and is usually used to measure the rotational force of a hub motor. The measurement of torque can be obtained directly or indirectly. For example, by measuring the current of the hub motor, the torque can be estimated using the current. Alternatively, the torque can be directly measured using a torque sensor.

[0027] Speed: Speed ​​describes the speed at which the motor rotor rotates, usually expressed in revolutions per minute (RPM). The speed can be obtained by converting the torque value; or, a speed acquisition device can be set on the hub motor. The speed acquisition device can be a magnetic encoder or a grating, and the speed acquisition device can be used to collect the speed of the hub motor, and the driver obtains the speed of the hub motor from the acquisition device.

[0028] Power: Power describes the work done by the hub motor per unit time. The voltage value or current value can be obtained by collecting electrical signals at the output end of the drive circuit, and the power value of the hub motor can be calculated based on the current value and voltage value.

[0029] Among them, under the premise of certain power, the speed and torque are inversely proportional, that is, the higher the speed, the smaller the torque; the lower the speed, the greater the torque.

[0030] The technical solutions provided by various embodiments of the present application are described in detail below in conjunction with the accompanying drawings.

[0031] Figure 2 The following is a flow chart of a method for handling an abnormality of a hub motor provided by an exemplary embodiment of the present application. Figure 2 As shown, the steps of the method include:

[0032] S201: Collecting working status parameters of the hub motor;

[0033] S202: judging whether the wheel hub motor meets the overload protection warning condition according to the working state parameter, where the overload protection warning condition refers to the condition that should be met for the wheel hub motor to trigger the overload protection in advance.

[0034] S203: When the overload protection warning condition is met, a warning process is performed on the hub motor to prevent the hub motor from triggering overload protection.

[0035] In the embodiment of the present application, the working state parameters of the hub motor can be collected during the operation of the hub motor. The working state parameters of the hub motor that can be collected include but are not limited to: the torque value, current and / or voltage of the hub motor. The method of collecting the working state parameters of the hub motor will be different depending on the working state parameters. The following examples are given:

[0036] For example, the torque value of the hub motor can be read from the first register of the hub motor as a working state parameter; for another example, the driving current of the hub motor can be collected through the driving circuit of the hub motor as a working state parameter; for another example, the driving voltage of the hub motor can be collected through the driving circuit of the hub motor as a working state parameter; for another example, the driving power of the hub motor can be obtained as a working state parameter, and the driving power is generated based on the driving current and driving voltage of the hub motor; for another example, the speed of the hub motor can be collected by a speed collection device arranged on the hub motor as a working state parameter.

[0037] It should be noted that the working state parameters of the hub motor may adopt any one or more of the above-mentioned ones. When adopting more than one, various working state parameters may be independently collected according to the above-mentioned collection method.

[0038] In an optional embodiment, when the working state parameter of the hub motor is a torque value, the torque value of the hub motor can be collected from the first register, and it is determined whether the hub motor meets the overload warning protection condition according to the torque value. If it meets the condition, a warning process is performed for the hub motor to avoid triggering overload protection. Among them, the first register usually stores important information about the motor or system status, and is mainly used to store the torque value in the embodiment of the present application.

[0039] Overload protection is a safety mechanism used to prevent the motor from being damaged when it exceeds its specified operating parameters. Its purpose is to ensure that the system can safely and effectively cut off or limit the current when encountering abnormal loads or abnormal operating conditions to prevent the hub motor or related components from overheating or damage. For the hub motor, when its working state parameters reach or exceed the set overload protection threshold, the overload protection will be triggered, thereby entering the overload protection state. In the overload protection state, the hub motor is in a power-off state until the overload protection state is released. Before the overload protection is released, the hub motor will be in an out-of-control state due to power failure, which increases the uncontrollable factors of the mobile state of the service robot and is prone to safety hazards. In this embodiment, the setting of the overload protection warning condition is to provide a risk warning for the robot that may trigger the overload protection before the robot triggers the overload protection, and to provide a risk warning for the robot that may trigger the overload protection and to perform a warning process in a timely manner, thereby reducing the probability of the robot triggering the overload protection, thereby protecting the operation safety of the hub motor. Of course, depending on the working state parameters, the overload protection warning conditions will also be different, as shown in the following examples.

[0040] In the embodiment of the present application, before the driver triggers the overload protection, the working state parameters of the wheel hub motor are collected through real-time monitoring of the wheel hub motor, and the working state parameters are judged whether the wheel hub motor meets the overload protection warning conditions. If the overload protection warning conditions are met, the wheel hub motor is subjected to warning processing to prevent it from triggering the driver overload protection. In the embodiment of the present application, a warning mechanism is provided before directly entering the overload protection mode, which reduces the probability of the wheel hub motor triggering the overload protection, thereby reducing the probability of the wheel hub motor being in an uncontrollable state, ensuring that the wheel hub motor can operate stably and safely, thereby improving the safety of the robot.

[0041] In the embodiments of the present application, the working state parameters used to determine whether the hub motor will trigger the overload protection are not limited, and may be, for example, but not limited to: the torque value, current and / or voltage of the hub motor. In an optional embodiment, the current value of the hub motor may be used, and the overload protection is triggered when the current value exceeds the set current overload threshold. In an optional embodiment, the temperature value of the hub motor may be used, and the overload protection is triggered when the temperature value of the hub motor exceeds the temperature overload threshold. In an optional embodiment, the torque of the hub motor may be used, and a torque threshold corresponding to the overload protection is set. By integrating the torque of the hub motor, the overload protection is triggered when the torque integral value reaches the torque threshold corresponding to the overload protection.

[0042] Similarly, the working state parameters used to determine whether the hub motor meets the overload protection warning conditions are not limited, for example, they can be but not limited to: the torque value, current and / or voltage of the hub motor. In an optional embodiment, the current value of the hub motor can be used, and the overload protection warning condition can be set according to the current threshold of the hub motor. When the detected current approaches this threshold, the risk warning is triggered. In an optional embodiment, the temperature value of the hub motor can be used, and the overload protection warning condition can be set according to the temperature threshold of the hub motor. When it is detected that the working temperature of the hub motor exceeds the preset temperature threshold, the risk warning is triggered; in an optional embodiment, the torque of the hub motor can be used, and the overload protection warning condition suitable for the torque is set. When the torque meets the overload protection warning condition, the overload protection warning process is triggered.

[0043] It is hereby explained that in the embodiments of the present application, the working state parameters used to determine whether the wheel hub motor will trigger the overload protection may be the same as or different from the working state parameters used to determine whether the wheel hub motor will meet the overload protection warning conditions, and there is no limitation on this. Preferably, the two judgment processes use the same working state parameters. In the subsequent embodiments of the present application, the focus is on describing whether the wheel hub motor meets the overload protection warning conditions and, when the overload protection warning conditions are met, performing warning processing on the wheel hub motor to prevent it from triggering the overload protection.

[0044] Figure 3a A flowchart of a method for handling an abnormality of a hub motor provided by another exemplary embodiment of the present application is shown in FIG3 . The steps of the method include:

[0045] S301: Collecting working status parameters of the hub motor;

[0046] S302: If the working state parameter is greater than the warning threshold, and the duration of the working state parameter being greater than the warning threshold reaches a first duration, it is determined that the hub motor meets the overload protection warning condition;

[0047] S303: When the overload protection warning condition is met, a warning process is performed on the hub motor to prevent the hub motor from triggering the overload protection.

[0048] As described above, in the embodiment of the present application, the type of the collected working state parameters is not limited. Therefore, the settings of the warning threshold and the first duration will be different for different collected working state parameters. Factors affecting the warning threshold and the first duration include but are not limited to at least one of the rated specifications, the thermal characteristics of the motor and the application characteristics. For example, in the case where the influencing factor is the rated specification, taking the rated current as 10A as an example, the overload protection current can be 15A, and the warning threshold can be set to 12A. In the case where the influencing factor is the thermal characteristics of the motor, the motor warning threshold and the first duration may be based on the highest temperature at which the motor does not cause permanent damage. In the case where the influencing factor is the application characteristics, in some applications, the motor may often encounter instantaneous load increases. In order to avoid frequent false warnings, a suitable warning threshold and first duration can be set according to the application characteristics.

[0049] It should be noted that, in the embodiment of the present application, the first duration may be the start time calculated from the moment when the above working state parameter is greater than the warning threshold, such as Figure 3b As shown in T1.

[0050] In an optional embodiment, before S302, the method further includes: determining a warning threshold value according to an overload protection trigger value corresponding to when the hub motor triggers overload protection in the main application scenario of the service robot, and the warning threshold value is less than the overload protection trigger value. The overload protection trigger value is the maximum threshold value set to prevent damage to the hub motor. If the maximum threshold value is exceeded, the overload protection will be triggered, and the hub motor will be powered off to protect the hub motor. Under this background condition, in order to issue a warning before triggering the overload protection, the warning threshold value needs to be set to be less than the overload protection trigger value.

[0051] In this embodiment, due to different application scenarios of the robot, the corresponding overload protection trigger value will also be different, and the determined warning threshold will also be different. The following are several common application scenarios as examples, but it does not mean that the robot in the embodiment of this application can only be used in the following scenarios.

[0052] Application scenario 1: If the application scenario is that the sweeping robot is responsible for cleaning in a home environment, there may be various obstacles in the home environment, such as furniture and wires. In this case, the hub motor may easily generate additional workload due to collision or attempt to cross obstacles. For this reason, a lower warning threshold can be set to enable the robot to trigger an early warning when it contacts an obstacle, reducing the probability of the hub motor triggering overload protection, thereby reducing the probability of the hub motor being in an uncontrollable state and reducing the risk of damage to the robot or furniture. In addition, the floor materials may also be different, such as wooden floors, tiles, and carpets. When the floor materials are wooden floors or tiles, these floors are relatively smooth and the robot is less likely to encounter large resistance. Therefore, setting a higher warning threshold can ensure that the robot does not frequently trigger unnecessary warnings when working on these floors, and can also reduce the probability of the robot triggering an overload protection warning, thereby improving the robot's work efficiency. Carpets can also be divided into long-pile carpets and short-pile carpets. Among them, long-pile carpets are more likely to get stuck due to their own characteristics, causing the hub motor to overload. For this reason, when the robot travels on long-pile carpets, a warning threshold lower than that of short-pile carpets or floors, tiles and other surfaces can be set, so that the robot can trigger the overload protection warning early when encountering long-pile carpets. Early warning provides more time for executing warning processing for the hub motor to avoid triggering overload protection, and then more warning processing methods can be tried, including but not limited to adjusting the direction of travel and reducing the load (such as reducing torque) to avoid triggering overload protection.

[0053] Application scenario 2: If the application scenario is that the warehouse robot is responsible for moving goods in the warehouse, since the robot often needs to move heavy objects, setting a relatively high warning threshold can ensure that the robot will not frequently trigger the overload protection warning under normal working conditions. However, when the warning threshold is exceeded and lasts for the first period of time, it is necessary to perform warning processing on the motor to prevent it from triggering overload protection, which reduces the probability of the hub motor triggering overload protection, thereby reducing the probability of the hub motor being in an uncontrollable state, and to a certain extent, it can also prevent damage to the mechanical structure or motor due to the motor being in an out-of-control state.

[0054] Figure 4 A flowchart of a method for handling an abnormality of a hub motor provided by another exemplary embodiment of the present application is shown below. Figure 4 As shown, the steps of the method include:

[0055] S401: Collecting working status parameters of the hub motor;

[0056] S402: judging whether the wheel hub motor meets the overload protection warning condition according to the working state parameter, where the overload protection warning condition refers to the condition that should be met for the wheel hub motor to trigger the overload protection in advance.

[0057] S403: When the overload protection warning condition is met, the working state of the hub motor is adjusted to prevent the hub motor from triggering the overload protection.

[0058] In an optional embodiment, taking the working state parameter as the torque value of the hub motor as an example, when the torque value of the hub motor is greater than the set warning threshold and the duration reaches a first time length, it is determined that the hub motor meets the overload protection warning condition.

[0059] In an optional embodiment, when the working state parameter is a torque value, the working state of the hub motor is adjusted in the above S403 to avoid the hub motor triggering overload protection, including two processing methods: Processing method S4031: By default, in the speed mode, the hub motor is controlled to reduce its rotation speed to 0, that is, stop rotating, switch from the speed mode to the torque mode, and forcibly clear the torque value of the hub motor to avoid the hub motor triggering overload protection. Processing method S4032: Before executing processing method S4031, according to the current application scenario and / or travel state of the service robot, try to adjust the rotation speed of the hub motor, and try to make the hub motor no longer meet the overload protection warning condition on the basis of keeping the hub motor rotating; if the hub motor still meets the overload protection warning condition after trying to adjust the rotation speed of the hub motor, then execute processing method S4031; if the hub motor no longer meets the overload warning protection condition after trying to adjust the rotation speed of the hub motor, then control the hub motor to continue to work at the current rotation speed until the third time length is reached to avoid the hub motor triggering overload protection.

[0060] When the processing method is S4031, regardless of the current application scenario and / or travel status of the robot, the current movement of the robot can be stopped urgently in order to avoid the motor triggering overload protection because the overload protection warning conditions are met. In order to achieve emergency braking, the driver can control the hub motor to stop rotating in speed mode, that is, reduce the rotation speed to 0. In this case, it can also switch to torque mode and force the torque of the hub motor to zero by setting the torque value of the second register of the hub motor to 0. Among them, the driver can change the torque value of the second register to dynamically adjust the torque of the motor. When emergency stopping is required, the torque of the motor can be adjusted by setting the torque value of the second register to zero, thereby ensuring that the motor stops completely and does not generate any torque.

[0061] Further optionally, after the torque value of the hub motor is forcibly cleared to zero, the hub motor can also be controlled to switch from torque mode to speed mode, wherein the hub motor will generate a certain torque value in speed mode to overcome ground friction, which can keep the robot stationary, and is conducive to avoiding the safety risks brought to the robot by clearing the torque value. In theory, the torque value generated by the hub motor switching back to speed mode to overcome ground friction is less than the torque value that is forcibly cleared to zero. Furthermore, in order to avoid the hub motor triggering overload protection, the hub motor can be kept in a stopped state in speed mode until a second time period is reached, so as to facilitate cooling of the hub motor.

[0062] Furthermore, before controlling the wheel hub motor to switch back from the torque mode to the speed mode, it can be determined whether it is necessary to control the wheel hub motor to switch back from the torque mode to the speed mode according to the robot's travel state. Optionally, when the robot is in a climbing state or a downhill state, in order to prevent the risk of the robot sliding downhill due to the torque value being forced to zero, it can be switched from the torque mode to the speed mode, and the ground friction can be overcome by means of the torque value generated by the wheel hub motor in the speed mode by default, so that the robot can remain stationary in the climbing or downhill state. Optionally, when the robot is in a planar travel state, it is not necessary to switch from the torque mode to the speed mode. Of course, it is also possible to switch from the torque mode to the speed mode, and there is no limitation on this.

[0063] Furthermore, when the robot is in a climbing or descending state, it can be further determined whether the wheel hub motor is equipped with a braking device. If the wheel hub motor is equipped with a braking device, the robot can be kept stationary by the braking action of the braking device; if the wheel hub motor is not equipped with a braking device, it can be switched from torque mode to speed mode, and the ground friction can be overcome by means of the default torque value generated by the wheel hub motor in the speed mode, so that the robot can remain stationary in a climbing or descending state.

[0064] Furthermore, no matter which method is used to keep the robot stationary in a climbing or descending state, after completing the warning processing action described above, the robot can be controlled to retreat from the climbing state to the plane before climbing, or the robot can be controlled to move from the descending state to the plane below the slope to ensure the safety of the robot.

[0065] In the case of processing method S4032, first try to adjust the rotation speed of the hub motor, and try to reduce the torque value of the hub motor while the hub motor remains in working state, so that the hub motor no longer meets the overload protection warning conditions, and minimize the impact on the robot's moving state. Among them, trying to adjust the rotation speed of the hub motor includes two adjustment methods, namely Y1 and Y2.

[0066] Optionally, in the case of Y1, when the service robot is currently working in a specific scene or in a specific traveling state, the wheel hub motor can be controlled to accelerate and not exceed the third duration; during the acceleration process, the torque value of the wheel hub motor will drop, the latest torque value of the wheel hub motor will be collected, and the latest torque value will be used to re-judge whether the wheel hub motor meets the overload protection warning condition; when the latest torque value is less than or equal to the warning threshold, it is determined that the wheel hub motor does not meet the overload protection warning condition; conversely, when the latest torque value is greater than the warning threshold, it is determined that the wheel hub motor meets the overload protection warning condition. Among them, when it is determined that the wheel hub motor does not meet the overload protection warning condition according to the latest torque value, it means that trying to accelerate the wheel hub motor is effective, so the wheel hub motor can be controlled to continue working at the current rotation speed until the third duration is reached to avoid the wheel hub motor triggering overload protection. When the wheel hub motor is determined to meet the overload protection warning conditions based on the latest torque value, it means that the effect of trying to accelerate the rotation of the wheel hub motor is not ideal, the wheel hub motor will still trigger the warning, and the risk of triggering overload protection is still high. At this time, for the safety of the wheel hub motor and the robot, the S4031 method can be executed, that is, the wheel hub motor is controlled to reduce its rotation speed to 0, that is, stop rotating, switch from speed mode to torque mode, and force the torque value of the wheel hub motor to be cleared to zero to avoid the wheel hub motor triggering overload protection.

[0067] Optionally, the specific scene includes but is not limited to at least one of a carpet scene, a heavily oiled area, a narrow space area, and a low space area. Among them, the above-mentioned carpet scene can also be divided into a short-haired carpet scene and a long-haired carpet scene. In particular, on a long-haired carpet, the hub motor may be easily overloaded due to the increase in resistance. The above-mentioned narrow space area refers to a space that can limit the free movement of a person or robot, such as a small aisle or a gap that is inconvenient for some users to enter, such as between two pieces of furniture. The above-mentioned low space area refers to an area with a low height that limits a person or robot from standing or performing vertical activities, such as a low table, a low chair, or under a cabinet. In a narrow area or a low space area, the robot is more likely to collide with an object or a wall. The above-mentioned specific travel state includes but is not limited to at least one of an obstacle crossing state, a plane travel state, and a downhill state. In this embodiment, since the robot is in the above-mentioned specific scene or in a specific travel state, the robot is prone to encounter unpredictable resistance and cause the motor to overload, or is stuck in a narrow area or a low space area and is difficult to move, or is in a specific travel state and affects the safety of the robot itself, considering that it is difficult to directly observe or operate the robot at this time. That is to say, in the obstacle crossing state, flat travel state or downhill state, the increase in the torque value of the hub motor is usually due to encountering an obstacle or jamming. For example, if the wheel hub is stuck, it will cause a stall, which will cause the torque value of the hub motor to increase and trigger the overload protection warning. At this time, if the hub motor is accelerated in a short time (ie the third time period), it is possible to pass the obstacle smoothly. At this time, the torque value of the hub motor will drop because there is no obstacle, and the overload protection warning will no longer be triggered, and the risk of triggering the overload protection will also be reduced.

[0068] In the embodiment of the present application, the relationship between the overcurrent magnitude of the motor and the permissible overcurrent time is called the overload characteristic. Motor overload will cause the motor to overheat, but its low-multiple overload is allowed for a certain time limit. When the motor is repeatedly overloaded for a short time and each overload time is less than the permissible time, the overload protection is generally not triggered, but the heat accumulation of the motor itself may completely burn the motor.

[0069] To this end, in the above embodiment, when the motor speed drops to 0, or when the hub motor is accelerated to the point where it no longer meets the overload protection warning condition, the motor can be allowed to maintain a low load state for a period of time (i.e., the second duration or the third duration mentioned above) to dissipate heat and reduce the temperature of the motor, thereby avoiding heat accumulation and causing damage or burning of the motor, providing the motor with an opportunity to recover and improving the reliability of the motor operation. Among them, the second duration or the third duration can be related to the heat dissipation efficiency of the motor, the ambient temperature, the physical structure of the robot, and the shell material, and can be set as needed. In one example, considering that the heat dissipation efficiency of the motor determines the speed at which the motor loses heat, if the heat dissipation efficiency is low, the second time or the third time may need to be appropriately increased. In another example, if the ambient temperature is high, the cooling effect of the motor may be reduced, and the second duration or the third duration should also be increased as needed. In another example, if the robot is a relatively compact design or its shell material is a non-thermal conductive material, it may cause heat accumulation, and then the second duration or the third duration needs to be increased.

[0070] When the adjustment method is Y2, when the service robot continues to collide with obstacles or gets stuck, the rotation speed of the hub motors in each wheel hub of the service robot can be adjusted to drive the service robot to change the direction of travel to avoid the hub motor triggering overload protection.

[0071] In this embodiment, when the robot continuously encounters obstacles or gets stuck, the motor needs a larger torque to overcome this resistance, resulting in a sharp increase in current, which leads to overload and triggers overload protection. In order to avoid triggering overload protection, the rotation speed of the hub motor in each wheel hub of the robot can be adjusted to drive the robot to change the direction of travel, so that the hub motor no longer meets the overload protection warning condition, thereby reducing the risk of triggering overload protection. Optionally, if the robot uses a differential drive mode, the direction of travel can be changed by controlling the speed difference of the hub motors on both sides or multiple hub motors. For example, in differential steering, the vehicle is turned by adjusting the speed difference of the drive wheels, such as slowing down or stagnating the inner drive wheel, while the outer drive wheel continues to drive. When the robot changes direction, the sensor can obtain new environmental information from different angles and positions, and provide new data for the path planning algorithm, so that the robot can optimize the subsequent route according to the new data, and try to bypass the obstacle from a different angle or direction, which may reduce the torque required by the motor, thereby avoiding triggering overload protection. In addition, continuous impact with obstacles may also cause damage to the components or structures of the robot, and changing direction can also reduce the possibility of such damage to a certain extent.

[0072] Figure 5 A flowchart of a method for handling an abnormality of a hub motor provided by another exemplary embodiment of the present application is shown below. Figure 5As shown, the steps of the method include:

[0073] S501: Collecting working status parameters of the hub motor;

[0074] After S501, two parallel steps S5021 and S5022 need to be executed respectively.

[0075] S5021: judging whether the hub motor meets the overload protection warning condition according to the working state parameter. The overload protection warning condition refers to the condition that should be met for the hub motor to trigger the overload protection in advance.

[0076] During the period when the early warning process is not performed for the wheel hub motor, it means that the wheel hub motor may have triggered the overload protection due to the failure to perform the early warning process. In an optional embodiment, after S501, the following may also be included:

[0077] S5022: judging whether the hub motor triggers overload protection according to the working state parameters of the hub motor; if the overload protection is triggered, powering off the hub motor to protect the hub motor.

[0078] It should be noted that the two parallel steps S5021 and S5022 may not affect each other, but preferably, since the present application adopts early warning processing for overload protection, the triggering judgment of overload protection can be performed during the non-early warning processing period, and the triggering of overload protection will be avoided as much as possible during the early warning processing period, so there is no need to perform the judgment operation of whether the overload protection will be triggered (S5022), which can save resources and simplify the control logic of the hub motor.

[0079] When the overload protection warning condition is met, jump to S5031 or S5032-S5033. You can choose either of the two implementation methods S5031 and S5032.

[0080] S5031: Control the wheel hub motor to reduce its rotation speed to 0, forcibly clear the torque value of the wheel hub motor to zero, and maintain the second time length to prevent the wheel hub motor from triggering overload protection;

[0081] S5032: According to the current application scenario and / or travel state of the service robot, adjust the rotation speed of the hub motor to avoid the hub motor no longer meeting the overload protection warning condition to trigger the overload protection, and execute S5033.

[0082] S5033: If the wheel hub motor still meets the overload protection warning condition after attempting to adjust the rotation speed of the wheel hub motor, control the wheel hub motor to reduce its rotation speed to 0, forcibly clear the torque value of the wheel hub motor, and maintain it for a second time period to prevent the wheel hub motor from triggering overload protection.

[0083] Based on the above embodiment, optionally, the method may further include:

[0084] S504: Counting the number of times the early warning process is performed on the wheel hub motor within the fourth time period;

[0085] S505: Determine whether the number of times reaches a set number threshold;

[0086] If the number of times is determined to reach the set number threshold in S505, S506 and S507 are executed; otherwise, S508 is executed.

[0087] S506: When the number of times reaches the set number threshold, the current warning state of the hub motor is locked, and the user is notified to manually release the warning state. The warning state refers to the working state of the hub motor caused by the last warning process on the hub motor.

[0088] S507: The number of warning processing executions is reset to zero.

[0089] S508: When the number of times does not reach the set number threshold, and when the time the hub motor is in the warning state reaches the corresponding time requirement, restore the hub motor to the working state before the warning process is performed on it, so as to release the warning state.

[0090] In this embodiment, the number of times the early warning process is executed for the wheel hub motor within the fourth time period is counted in order to monitor whether the motor may frequently encounter the situation of triggering overload protection within this time period. For this reason, when the number of early warning executions reaches the set number threshold, the current early warning state of the wheel hub motor is locked. The early warning state is the working state of the motor after the last early warning process is executed on the motor. In the embodiment of the present application, the purpose of the early warning process is to prevent the motor from triggering overload protection. That is to say, after the early warning process is executed for the motor, the working state of the motor is a relatively safe state or a state that is difficult to trigger overload protection. Therefore, locking the current early warning state of the motor can not only make the motor difficult to trigger overload protection, but also make the motor continue to run in a low-load and safe state until the user manually releases the early warning state.

[0091] In this embodiment, the measurement unit of the fourth duration can be hours, days, months or years, etc., and which unit is selected depends on the maintenance frequency and usage intensity of the robot. Taking the maintenance frequency as an example, if the robot needs to be maintained regularly, such as once a week, the fourth duration can be set to one week. Taking the usage intensity as an example, if the robot may be more likely to trigger overload protection in a high-intensity environment, a shorter fourth duration can be set, such as one hour, so that problems can be discovered and handled in a timely manner. Therefore, the fourth duration of this embodiment can select the time accuracy as needed, and there is no limitation on this. The setting number threshold can also be based on different historical data or system tolerance. Taking historical data as an example, the historical data of the motor executing the early warning process can be obtained, and the average value of the number of times the early warning process is executed in a given fourth duration can be analyzed according to the historical data. Optionally, the average value is used as the setting number threshold, which means that if the number of times the motor executes the early warning process exceeds the historical average level, the user will be notified to manually release the early warning state. Taking risk tolerance as an example, if the working state of the motor is expected to be more conservative and safe, that is, the risk tolerance is low, the set number threshold can be set relatively small; if the motor is expected to exchange more risks for higher performance, the set number threshold can be set relatively large.

[0092] It should be noted that in order to accurately predict that the motor is in a dangerous environment or working state, it is necessary to comprehensively consider the fourth time period and the set number threshold so that the two can be coordinated with each other.

[0093] Optionally, before collecting the working status parameters of the hub motor, it also includes: responding to a first setting operation of enabling the overload protection warning function in response to a user's instruction, setting the overload protection warning function to an enabled state, and the overload protection warning function is suitable for various application scenarios and / or working modes; or, responding to a second setting operation of enabling the overload protection warning function in response to a user's instruction, determining a target application scenario and / or target working mode for enabling the overload protection warning function, and setting the overload protection warning function to an enabled state in the target application scenario and / or target working mode.

[0094] The method for handling an abnormality of a hub motor provided in the above embodiment has various application scenarios and various applicable robots. The following application scenarios will describe in detail the technical solution provided in the embodiment of the present application.

[0095] Scenario Example 1: When a commercial cleaning robot is running in a hotel, it often encounters specific scenarios such as carpet scenes, heavy oil pollution areas, narrow space areas or low space areas. Many hotels will lay carpets in the lobby or reception area, or in the guest rooms. For carpet scenes, especially long-haired carpets, the hub motor may face additional resistance. The fibers of the long-haired carpet may be entangled in the wheels of the robot, causing the hub motor to be blocked, thereby causing the motor to overload and trigger overload protection. For narrow space areas (such as elevator rooms) and low space areas (such as under the dining table), in narrow areas and low space areas, the robot is more likely to collide with objects or walls, and the robot is more likely to be trapped (entangled, slipped) due to collisions, resulting in increased current and torque, thereby triggering overload protection. Therefore, for specific scenarios such as carpet scenes, narrow space areas or low space areas, a larger torque is required to overcome resistance, resulting in overload of the motor driving it, thereby triggering overload protection. To this end, the above-mentioned specific scenarios in hotels are used as examples to illustrate the exception handling method provided in the embodiments of the present application. In order to avoid triggering overload protection, an overload protection warning function can be integrated into the cleaning robot. The user can choose whether to enable this function, and provide the application scenario and / or working mode for the application of this function. Of course, the user can also choose not to select the application scenario and / or working mode. The robot can execute the function with the default scene and mode, or use the scene and working mode applied for the last execution of the function as the target scene and target working mode. Among them, the division of application scenarios can be determined according to the actual environment and usage requirements. In this embodiment, the technical solution of this application is explained by taking the application scenarios as hotel scenarios and airport scenarios as examples, but it does not mean that the method provided in the embodiments of this application can only be applied to these application scenarios. In these scenario embodiments, it is assumed that the working modes supported by the robot may include: automatic mode, manual mode, plan mode, and fixed-point cleaning mode.

[0096] If the user chooses to enable the overload protection function and selects the hotel scene, as described in the above embodiment, optionally, the robot is set with different warning thresholds for each specific scene. In order to prevent the robot from triggering overload protection in the above specific scenes, it is necessary to select a specific scene with the lowest warning threshold from the above specific scenes. For example, if the long-haired carpet is the lowest threshold, the warning threshold corresponding to the long-haired carpet is set as the warning threshold of the target application scene.

[0097] Optionally, the robot can also dynamically adjust the warning threshold, for example, when the robot enters different scenes, it switches to different warning thresholds. For example, when the robot enters a scene containing carpets such as a hotel lobby or corridor, the warning threshold is automatically switched to the warning threshold of a long-haired carpet; when the robot enters a narrow area such as an elevator, the warning threshold is automatically switched to the warning threshold of a narrow area. Optionally, for scene recognition, map construction and positioning can be performed simultaneously based on SLAM (Simultaneous Localization and Mapping) technology, and a map can be pre-loaded to identify its own position.

[0098] In another optional embodiment, the warning threshold of the target application scenario is switched to the warning threshold of the long-haired carpet only when the robot detects the long-haired carpet. For the identification of the long-haired carpet, an ultrasonic sensor can be set at the bottom of the robot, and the energy difference of the ultrasonic echo signal on different surfaces can be used to realize the material identification, so that the carpet and the tile can be distinguished. Different ground materials correspond to different warning thresholds.

[0099] When the robot is driving in scenes containing carpets, such as hotel lobbies and corridors, the warning threshold of the long-haired carpet is used as the warning threshold of the scene, and the torque value of the hub motor of the sweeping robot is collected in real time from the first register. Of course, current, torque, voltage or power can also be collected, as long as it can reflect the current working state of the hub motor. If the torque value is greater than the above-mentioned warning threshold and the duration reaches the first duration, it is determined that the robot hub motor meets the overload protection warning conditions. Among them, due to the characteristics of the long-haired carpet itself, the robot is more likely to get stuck, causing the hub motor to stall and overload, thereby triggering overload protection. For this reason, the warning threshold that needs to be set when the long-haired carpet is small, so that the robot can quickly trigger the warning when encountering the long-haired carpet, reducing the probability of triggering the overload protection, thereby avoiding motor damage. In one example, the first duration is 2-3 seconds.

[0100] Furthermore, when the wheel hub motor meets the overload warning condition, the working state of the wheel hub motor is adjusted to avoid the wheel hub motor triggering overload protection. The adjustment method includes:

[0101] Adjustment method M1: Control the wheel hub motor to reduce its rotation speed to 0, that is, stop rotating, switch from speed mode to torque mode, set the torque value in the second register of the wheel hub motor to 0, so as to force the torque of the wheel hub motor to zero, so that the motor can stop working completely, so as to avoid motor stalling and increase the load of the motor, resulting in overload of the motor driving it.

[0102] Adjustment method M2: Before executing adjustment method M1, the wheel hub motor is controlled to accelerate and not exceed the third duration; during the acceleration process, the torque value of the wheel hub motor will drop, the latest torque value of the wheel hub motor is collected, and the wheel hub motor is re-judged based on the latest torque value whether it meets the overload protection warning condition; when the latest torque value is less than or equal to the warning threshold, it is determined that the wheel hub motor does not meet the overload protection warning condition, that is, it is determined that the motor is relatively safe or difficult to trigger overload protection; conversely, when the latest torque value is greater than the warning threshold, it is determined that the wheel hub motor meets the overload protection warning condition. Among them, when it is determined that the wheel hub motor does not meet the overload protection warning condition according to the latest torque value, it means that trying to accelerate the wheel hub motor is effective, so the wheel hub motor can be controlled to continue working at the current rotation speed until the third duration is reached, so that the robot will not stop working suddenly, nor will it trigger overload protection due to working under high load for a long time, but will continue to perform the cleaning task in a low-load state. In this process, the robot may also leave the specific scene of the long-haired carpet and continue to perform the cleaning task normally. When the wheel hub motor is determined to meet the overload protection warning conditions based on the latest torque value, it means that the effect of trying to accelerate the rotation of the wheel hub motor is not ideal, the wheel hub motor will still trigger the warning, and the risk of triggering overload protection is still high. At this time, for the safety of the wheel hub motor and the robot, the M1 method can be executed, that is, the wheel hub motor is controlled to reduce its rotation speed to 0, that is, stop rotating, switch from speed mode to torque mode, and force the torque value of the wheel hub motor to be cleared to zero to avoid the wheel hub motor triggering overload protection.

[0103] Optionally, after the torque value of the wheel hub motor is forcibly cleared to zero, the wheel hub motor can also be controlled to switch from torque mode to speed mode, wherein the wheel hub motor will generate a certain torque value in speed mode to overcome ground friction, so that the robot can remain stationary, which is conducive to avoiding the safety risks of clearing the torque value to the robot. In order to prevent the wheel hub motor from triggering overload protection, the wheel hub motor can be kept in a stopped state in speed mode until a second time period is reached, so as to facilitate cooling of the wheel hub motor.

[0104] Adjustment method M3: When the robot is stuck on a long-haired carpet, in order to avoid the motor being blocked and triggering the overload protection, the rotation speed of the hub motors in each wheel hub of the service robot is adjusted to drive the service robot to change its direction of travel. In this way, the robot can avoid entering the carpet area or free itself from the carpet, so that the hub motors no longer meet the overload protection warning conditions, thereby reducing the risk of triggering the overload protection.

[0105] After the overload protection warning function is enabled, within the fourth time period, taking the fourth time period as 1 hour as an example, the number of warning processes performed on the hub motor within 1 hour is counted; taking into account the characteristics of long-haired carpets, the set number threshold is set to a lower value, taking 3 times as an example, if the robot performs 3 warning processes on the motor within 1 hour, the current warning state of the hub motor will be automatically locked. This is to prevent the motor from triggering overload protection due to overload, and notify the user to manually release the warning state. There are many notification methods, such as notification method, interface notification, voice notification or indicator light alarm notification, etc. The notification can be issued by the robot or pushed by the robot to the user's terminal device.

[0106] Among them, the warning state refers to the working state of the hub motor caused by the last warning processing of the hub motor. As described in the above embodiment, after the working state of the hub motor is adjusted for the last time, the hub motor may be in a stopped state, a low-load running state or a steering state, all of which may become locked warning states. Therefore, locking the current warning state of the motor can make the motor difficult to trigger overload protection until the user manually releases the warning state. Among them, the manual release method can be that the user releases the alarm through interface operation, voice control or APP control.

[0107] When the robot is working on a long-haired carpet, it may occasionally trigger an early warning due to a slight overload of the hub motor. If the early warning process is not executed three times within 1 hour, and the hub motor is in the early warning state for a certain period of time, it means that the motor can work normally in most cases during this period, and the early warning is triggered only in a few cases. Therefore, the hub motor is restored to its working state before the early warning process is performed to remove the early warning state, so that it can continue to complete the cleaning task without human intervention.

[0108] In addition, the above embodiment is described by taking the long-haired carpet scene as an example, but the technical solution of the embodiment of the present application can also be applied to other specific scenes, such as heavy oil pollution areas, narrow areas and low space areas, etc., which can be referred to the description of the above embodiment and will not be repeated here.

[0109] Scenario Example 2: When a commercial cleaning robot performs cleaning tasks at an airport, in similar commercial scenarios (for example, public places such as shopping malls, supermarkets, or airports), there are large flows of people and moving objects, which leads to differences in the application of the exception handling method provided in the embodiments of the present application. The following commercial cleaning robot at an airport is used as an example for illustrative explanation.

[0110] Generally, public places can be divided into peak hours and non-peak hours. Different warning thresholds are set for peak hours and non-peak hours in public places. As mentioned above, during peak hours, due to the large flow of people and moving objects, the robot will frequently make emergency brakes to avoid collisions with pedestrians or objects. When the robot uses mechanical braking, the robot's kinetic energy is converted into heat energy by friction between the brake disc and the brake pad, thereby achieving braking. In order to avoid the robot frequently making emergency brakes in a short period of time, the heat generated cannot be released in time and trigger overload protection, a lower warning threshold needs to be set so that the robot can issue a warning in time before approaching the overload state, thereby reducing the probability of triggering overload protection. During non-peak hours, due to the small flow of people and moving objects, the robot travels in a relatively open area, resulting in a greatly reduced probability of collisions with pedestrians or objects, thereby reducing the heat accumulation caused by frequent braking, and further reducing the probability of triggering overload protection. To this end, a higher warning threshold can be set, which can not only avoid the robot from triggering overload protection as much as possible, but also enable the robot to avoid frequent start / stop, thereby improving work efficiency.

[0111] In the embodiment of the present application, optionally, the warning threshold can be a fixed value, for example, the robot is given a default value for the warning threshold when it leaves the factory. Optionally, the warning threshold is a value that can be flexibly changed, for example, the setting of the warning threshold is integrated into the APP, so that the user can modify it according to the needs of the scene. If the user considers the impact of the working period on the warning threshold, for example, a lower fixed value can be set during the peak period of the airport (more traffic), and a higher fixed value can be set during the non-peak period of the airport (less traffic). The switching of the warning threshold can be automatically switched by the robot according to the user's setting. In this embodiment, the warning threshold can be set not only according to the time period, but also according to the environmental information collected by the robot. In an optional embodiment, a sensor (such as a camera) can be used to monitor the flow of people (environmental information), and the flow of people can be updated according to a certain update frequency. If a large flow of people is monitored, the warning threshold can be switched to a lower value; if a small flow of people is monitored, the warning threshold can be switched to a higher value.

[0112] It should be noted that in the above embodiments, there is no limitation on the type of environmental information collected, nor on the sensor for collecting environmental information. For example, if the environmental information to be collected is the flow of people, the flow of people can be estimated based on the camera. For example, if the environmental information to be collected is the ground material, for example, in order for the robot to distinguish between long-haired carpets and tiles, an ultrasonic sensor can be set at the bottom of the robot. The ultrasonic wave recognizes the material by the energy difference of the echo signal on different surfaces, so that the carpet and tile can be distinguished. The method for setting the warning threshold for long-haired carpets and tiles can refer to the above application scenario 1. After the robot obtains different ground materials through the ultrasonic sensor, the warning thresholds for different ground materials can be automatically switched.

[0113] If the user chooses to enable the overload protection function and selects the airport scene, the torque value of the robot's wheel motor needs to be collected in real time from the first register. Optionally, the camera can be used to collect receipts and estimate the flow of people. The update frequency of the flow of people can be set as needed, for example, it can be set to update every 4 hours. The following is an example of estimating a large flow of people.

[0114] In the case of a large flow of people, in order to be able to issue an early warning in time, the early warning threshold is set low. If the torque value read is greater than the early warning threshold and lasts for the first time, it is determined that the robot meets the overload protection early warning condition. At this time, it is necessary to adjust the working state of the hub motor to avoid triggering the overload protection. The adjustment method can refer to the above scenario embodiment 1, but each specific adjustment method will be different.

[0115] If the adjustment method is the above-mentioned adjustment method M1 (emergency braking), and because the flow of people in the airport scene is large, if the robot brakes urgently, it may cause people to be frightened or even collide with pedestrians. Therefore, in this adjustment method, it is optionally necessary to add additional human-computer interaction, that is, it is necessary to issue a clear warning to the surrounding pedestrians, such as voice broadcast of the warning content, or use of light reminders, or screen reminders, etc.

[0116] If the adjustment method is the above adjustment method M2 (trying to accelerate), due to the complexity and variability of the airport scene, the robot needs to be combined with the navigation and obstacle avoidance system during the gradual acceleration process to avoid colliding with pedestrians or moving objects during the acceleration process. Optionally, additional human-machine interaction can be added to issue clear warnings to pedestrians around.

[0117] If the adjustment method is the above adjustment method M3 (changing the direction of travel), in the airport scene, the leading navigation robot is often used to guide the user to the destination, and frequent changes in direction may confuse or discomfort the user. Therefore, optionally, when the robot needs to change the direction of travel, it can inform the user of the upcoming action through voice, screen or other forms of prompts to reduce the user's confusion.

[0118] In some cases, you can also choose the adjustment method that combines M2 and M3, and this combined adjustment method is referred to as M4. For example, in the airport scene, since there are often more than one robot, the robot can be guided (M3) to a centralized warning processing location while the robot is trying to accelerate (M2), so that it is convenient for humans to lift the warning for multiple robots at one time. Note that the adjustment method M4 at this time can be used when the wheel hub motor is warned for the last time before the robot is about to enter the locked warning state. For example, if the threshold number is set to 3 times in 1 hour, the warning state is locked. Then within 1 hour, when the warning processing is executed for the third time, the adjustment method M4 is used to adjust the state of the wheel hub motor.

[0119] The above adjustment method M4 can also be applied to industrial scenarios. In industrial scenarios, AGV (Automated Guided Vehicle) refers to an automatic guided vehicle with automatic guidance equipment such as magnetic strips, tracks or lasers. The AGV can accurately walk along the specified path and complete a series of tasks after reaching the specified location. Optionally, a magnetic strip is used to preset the path for the AGV so that the robot can use the adjustment method M4 to guide the AGV to the specified location according to the above preset path when the wheel hub motor is pre-alarmed for the last time, so as to facilitate manual removal of the warning state.

[0120] It is to be noted that in the above scenario embodiments, different warning thresholds are set for different situations, and the warning thresholds can be adjusted dynamically, but the present invention is not limited thereto. For example, no matter in which application scenario or situation, the warning threshold can be fixed, for example, the warning threshold can be pre-set according to the scenario it serves when the robot leaves the factory and remain unchanged.

[0121] In the above embodiment, in addition to the early warning process, it is necessary to take protective measures when the motor triggers overload protection. Therefore, during the period when the early warning process is not performed on the hub motor, it is also possible to determine whether the hub motor triggers overload protection according to the working state parameters of the hub motor; when the overload protection is triggered, the hub motor is powered off to protect the hub motor. In addition, in an optional embodiment, the scene in the above embodiment is divided based on the application field of the robot. Therefore, the hotel scene and the airport scene are used as examples for explanation. If the scene is divided based on the application field, the application scene may also include but is not limited to: office scene and shopping mall scene, etc., which are also applicable to the technical solution of the embodiment of the present application. In another optional embodiment, the application scene is divided based on the physical environment. For example, in the above embodiment, the application scene is divided into carpet scene, heavy oil pollution area, narrow area and low space area. According to different rules, different application scenes can generally be divided. These application scenes may also have an association relationship. For example, the hotel scene may include carpet scene, heavy oil pollution area, narrow area and low space area, etc., and the shopping mall scene may also include these specific scenes. However, no matter what rules the application scenarios are divided according to, the methods provided in the embodiments of the present application are applicable. Specifically for each application scenario, the technical solution of the present application can be flexibly adjusted to match the scenario requirements.

[0122] In the above embodiment, the robot may be in a specific traveling state, and the specific traveling state includes at least one of an obstacle crossing state, a plane traveling state, and a downhill state. For the obstacle crossing state, if the robot is crossing an obstacle, a sudden stop may cause it to be stuck by the robot, further increasing the burden on the motor. Therefore, the adjustment method M2 can be used first. First, you can try to accelerate the wheel hub motor in a short time (i.e., the third time length), so that it is possible to successfully cross the obstacle. At this time, the torque value of the wheel hub motor will drop because there is no obstacle to hinder it, and the overload protection warning will no longer be triggered, and the risk of triggering the overload protection will also be reduced. If it is determined based on the latest torque value that the wheel hub motor still meets the overload protection warning condition, it means that the effect of trying to accelerate the wheel hub motor is not ideal, the wheel hub motor will still trigger the warning, and the risk of triggering the overload protection is still high. At this time, for the safety of the wheel hub motor and the robot, the adjustment method M1 can be executed. For climbing and descending states, sudden braking may cause the robot to lose stability, and the robot may roll or slide down the slope, thereby causing damage to the robot. Therefore, it is possible to switch from torque mode to speed mode, and use the torque value generated by the hub motor in the speed mode by default to overcome the ground friction, so that the robot can remain stationary in the climbing or descending state. In summary, when the robot is in a specific moving state, the technical solution of the embodiment of the present application can also be applied. The only difference is that the technical solution of the present application needs to be flexibly adjusted in a specific state. The other contents are the same or similar, and please refer to the description of the aforementioned embodiment, which will not be repeated here.

[0123] Figure 6 A schematic diagram of the structure of a robot provided by another exemplary embodiment of the present application. Figure 6 As shown, the robot includes: a robot body 600, on which a hub motor 601, a driver 602 and a memory are provided, wherein the hub motor 601 is arranged in the wheel hub; the driver 602 is electrically connected to the hub motor; the memory can be arranged in the driver 602, or the driver 602 can be arranged in the memory, or the memory and the driver 602 can be electrically connected.

[0124] In addition to the wheel hub motor 601, the driver 602 and the memory, the robot body 600 is also provided with some basic components of the robot, such as a sensor component (such as a camera / lidar sensor), a power supply component, etc. Optionally, the robot may also include an audio component, a communication component, etc.

[0125] Optionally, if the robot is a sweeping robot, the robot may also include a cleaning component, which may include a cleaning motor, a cleaning brush, a dust brush, a dust suction fan, etc. Optionally, the robot may also include a squeegee 603, a start / stop / recharge button 604, a power pusher 605, an emergency stop button 606, a working mode adjustment knob 607, and an on / off key 608. These basic components and the composition of the basic components contained in different robots may vary, and the embodiments of this application are only some examples. It is worth noting that Figure 6 Only some components are shown schematically, which does not mean that the robot only includes Figure 6 Components shown.

[0126] Among them, the driver 602 is used to execute the computer program stored in the memory, so as to: collect the working status parameters of the hub motor; determine whether the hub motor meets the overload protection warning condition according to the working status parameters, and the overload protection warning condition refers to the condition that should be met for the hub motor to trigger the overload protection in advance; when the overload protection warning condition is met, perform warning processing on the hub motor to avoid triggering the overload protection.

[0127] In an optional embodiment, the driver 602 applies at least one of the following methods when collecting the working state parameters of the hub motor: reading the torque value of the hub motor from the first register of the hub motor as the working state parameter; collecting the driving current of the hub motor through the driving circuit of the hub motor as the working state parameter; collecting the driving voltage of the hub motor through the driving circuit of the hub motor as the working state parameter;

[0128] The driving power of the wheel hub motor is obtained as the working state parameter, wherein the driving power is generated by the driving current and driving voltage of the wheel hub motor; and the speed of the wheel hub motor is collected by a speed collection device arranged on the wheel hub motor as the working state parameter.

[0129] In an optional embodiment, when the driver 602 determines whether the hub motor meets the overload protection warning condition based on the working status condition, it is specifically used to: if the working status parameter is greater than the warning threshold, and the duration of the working status parameter being greater than the warning threshold reaches a first time length, determine that the hub motor meets the overload protection warning condition.

[0130] In an optional embodiment, the driver 602 is also used to: determine the warning threshold according to the overload protection trigger value corresponding to when the hub motor triggers overload protection in the main application scenario of the service robot, and the warning threshold is less than the overload protection trigger value.

[0131] In an optional embodiment, when the driver 602 performs the early warning processing for the wheel hub motor to avoid triggering the overload protection, it is specifically used to: adjust the working state of the wheel hub motor to avoid triggering the overload protection of the wheel hub motor.

[0132] In an optional embodiment, the driver 602 adjusts the working state of the hub motor when the working state parameter is a torque value to avoid the hub motor triggering overload protection, and is specifically used to: control the hub motor to stop rotating and force the torque value of the hub motor to be cleared to zero to avoid the hub motor triggering overload protection.

[0133] In an optional embodiment, when the driver 602 forcibly clears the torque of the hub motor to zero, it is specifically used to: set the torque value in the second register of the hub motor to 0, so as to forcibly clear the torque of the hub motor to zero.

[0134] In an optional embodiment, after the torque of the wheel hub motor is forcibly cleared to zero, the driver 602 is further used to: control the wheel hub motor to switch from the torque mode back to the speed mode, and keep the rotation state in the speed mode until a second time period is reached; wherein the wheel hub motor will generate a torque in the speed mode to overcome the ground friction. In an optional embodiment, when the driver 602 controls the wheel hub motor to switch to the speed mode, it is specifically used to: control the wheel hub motor to switch from the torque mode back to the speed mode when the robot is in a climbing or descending state.

[0135] In an optional embodiment, before controlling the wheel hub motor to stop rotating, the driver 602 is further used to: attempt to adjust the rotation speed of the wheel hub motor according to the current application scenario and / or travel status of the service robot so that the wheel hub motor no longer meets the overload protection warning condition; if the wheel hub motor still meets the overload protection warning condition after attempting to adjust the rotation speed of the wheel hub motor, execute the operation of controlling the wheel hub motor to stop rotating and other operations.

[0136] In an optional embodiment, when the driver 602 attempts to adjust the rotation speed of the hub motor according to the current application scenario and / or travel state of the service robot so that the hub motor no longer meets the overload protection warning condition, it is specifically used to: when the service robot is currently working in a specific scenario or in a specific travel state, control the hub motor to accelerate and not exceed a third time period; during the acceleration process, collect the latest torque value of the hub motor; when the latest torque value is less than or equal to the warning threshold, determine that the hub motor does not meet the overload protection warning condition; when the latest torque value is greater than the warning threshold, determine that the hub motor meets the overload protection warning condition.

[0137] In an optional embodiment, the driver 602 is further used to: when it is determined that the hub motor does not meet the overload protection warning condition, control the hub motor to continue operating at the current rotation speed until the third time period is reached to avoid the hub motor triggering overload protection.

[0138] Optionally, the specific scene includes at least one of a carpet scene, a heavily oiled area, a narrow space area and a low space area; the specific traveling state includes at least one of an obstacle crossing state, a flat traveling state and a downhill state.

[0139] In an optional embodiment, when the driver 602 attempts to adjust the rotation speed of the hub motor according to the current application scenario and / or travel status of the service robot so that the hub motor no longer meets the overload protection warning condition, it is specifically used to: when the service robot continues to collide with obstacles or gets stuck, adjust the rotation speed of the hub motor in each wheel hub of the service robot to drive the service robot to change the travel direction so that the hub motor no longer meets the overload protection warning condition.

[0140] In an optional embodiment, the driver 602 is also used to: count the number of times the warning processing is performed on the hub motor within a fourth time period; when the number reaches a set number threshold, lock the current warning state of the hub motor and notify the user to manually release the warning state; wherein the warning state refers to the working state of the hub motor caused by the last warning processing performed on the hub motor.

[0141] In an optional embodiment, the driver 602 is also used to: when the number of times does not reach the set number threshold, when the time when the hub motor is in the warning state reaches the corresponding time requirement, restore the hub motor to the working state before the warning processing is performed on it, so as to release the warning state.

[0142] In an optional embodiment, before collecting the working status parameters of the hub motor, the driver 602 is specifically used to: respond to a first setting operation instructing a user to enable the overload protection warning function, and set the overload protection warning function to an enabled state, wherein the overload protection warning function is applicable to various application scenarios and / or working modes; or respond to a second setting operation instructing a user to enable the overload protection warning function, and determine a target application scenario and / or target working mode for enabling the overload protection warning function, and set the overload protection warning function to an enabled state in the target application scenario and / or target working mode.

[0143] In an optional embodiment, when the driver 602 is not performing early warning processing on the hub motor, it is specifically used to: determine whether the hub motor triggers overload protection based on the working status parameters of the hub motor; and when the overload protection is triggered, power off the hub motor to protect the hub motor.

[0144] The detailed implementation and beneficial effects of each step in the method of this embodiment have been described in detail in the aforementioned embodiments and will not be elaborated here.

[0145] An embodiment of the present application also provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the processor is caused to perform the following actions: collecting the working status parameters of the hub motor; judging whether the hub motor satisfies the overload protection warning conditions based on the working status parameters, wherein the overload protection warning conditions refer to the conditions that should be met for early warning of triggering overload protection of the hub motor; and when the overload protection warning conditions are met, performing warning processing on the hub motor to prevent it from triggering overload protection.

[0146] In addition to the above actions, the processor may also perform other actions when executing the computer program in the above computer-readable storage medium. For other actions, please refer to the description in the above embodiments and will not be repeated here.

[0147] It should be noted that the execution subject of each step of the method provided in the above embodiment can be the same device, or the method can be executed by different devices. For example, the execution subject of steps 201 to 203 can be device A; for another example, the execution subject of steps 201 and 202 can be device A, and the execution subject of step 203 can be device B; and so on.

[0148] In addition, in some of the processes described in the above embodiments and the accompanying drawings, multiple operations that appear in a specific order are included, but it should be clearly understood that these operations may not be executed in the order in which they appear in this article or executed in parallel, and the sequence numbers of the operations, such as 201, 202, etc., are only used to distinguish between different operations, and the sequence numbers themselves do not represent any execution order. In addition, these processes may include more or fewer operations, and these operations may be executed in sequence or in parallel. It should be noted that the descriptions of "first", "second", etc. in this article are used to distinguish different messages, devices, modules, etc., do not represent the order of precedence, and do not limit the "first" and "second" to be different types.

[0149] The above-mentioned memory can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read only memory (EEPROM), erasable programmable read only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0150] The above-mentioned communication component is configured to facilitate wired or wireless communication between the device where the communication component is located and other devices. The device where the communication component is located can access a wireless network based on a communication standard, such as WiFi, 2G, 3G, 4G / LTE, 5G and other mobile communication networks, or a combination thereof. In an exemplary embodiment, the communication component receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be based on Radio Frequency Identification (RFID) technology, Infrared Data Association (IrDA) technology, Ultra Wide Band (UWB) technology, Bluetooth (BT) technology and other technologies.

[0151] The above-mentioned display includes a screen, and the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation.

[0152] The power supply assembly provides power to various components of the device where the power supply assembly is located. The power supply assembly may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to the device where the power supply assembly is located.

[0153] The above-mentioned audio component can be configured to output and / or input audio signals. For example, the audio component includes a microphone (Microphone, MIC), and when the device where the audio component is located is in an operating mode, such as a call mode, a recording mode, and a speech recognition mode, the microphone is configured to receive an external audio signal. The received audio signal can be further stored in a memory or sent via a communication component. In some embodiments, the audio component also includes a speaker for outputting an audio signal.

[0154] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-readable storage media (including but not limited to disk storage, compact disc read-only memory (Compact Disc Read-Only Memory, CD-ROM), optical storage, etc.) containing computer-usable program code.

[0155] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0156] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0157] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0158] In a typical configuration, a computing device includes one or more processors (Central Processing Unit, CPU), input / output interface, network interface and memory.

[0159] Memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

[0160] Computer readable media include permanent and non-permanent, removable and non-removable media that can be used to store information by any method or technology. Information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase-change random access memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0161] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity 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, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0162] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A method for handling abnormalities of a hub motor, characterized in that: Applied to a service robot, wherein a hub motor is provided in a wheel hub of the service robot, and the method comprises: Collect working status parameters of the hub motor; According to the working state parameter, determining whether the wheel hub motor meets an overload protection warning condition, wherein the overload protection warning condition refers to a condition that should be met for triggering an overload protection warning of the wheel hub motor; When the overload protection warning condition is met, a warning process is performed on the wheel hub motor to prevent the wheel hub motor from triggering overload protection.

2. The method according to claim 1, characterized in that: Collecting the working state parameters of the hub motor includes at least one of the following methods: Reading the torque value of the wheel hub motor from the first register of the wheel hub motor as the working state parameter; collecting the driving current of the hub motor through the driving circuit of the hub motor as the working state parameter; collecting the driving voltage of the wheel hub motor through the driving circuit of the wheel hub motor as the working state parameter; Acquire the driving power of the wheel hub motor as the working state parameter, wherein the driving power is generated by the driving current and driving voltage of the wheel hub motor; The rotation speed of the wheel hub motor is collected by a rotation speed collection device arranged on the wheel hub motor as the working state parameter.

3. The method according to claim 1, characterized in that Judging whether the hub motor meets the overload protection warning condition according to the working state condition includes: If the working state parameter is greater than the warning threshold, and the duration for which the working state parameter is greater than the warning threshold reaches a first duration, it is determined that the hub motor meets the overload protection warning condition.

4. The method according to claim 3, characterized in that: Also includes: The warning threshold is determined according to the overload protection trigger value corresponding to when the hub motor triggers overload protection in the main application scenario of the service robot, and the warning threshold is less than the overload protection trigger value.

5. The method according to claim 1, characterized in that Performing early warning processing on the wheel hub motor to prevent it from triggering overload protection includes: The working state of the wheel hub motor is adjusted to prevent the wheel hub motor from triggering overload protection.

6. The method according to claim 5, characterized in that When the working state parameter is a torque value, adjusting the working state of the hub motor to prevent the hub motor from triggering overload protection includes: The wheel hub motor is controlled to stop rotating, and the torque value of the wheel hub motor is forcibly cleared to zero, so as to prevent the wheel hub motor from triggering overload protection.

7. The method according to claim 6, characterized in that Forcibly clearing the torque of the hub motor to zero includes: setting the torque value in the second register of the hub motor to 0, so as to forcibly clear the torque of the hub motor to zero.

8. The method according to claim 6, characterized in that After the torque of the wheel hub motor is forcibly cleared to zero, the method further includes: The wheel hub motor is controlled to switch from the torque mode back to the speed mode, and remains in a stopped rotation state in the speed mode until a second time period is reached; wherein, the wheel hub motor generates a torque in the speed mode to overcome ground friction.

9. The method according to claim 8, characterized in that Controlling the wheel hub motor to switch to a speed mode includes: When the robot is in a climbing or descending state, the hub motor is controlled to switch from a torque mode back to a speed mode.

10. The method according to claim 6, characterized in that Before controlling the wheel hub motor to stop rotating, the method further includes: According to the current application scenario and / or travel state of the service robot, try to adjust the rotation speed of the hub motor so that the hub motor no longer meets the overload protection warning condition; If the wheel hub motor still meets the overload protection warning condition after attempting to adjust the rotation speed of the wheel hub motor, an operation of controlling the wheel hub motor to stop rotating and other operations are performed.

11. The method according to claim 10, characterized in that According to the current application scenario and / or travel state of the service robot, attempting to adjust the rotation speed of the wheel hub motor so that the wheel hub motor no longer meets the overload protection warning condition includes: When the service robot is currently working in a specific scene or in a specific moving state, attempting to control the wheel hub motor to accelerate rotation without exceeding a third time length; During the acceleration process, collecting the latest torque value of the wheel hub motor; When the latest torque value is less than or equal to the warning threshold, determining that the wheel hub motor does not meet the overload protection warning condition; When the latest torque value is greater than the warning threshold, it is determined that the wheel hub motor meets the overload protection warning condition.

12. The method according to claim 11, characterized in that Also includes: When it is determined that the wheel hub motor does not meet the overload protection warning condition, the wheel hub motor is controlled to continue operating at the current rotation speed until the third time period is reached to prevent the wheel hub motor from triggering overload protection.

13. The method according to claim 11, characterized in that The specific scene includes at least one of a carpet scene, a heavily oiled area, a narrow space area, and a low space area; The specific traveling state includes at least one of an obstacle crossing state, a flat traveling state, and a downhill traveling state.

14. The method according to claim 10, characterized in that According to the current application scenario and / or travel state of the service robot, attempting to adjust the rotation speed of the wheel hub motor so that the wheel hub motor no longer meets the overload protection warning condition includes: In the case that the service robot continues to collide with obstacles or get stuck, the rotation speed of the hub motors in each wheel hub of the service robot is adjusted to drive the service robot to change the direction of travel so that the hub motors no longer meet the overload protection warning conditions.

15. The method according to any one of claims 1 to 14, characterized in that: Also includes: Counting the number of times the early warning process is performed on the wheel hub motor within a fourth time period; When the number of times reaches a set number threshold, the current warning state of the hub motor is locked, and the user is notified to manually release the warning state; The warning state refers to the working state of the hub motor caused by the last warning process performed on the hub motor.

16. The method according to claim 15, characterized in that Also includes: When the number of times does not reach the set number threshold, and when the time the hub motor is in the warning state reaches the corresponding time requirement, the hub motor is restored to the working state before the warning process is performed on it, so as to release the warning state.

17. The method according to any one of claims 1 to 14, characterized in that: Before collecting the working state parameters of the hub motor, it also includes: In response to a first setting operation instructing a user to enable an overload protection warning function, setting the overload protection warning function to an enabled state, wherein the overload protection warning function is applicable to various application scenarios and / or working modes; or In response to a second setting operation instructing the user to enable the overload protection warning function, a target application scenario and / or target operating mode for enabling the overload protection warning function is determined, and the overload protection warning function is set to an enabled state in the target application scenario and / or target operating mode.

18. The method according to any one of claims 1 to 14, characterized in that: During the period when the early warning process is not performed on the wheel hub motor, the method further includes: Determining whether the hub motor triggers overload protection according to the working state parameters of the hub motor; When the overload protection is triggered, the wheel hub motor is powered off to protect the wheel hub motor.

19. A service robot, characterized in that: include: Robot body; A wheel hub is arranged on the robot body, and a wheel hub motor is arranged in the wheel hub; A driver is arranged on the robot body, the driver is electrically connected to the wheel hub motor, and is used to execute the steps in the method according to any one of claims 1 to 18 to control the drive motor.

20. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the processor is enabled to implement the steps in the method according to any one of claims 1 to 18.

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