Blowdown control method, apparatus, intelligent discharge module, and readable storage medium

Abstract

The application provides a kind of discharge control method, device, intelligent discharge module and readable storage medium, it is related to mobile robot servo control technical field, method includes: by six-axis gyroscope obtains the operating state information of mobile robot;Obtain the basic parameters of mobile robot in advance setting;Based on operating state information and basic parameters, generate multiple discharge models;Wherein, discharge model is used to output discharge parameter, and each discharge model corresponds a group of discharge parameters;Based on the temperature of discharge loop of servo drive system, determine the target discharge model selected, and determine target discharge parameter according to target discharge model;According to target discharge parameter, control the conduction state of discharge pipe, conduction time and discharge power.The technical scheme of the application, according to actual demand automatically matches the target discharge parameter required, without staff adjusting discharge parameter, degree of automation is higher.

Description

Technical Field

[0001] This invention relates to the field of mobile robot servo control technology, and more specifically, to a discharge control method, device, intelligent discharge module, and readable storage medium. Background Technology

[0002] In the field of mobile robot servo control technology, the servo driver is the core execution component for realizing precise motion control of mobile robots. Its stable and reliable operation directly determines the operational performance and safety level of mobile robots.

[0003] Most mainstream servo drives on the market are equipped with a discharge circuit to discharge the pumped voltage generated during operation. However, the discharge circuits built into the drives currently have the following problems: The discharge circuit relies solely on measuring the bus voltage to operate, requiring operators to adjust the discharge parameters under different operating conditions, resulting in a low level of automation.

[0004] Therefore, how to provide a discharge control method or device that can automatically match discharge parameters is an urgent problem to be solved. Summary of the Invention

[0005] To address or improve the technical problem of low automation, where operators need to adjust discharge parameters under different operating conditions, one objective of this invention is to provide a discharge control method.

[0006] Another object of the present invention is to provide a discharge control device.

[0007] Another objective of this invention is to provide an intelligent discharge module.

[0008] Another object of the present invention is to provide a readable storage medium.

[0009] To achieve the above objectives, the first aspect of the present invention provides a discharge control method applied to a mobile robot. The mobile robot includes a frame, a servo drive system, a six-axis gyroscope, and a walking system. The servo drive system, the six-axis gyroscope, and the walking system are all located on the frame, and the servo drive system and the walking system are connected. The servo drive system includes a servo circuit board and a discharge pipe connected to the servo circuit board.

[0010] The discharge control method includes: acquiring the mobile robot's operating status information via a six-axis gyroscope; the operating status information includes motion posture information, turning action information, and acceleration / deceleration status information; acquiring pre-set basic parameters of the mobile robot; the basic parameters include: the mobile robot's size parameters, the mobile robot's weight parameters, the position parameters of the walking system, the transmission system parameters, and the battery voltage of the servo drive system; generating multiple discharge models based on the operating status information and basic parameters; the discharge models are used to output discharge parameters, and each discharge model corresponds to a set of discharge parameters; determining the selected target discharge model based on the discharge circuit temperature of the servo drive system, and determining the target discharge parameters based on the target discharge model; and controlling the conduction state, conduction time, and discharge power of the discharge tube according to the target discharge parameters.

[0011] This invention aims to provide a discharge control method that generates multiple discharge models adapted to different operating scenarios based on operating status information and basic parameters. Furthermore, it determines the target discharge model and target discharge parameters based on the discharge circuit temperature, and controls the discharge tube according to these parameters. This design approach offers several advantages: First, it automatically matches discharge parameters and performs discharge control based on the mobile robot's operating conditions, achieving real-time response to dynamically changing conditions and a high degree of automation. Second, it eliminates the need for manual adjustment of discharge parameters, enabling timely optimization when the mobile robot's operating conditions change abruptly, effectively solving the problem of lag in manual adjustments and improving safety. Third, it allows for rapid and accurate matching of discharge parameters under various operating conditions, reducing debugging costs and ensuring the discharge circuit remains in optimal operating condition across the entire operating range.

[0012] In some technical solutions, optionally, multiple discharge models include a safe state discharge model, a warning state discharge model, and an emergency state discharge model; discharge parameters include discharge threshold voltage, discharge method, and reminder threshold parameters.

[0013] In this technical solution, by constructing multiple discharge models, it is possible to adapt to different operating scenarios, so that the mobile robot can quickly and accurately match the discharge parameters under various working conditions, ensuring that the discharge circuit is always in the optimal working state across the entire operating range.

[0014] In some technical solutions, optionally, multiple discharge models are generated based on operating status information and basic parameters, including: generating a safe state discharge model, a warning state discharge model, and an emergency state discharge model based on operating status information and basic parameters; and determining the target discharge model based on the discharge circuit temperature of the servo drive system, including: determining the target discharge model among the safe state discharge model, the warning state discharge model, and the emergency state discharge model based on the discharge circuit temperature of the servo drive system.

[0015] In this technical solution, by selecting the target discharge model from three discharge models, the discharge parameters can be matched quickly and accurately, ensuring that the discharge circuit is always in the optimal working state across the entire operating range.

[0016] In some technical solutions, optionally, based on the discharge circuit temperature of the servo drive system, a target discharge model is determined among the safe state discharge model, the warning state discharge model, and the emergency state discharge model. This includes: when the discharge circuit temperature is less than or equal to a first preset temperature threshold, the safe state discharge model is used as the target discharge model; when the discharge circuit temperature is greater than the first preset temperature threshold and less than or equal to a second preset temperature threshold, the warning state discharge model is used as the target discharge model; wherein the second preset temperature threshold is greater than the first preset temperature threshold; and when the discharge circuit temperature is greater than the second preset temperature threshold, the emergency state discharge model is used as the target discharge model.

[0017] In this technical solution, the temperature of the discharge circuit is compared with a preset temperature threshold to select the target discharge model from three discharge models. By quickly and accurately matching discharge parameters under various operating conditions, the discharge circuit is ensured to always be in optimal operating condition across the entire operating range.

[0018] In some technical solutions, optionally, the target discharge parameters are determined according to the target discharge model, including: when the target discharge model is a safe state discharge model, the discharge threshold voltage includes a first discharge voltage threshold, the discharge method is a pulse width modulation discharge method, and the reminder threshold parameter includes a first temperature reminder threshold; wherein, the first temperature reminder threshold is less than a first preset temperature threshold; according to the target discharge parameters, the conduction state, conduction time, and discharge power of the bleeder are controlled, including: when the bus voltage of the servo drive system is greater than the first discharge voltage threshold, the bleeder is controlled to enter the conduction state, and the conduction time and discharge power of the bleeder are controlled by the pulse width modulation discharge method; when the temperature of the bleeder circuit is greater than the first temperature reminder threshold, a reminder message is sent.

[0019] In this technical solution, when the target discharge model is a safe state discharge model, the discharge control of the discharge tube is based on the target discharge parameters, which helps to accurately grasp the timing of model switching and the timing of sending reminder information, ensuring that the discharge circuit is always in the optimal working state throughout the entire operating range.

[0020] In some technical solutions, optionally, the target discharge parameters are determined based on the target discharge model, including: when the target discharge model is a warning state discharge model, the discharge threshold voltage includes a second discharge voltage threshold, the discharge method is a pulse width modulation discharge method, and the reminder threshold parameter includes a second temperature reminder threshold; wherein, the second temperature reminder threshold is greater than a first preset temperature threshold and less than the second preset temperature threshold; based on the target discharge parameters, the conduction state, conduction time, and discharge power of the bleeder are controlled, including: when the bus voltage of the servo drive system is greater than the second discharge voltage threshold, the bleeder is controlled to enter the conduction state, and the conduction time and discharge power of the bleeder are controlled by the pulse width modulation discharge method; when the temperature of the bleeder circuit is greater than the second temperature reminder threshold, a reminder message is sent.

[0021] In this technical solution, when the target discharge model is a warning state discharge model, the discharge control of the discharge tube is performed according to the target discharge parameters. This helps to accurately grasp the timing of model switching and the timing of sending reminder information, ensuring that the discharge circuit is always in the optimal working state throughout the entire operating range.

[0022] In some technical solutions, optionally, target discharge parameters are determined based on the target discharge model, including: when the target discharge model is an emergency discharge model, the discharge threshold voltage includes a third discharge voltage threshold, the discharge method is a switch-type discharge method, and the reminder threshold parameter includes a third temperature reminder threshold; wherein the third temperature reminder threshold is greater than a second preset temperature threshold; based on the target discharge parameters, the conduction state, conduction time, and discharge power of the bleeder are controlled, including: when the bus voltage of the servo drive system is greater than the third discharge voltage threshold, the bleeder is controlled to enter the conduction state, and the conduction time and discharge power of the bleeder are controlled through a switch-type discharge method; when the temperature of the bleeder circuit is greater than the third temperature reminder threshold, a reminder message is sent.

[0023] In this technical solution, when the target discharge model is an emergency discharge model, the discharge control of the discharge tube is based on the target discharge parameters, which helps to accurately grasp the timing of model switching and the timing of sending reminder information, ensuring that the discharge circuit is always in the optimal working state throughout the entire operating range.

[0024] A second aspect of the present invention provides a discharge control device, comprising: an operation status information acquisition unit, used to acquire operation status information of a mobile robot via a six-axis gyroscope; wherein the operation status information includes motion posture information, turning action information, and acceleration / deceleration status information; a basic parameter acquisition unit, used to acquire pre-set basic parameters of the mobile robot; wherein the basic parameters include: size parameters of the mobile robot, weight parameters of the mobile robot, position parameters of the walking system, transmission system parameters, and battery voltage of the servo drive system; a discharge model generation unit, used to generate multiple discharge models based on the operation status information and basic parameters; wherein the discharge model is used to output discharge parameters, and each discharge model corresponds to a set of discharge parameters; a target discharge model determination unit, used to determine the selected target discharge model based on the discharge circuit temperature of the servo drive system, and determine the target discharge parameters according to the target discharge model; and a discharge control unit, used to control the conduction state, conduction time, and discharge power of the discharge tube according to the target discharge parameters.

[0025] This invention aims to provide a discharge control device that generates multiple discharge models adapted to different operating scenarios based on operating status information and basic parameters. Furthermore, it determines the target discharge model and target discharge parameters based on the temperature of the discharge circuit, and controls the discharge tube according to these parameters. This design approach offers several advantages: First, it automatically matches discharge parameters and performs discharge control based on the mobile robot's operating conditions, achieving real-time response to dynamically changing conditions and a high degree of automation. Second, it eliminates the need for manual adjustment of discharge parameters; when the mobile robot's operating conditions undergo sudden changes, it can promptly optimize the discharge parameters, effectively solving the problem of lag in manual adjustments and enhancing safety. Third, it enables rapid and accurate matching of discharge parameters under various operating conditions, reducing debugging costs and ensuring that the discharge circuit remains in optimal operating condition across the entire operating range.

[0026] A third aspect of this invention provides an intelligent discharge module, comprising: a memory and a processor, wherein the memory stores a program or instructions executable on the processor, and the processor, when executing the program or instructions, implements the steps of the discharge control method in any of the above-described technical solutions. The intelligent discharge module possesses the beneficial effects of any of the above-described technical solutions, which will not be elaborated further here.

[0027] A fourth aspect of the present invention provides a readable storage medium storing a program or instructions, which, when executed by a processor, implement the steps of the discharge control method in any of the above-described technical solutions. The readable storage medium possesses the beneficial effects of any of the above-described technical solutions, which will not be elaborated further here.

[0028] Additional aspects and advantages of the technical solutions of the present invention will become apparent in the following description or may be learned by practice of the invention. Attached Figure Description

[0029] Figure 1 A structural block diagram of a mobile robot according to an embodiment of the present invention is shown; Figure 2 A structural block diagram of a servo drive system according to an embodiment of the present invention is shown; Figure 3 A flowchart of a discharge control method according to an embodiment of the present invention is shown; Figure 4 A flowchart of a discharge control method according to another embodiment of the present invention is shown; Figure 5 A flowchart of a discharge control method according to another embodiment of the present invention is shown; Figure 6 A flowchart of a discharge control method according to another embodiment of the present invention is shown; Figure 7 A flowchart of a discharge control method according to another embodiment of the present invention is shown; Figure 8 A flowchart of a discharge control method according to another embodiment of the present invention is shown; Figure 9 A flowchart of a discharge control method according to another embodiment of the present invention is shown; Figure 10 A structural block diagram of a discharge control device according to an embodiment of the present invention is shown; Figure 11 A structural block diagram of an intelligent discharge module according to an embodiment of the present invention is shown.

[0030] in, Figures 1 to 11 The correspondence between the reference numerals and component names in the attached drawings is as follows: 100: Mobile robot; 110: Frame; 120: Servo drive system; 121: Servo circuit board; 122: Discharge pipe; 130: Six-axis gyroscope; 140: Walking system; 300: Discharge control device; 310: Operating status information acquisition unit; 320: Basic parameter acquisition unit; 330: Discharge model generation unit; 340: Target discharge model determination unit; 350: Discharge control unit; 400: Intelligent discharge module; 410: Memory; 420: Processor. Detailed Implementation

[0031] To better understand the above-described objectives, features, and advantages of the embodiments of the present invention, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments of the present invention and the features thereof can be combined with each other.

[0032] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, embodiments of the invention may be implemented in other ways different from those described herein. Therefore, the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0033] In the field of mobile robot servo control technology, the servo driver, as the core execution component for achieving precise motion control of mobile robots, directly determines the operational performance and safety level of the mobile robot through its stable and reliable operation. During the operation of a mobile robot, such as starting, stopping, accelerating, decelerating, experiencing sudden load changes, and braking, the servo system generates a pump-up voltage due to energy conversion. If this pump-up voltage accumulates over a long period or becomes excessively high momentarily, it can easily exceed the safe threshold of the servo driver's bus voltage, leading to malfunctions such as damage to internal power devices and control module failure, severely impacting the normal operation of the mobile robot.

[0034] Most mainstream servo drives on the market are equipped with a discharge circuit. The core function of the discharge circuit is to monitor the bus voltage in real time. When the bus voltage reaches the safety threshold, the excess pumped voltage is quickly discharged by actively turning on energy-consuming components (such as power resistors), thereby ensuring the voltage stability and operational safety of the servo drive and the entire servo system.

[0035] However, the built-in discharge circuit of existing servo drives has obvious technical defects in practical applications, making it difficult to adapt to the complex and ever-changing operating conditions of mobile robots. The specific problems are as follows: The control logic of existing discharge circuits is relatively simple. Their operation is triggered solely by direct measurement of the bus voltage, i.e., by preset fixed voltage trigger thresholds and discharge duration parameters. When the bus voltage reaches the fixed voltage trigger threshold, the discharge circuit performs the discharge operation according to the preset parameters. However, the operating conditions of mobile robots exhibit significant dynamic changes. Under different operating conditions, the amplitude, rise rate, and duration of the pump-up voltage generated by the servo system vary greatly. If fixed discharge parameters are used, problems may arise in some operating conditions, such as untimely discharge (e.g., a sudden rise in pump-up voltage during emergency braking, where the fixed threshold fails to trigger discharge in time) or excessive discharge (e.g., during no-load operation, a low pump-up voltage still triggers prolonged discharge, resulting in energy waste).

[0036] To address the aforementioned compatibility issues, the industry currently employs manual intervention. This involves staff manually adjusting the discharge parameters of the bleeder circuit (such as voltage threshold, discharge power, and discharge duration) using debugging tools, based on the mobile robot's actual operating conditions (e.g., load size, movement speed, and work scenario). This approach has significant limitations: firstly, it has extremely low automation, failing to provide real-time responses to dynamically changing conditions; secondly, manual adjustments rely on the staff's experience and judgment, making the accuracy and rationality of parameter settings highly susceptible to human error. This not only increases debugging costs and operational complexity but also makes it difficult to guarantee that the bleeder circuit remains in optimal operating condition across the entire range of operating conditions.

[0037] Therefore, how to provide a discharge control method or device that can automatically match discharge parameters is an urgent problem to be solved.

[0038] This invention aims to provide a discharge control method, device, intelligent discharge module, and readable storage medium. Based on operating status information and basic parameters, it generates multiple discharge models adapted to different operating scenarios. Furthermore, it determines the target discharge model and target discharge parameters based on the discharge circuit temperature, and controls the discharge tube according to these parameters. This design approach offers several advantages: First, it automatically matches discharge parameters and performs discharge control based on the mobile robot's operating conditions, achieving real-time response to dynamically changing conditions and a high degree of automation. Second, it eliminates the need for manual adjustment of discharge parameters. When the mobile robot's operating conditions undergo sudden changes, it can promptly optimize the discharge parameters, effectively solving the problem of lag in manual adjustments and enhancing safety. Third, it enables rapid and accurate matching of discharge parameters under various operating conditions, reducing debugging costs and ensuring that the discharge circuit (the servo circuit board with the discharge tube installed) remains in optimal working condition across the entire operating range.

[0039] The following reference Figures 1 to 11 This invention describes a discharge control method, apparatus, smart discharge module, and readable storage medium provided according to some embodiments of the present invention.

[0040] In one embodiment of the present invention, such as Figure 1 As shown, the mobile robot 100 includes a frame 110, a servo drive system 120, a six-axis gyroscope 130, and a locomotion system 140. The servo drive system 120, the six-axis gyroscope 130, and the locomotion system 140 are all housed within the frame 110. The servo drive system 120 and the locomotion system 140 are connected. Figure 2 As shown, the servo drive system 120 includes a servo circuit board 121 and a discharge pipe 122 connected to the servo circuit board 121.

[0041] The frame 110, relative to the servo drive system 120, the six-axis gyroscope 130, and the walking system 140, mainly serves as a mounting carrier. By integrating the servo drive system 120, the six-axis gyroscope 130, and the walking system 140 onto the frame 110, it is beneficial to optimize the spatial layout and make the overall structure more compact.

[0042] The servo drive system 120 is the "power control core" of the mobile robot 100, responsible for coordinating and controlling the power output, status monitoring, and energy safety management of the walking system 140. Optionally, the mobile robot 100 also includes a main control module, which is located on the frame 110. The servo drive system 120 is the key hub connecting the main control module of the mobile robot 100 with the actuators (such as the walking system 140).

[0043] The servo drive system 120 is used to receive motion commands (including speed information and steering angle information) from the main control module, convert electrical energy into mechanical energy through the servo motor, and drive the walking system 140 to realize actions such as movement, steering, acceleration and deceleration.

[0044] It should be noted that the walking system 140 can be a wheel mechanism or a track mechanism, which can be flexibly set according to actual needs.

[0045] By employing pulse width modulation (PWM) and proportional-integral-derivative (PID) algorithms, the speed, torque, and position of the servo motor are adjusted in real time to ensure that the mobile robot 100 runs precisely along a preset trajectory. When the mobile robot 100 experiences sudden stops, climbs slopes, or other conditions that cause the motor's feedback energy to cause a sudden rise in the bus voltage, the excess energy can be released through the bleeder 122 to prevent damage to circuit components.

[0046] In some embodiments, the servo drive system 120 may optionally include a servo motor, a servo circuit board 121, and a discharge pipe 122. The servo motor is used to connect to the walking system 140 to drive the walking system 140 to operate, thereby realizing the walking function of the mobile robot 100.

[0047] The servo circuit board 121 integrates a motor control chip, voltage sensor, current sensor, and communication interface, and is responsible for signal processing, command execution, and status feedback.

[0048] The discharge tube 122 mostly uses power devices such as MOSFET (Metal-Oxide-Semiconductor Field-Effect Transistor) or IGBT (Insulated-Gate Bipolar Transistor) as a "switch" for energy discharge, and controls the energy release intensity according to the discharge parameters.

[0049] The six-axis gyroscope 130 is used to acquire the operating status information of the mobile robot 100. The operating status information includes motion posture information, turning action information, and acceleration / deceleration status information.

[0050] Optionally, motion posture information includes, but is not limited to, tilt angle and roll angle. Turning motion information includes, but is not limited to, rotation direction (e.g., turning left or right) and rotation angle. Acceleration / deceleration state information includes, but is not limited to, the mobile robot 100 being in an accelerating or decelerating state in a first direction; the mobile robot 100 being in an accelerating or decelerating state in a second direction; and the mobile robot 100 being in an accelerating or decelerating state in a third direction. The first direction is perpendicular to the second direction, and the first direction is perpendicular to the third direction.

[0051] In one specific embodiment, the first direction is the front-back direction; the second direction is the left-right direction; and the third direction is the up-down direction.

[0052] In some embodiments, the six-axis gyroscope 130 optionally includes multiple accelerometers and multiple gyroscopes. The six-axis gyroscope 130 is used to acquire the linear acceleration and angular velocity of the mobile robot 100. The operating status information of the mobile robot 100 is determined based on the linear acceleration and angular velocity of the mobile robot 100.

[0053] In some embodiments, the servo circuit board 121 may optionally include a temperature protector. In extreme cases (e.g., when the temperature of the discharge circuit exceeds a third temperature warning threshold), the servo drive system 120 is stopped by disconnecting the circuit. This design improves safety performance.

[0054] In one embodiment of the present invention, the discharge control method is applied to a mobile robot 100. Optionally, the discharge control method is applied to the main control module of the mobile robot 100.

[0055] like Figure 3 As shown, the discharge control methods include: S202 acquires the mobile robot's operating status information through a six-axis gyroscope; the operating status information includes motion posture information, turning action information, and acceleration / deceleration status information.

[0056] The linear acceleration and angular velocity of the mobile robot are collected by a six-axis gyroscope, and the operating status information of the mobile robot is determined based on the linear acceleration and angular velocity of the mobile robot.

[0057] Optionally, linear acceleration includes, but is not limited to: acceleration of the mobile robot in a first direction; acceleration of the mobile robot in a second direction; and acceleration of the mobile robot in a third direction. Angular velocity includes, but is not limited to: rotational angular velocity of the mobile robot in a first direction; rotational angular velocity of the mobile robot in a second direction; and rotational angular velocity of the mobile robot in a third direction. The first direction is perpendicular to the second direction, and the first direction is perpendicular to the third direction.

[0058] It should be noted that the first direction is the front-to-back direction; the second direction is the left-to-right direction; and the third direction is the up-to-down direction.

[0059] Optionally, motion posture information includes, but is not limited to: tilt angle and roll angle. Turning motion information includes, but is not limited to: rotation direction (e.g., turning left or right) and rotation angle. Acceleration / deceleration state information includes, but is not limited to: the mobile robot is accelerating or decelerating in a first direction; the mobile robot is accelerating or decelerating in a second direction; the mobile robot is accelerating or decelerating in a third direction.

[0060] By acquiring the operating status information of mobile robots, it is possible to capture data or information under conditions such as sudden stops and turns of mobile robots, and avoid untimely release due to lag in status perception.

[0061] S204, Obtain the pre-set basic parameters of the mobile robot; the basic parameters include: the size parameters of the mobile robot, the weight parameters of the mobile robot, the position parameters of the walking system, the transmission system parameters, and the battery voltage of the servo drive system.

[0062] Taking the walking system as an example with a wheel assembly: The dimensional parameters of a mobile robot include, but are not limited to: wheelbase, track width, and center of gravity height.

[0063] It should be noted that track width refers to the distance between the left and right wheels, which affects steering stability. Wheelbase refers to the distance between the front and rear wheels, which affects pitch attitude.

[0064] The weight parameters of a mobile robot include, but are not limited to: unloaded weight and maximum load weight.

[0065] The positional parameters of the walking system include, but are not limited to: the installation height and wheel diameter of the wheels (left and right wheels or front and rear wheels).

[0066] It should be noted that the wheels affect the contact pressure between the walking system and the ground. The wheel diameter is used to convert wheel speed into the moving speed of the mobile robot.

[0067] Transmission system parameters include, but are not limited to: reduction ratio and transmission efficiency.

[0068] It should be noted that the reduction ratio is the ratio between the motor speed and the wheel speed. The transmission efficiency is used to calculate the actual output torque.

[0069] By acquiring the pre-set basic parameters from the mobile robot, a basic database is built, providing a data foundation for the construction of the discharge model in subsequent steps.

[0070] S206 generates multiple discharge models based on operating status information and basic parameters; among them, the discharge model is used to output discharge parameters, and each discharge model corresponds to a set of discharge parameters.

[0071] Based on operational status information and basic parameters, various discharge models adapted to different operational scenarios are generated.

[0072] By constructing multiple discharge models, it is possible to adapt to different operating scenarios, enabling mobile robots to quickly and accurately match discharge parameters under various working conditions, ensuring that the discharge circuit is always in the optimal working state across the entire operating range.

[0073] Optionally, multiple discharge models are available, including a safe state discharge model, a warning state discharge model, and an emergency state discharge model. Discharge parameters include discharge threshold voltage, discharge method, and alert threshold parameters.

[0074] It should be noted that the safe state discharge model is suitable for low-risk operating conditions; the early warning state discharge model is suitable for medium-risk operating conditions; and the emergency state discharge model is suitable for high-risk operating conditions.

[0075] S208, based on the discharge circuit temperature of the servo drive system, determines the selected target discharge model, and determines the target discharge parameters according to the target discharge model.

[0076] Optionally, the mobile robot also includes a temperature sensor. The temperature sensor is located on the servo circuit board and is used to acquire the temperature information of the servo circuit board. Based on the temperature information from the servo circuit board, the main control module of the mobile robot determines the temperature of the discharge circuit of the servo drive system.

[0077] When the discharge circuit temperature is less than or equal to the first preset temperature threshold, the safe state discharge model is used as the target discharge model. When the discharge circuit temperature is greater than the first preset temperature threshold but less than or equal to the second preset temperature threshold, the warning state discharge model is used as the target discharge model. When the discharge circuit temperature is greater than the second preset temperature threshold, the emergency state discharge model is used as the target discharge model.

[0078] It should be noted that the second preset temperature threshold is greater than the first preset temperature threshold.

[0079] S210 controls the conduction state, conduction time, and discharge power of the discharge tube according to the target discharge parameters.

[0080] By automatically matching discharge parameters, the discharge parameters can be optimized in a timely manner when the operating conditions of the mobile robot change abruptly, effectively solving the problem of lag in manual adjustment and improving safety performance.

[0081] This invention aims to provide a discharge control method that generates multiple discharge models adapted to different operating scenarios based on operating status information and basic parameters. Furthermore, it determines the target discharge model and target discharge parameters based on the discharge circuit temperature, and controls the discharge tube according to these parameters. This design approach offers several advantages: First, it automatically matches discharge parameters and performs discharge control based on the mobile robot's operating conditions, achieving real-time response to dynamically changing conditions and a high degree of automation. Second, it eliminates the need for manual adjustment of discharge parameters, allowing for timely optimization when the mobile robot's operating conditions change abruptly, effectively solving the problem of lag in manual adjustments and enhancing safety. Third, it enables rapid and accurate matching of discharge parameters under various operating conditions, reducing debugging costs and ensuring that the discharge circuit (the servo circuit board with the discharge tube installed) remains in optimal working condition across the entire operating range.

[0082] In some embodiments, optionally, such as Figure 4 As shown, after acquiring the mobile robot's operating status information via a six-axis gyroscope, the discharge control method further includes: S203 uses a Kalman filter algorithm to eliminate noise data in the operating status information.

[0083] Eliminating noise data in the operating status information helps reduce the amplitude of data fluctuations, ensures that the output operating status information is continuous and stable, and reduces the interference of abnormal data on the discharge model.

[0084] In some embodiments, the multiple discharge models may optionally include a safe state discharge model, a warning state discharge model, and an emergency state discharge model. Discharge parameters include discharge threshold voltage, discharge method, and alert threshold parameters.

[0085] It should be noted that the safe state discharge model is suitable for low-risk operating conditions; the early warning state discharge model is suitable for medium-risk operating conditions; and the emergency state discharge model is suitable for high-risk operating conditions.

[0086] Each discharge model corresponds to a set of discharge parameters.

[0087] By constructing multiple discharge models, it is possible to adapt to different operating scenarios, enabling mobile robots to quickly and accurately match discharge parameters under various working conditions, ensuring that the discharge circuit is always in the optimal working state across the entire operating range.

[0088] In some embodiments, the discharge threshold voltage may optionally include a first discharge voltage threshold, a second discharge voltage threshold, and a third discharge voltage threshold.

[0089] When the target discharge model is a safe state discharge model, the discharge threshold voltage is the first discharge voltage threshold.

[0090] When the target discharge model is the warning state discharge model, the discharge threshold voltage is the second discharge voltage threshold.

[0091] When the target discharge model is an emergency discharge model, the discharge threshold voltage is the third discharge voltage threshold.

[0092] In one specific embodiment, the first discharge voltage threshold is 1.2 times the battery voltage of the servo drive system.

[0093] In one specific embodiment, the second discharge voltage threshold is 1.1 times the battery voltage of the servo drive system.

[0094] In one specific embodiment, the third discharge voltage threshold is 1.05 times the battery voltage of the servo drive system.

[0095] It should be noted that the battery voltage of the servo drive system refers to the rated battery voltage.

[0096] In some embodiments, the discharge method may optionally be a pulse width modulation discharge method (PWM discharge method) or a switching discharge method (bangbnag discharge method).

[0097] It should be noted that "PWM" stands for Pulse Width Modulation, and "bangbnag" refers to switching control.

[0098] When the target discharge model is a safe state discharge model, the discharge mode is a pulse width modulation discharge mode.

[0099] When the target discharge model is a warning state discharge model, the discharge mode is a pulse width modulation discharge mode.

[0100] When the target discharge model is an emergency state discharge model, the discharge method is a switch-type discharge method.

[0101] In some embodiments, the alert threshold parameters may optionally include a first temperature alert threshold, a second temperature alert threshold, and a third temperature alert threshold.

[0102] When the target discharge model is a safe state discharge model, the alert threshold parameter is the first temperature alert threshold.

[0103] When the target discharge model is a warning state discharge model, the reminder threshold parameter is the second temperature reminder threshold.

[0104] When the target discharge model is an emergency discharge model, the alert threshold parameter is the third temperature alert threshold.

[0105] In some embodiments, optionally, such as Figure 5 As shown, based on operational status information and basic parameters, various discharge models are generated, including: S2062 generates a safe state discharge model, a warning state discharge model, and an emergency state discharge model based on operating status information and basic parameters.

[0106] By constructing multiple discharge models, it is possible to adapt to different operating scenarios, enabling mobile robots to quickly and accurately match discharge parameters under various working conditions, ensuring that the discharge circuit is always in the optimal working state across the entire operating range.

[0107] In some embodiments, optionally, the target discharge model is determined based on the discharge circuit temperature of the servo drive system, including: S2082, based on the discharge circuit temperature of the servo drive system, determines the target discharge model among the safe state discharge model, the early warning state discharge model, and the emergency state discharge model.

[0108] When the discharge circuit temperature is less than or equal to the first preset temperature threshold, the safe state discharge model is used as the target discharge model. When the discharge circuit temperature is greater than the first preset temperature threshold but less than or equal to the second preset temperature threshold, the warning state discharge model is used as the target discharge model. When the discharge circuit temperature is greater than the second preset temperature threshold, the emergency state discharge model is used as the target discharge model.

[0109] By selecting the target discharge model from the three discharge models, the discharge parameters can be matched quickly and accurately, ensuring that the discharge circuit is always in the optimal working state across the entire operating range.

[0110] In some embodiments, optionally, such as Figure 6 As shown, S2082 (based on the discharge circuit temperature of the servo drive system, determining the target discharge model in the safe state discharge model, the early warning state discharge model, and the emergency state discharge model) includes: S2083, when the temperature of the discharge circuit is less than or equal to the first preset temperature threshold, the safe state discharge model is used as the target discharge model.

[0111] Optionally, the mobile robot also includes a temperature sensor. The temperature sensor is located on the servo circuit board and is used to acquire the temperature information of the servo circuit board. Based on the temperature information from the servo circuit board, the main control module of the mobile robot determines the temperature of the discharge circuit of the servo drive system.

[0112] S2084, when the temperature of the discharge circuit is greater than the first preset temperature threshold and less than or equal to the second preset temperature threshold, the warning state discharge model is used as the target discharge model; wherein, the second preset temperature threshold is greater than the first preset temperature threshold.

[0113] Optionally, the first preset temperature threshold is between 59°C and 61°C. By limiting the range of the first preset temperature threshold, it is possible to avoid the first preset temperature threshold being too large or too small, which is beneficial for accurately determining when to use the safe state discharge model or the early warning state discharge model as the target discharge model.

[0114] In one specific embodiment, the first preset temperature threshold is 59°C.

[0115] In one specific embodiment, the first preset temperature threshold is 60°C.

[0116] In one specific embodiment, the first preset temperature threshold is 61°C.

[0117] S2085, when the temperature of the discharge circuit is greater than the second preset temperature threshold, the emergency discharge model is used as the target discharge model.

[0118] Optionally, the second preset temperature threshold is between 79°C and 81°C. By limiting the range of the second preset temperature threshold, it is possible to avoid the second preset temperature threshold being too large or too small, which is beneficial for accurately determining when to use the warning state discharge model or the emergency state discharge model as the target discharge model.

[0119] In one specific embodiment, the second preset temperature threshold is 79°C.

[0120] In one specific embodiment, the second preset temperature threshold is 80°C.

[0121] In one specific embodiment, the second preset temperature threshold is 81°C.

[0122] The discharge circuit temperature is compared with a preset temperature threshold to select the target discharge model from three discharge models. By quickly and accurately matching discharge parameters under various operating conditions, the discharge circuit is ensured to always operate in optimal condition across the entire operating range.

[0123] In some embodiments, optionally, such as Figure 7 As shown, the target discharge parameters are determined based on the target discharge model, including: S2086, when the target discharge model is a safe state discharge model, the discharge threshold voltage includes a first discharge voltage threshold, the discharge mode is a pulse width modulation discharge mode, and the reminder threshold parameter includes a first temperature reminder threshold; wherein, the first temperature reminder threshold is less than a first preset temperature threshold.

[0124] When the temperature of the discharge circuit is less than or equal to the first preset temperature threshold, the safe state discharge model is used as the target discharge model.

[0125] When the target discharge model is a safe state discharge model, the discharge parameters include the first discharge voltage threshold, the pulse width modulation discharge mode, and the first temperature warning threshold.

[0126] In some embodiments, optionally, the conduction state, conduction time, and discharge power of the bleeder are controlled according to the target discharge parameters, including: S2101, when the bus voltage of the servo drive system is greater than the first discharge voltage threshold, controls the bleeder tube to enter the conduction state, and controls the conduction time and discharge power of the bleeder tube through pulse width modulation discharge mode.

[0127] When the target discharge model is a safe state discharge model, the bus voltage of the servo drive system is compared with the first discharge voltage threshold to determine whether the bus voltage is greater than the first discharge voltage threshold, and a first judgment result is generated.

[0128] If the first judgment result is yes, the discharge tube is controlled to enter the conduction state, and the conduction time and discharge power of the discharge tube are controlled by pulse width modulation discharge method.

[0129] If the first judgment result is negative, the control valve will enter the cut-off state.

[0130] It should be noted that controlling the conduction time and discharge power of the bleeder tube through pulse width modulation discharge means precisely controlling the discharged energy per unit time by adjusting the PWM duty cycle (Pulse Width Modulation) of the bleeder tube.

[0131] S2102, if the temperature of the discharge circuit is greater than the first temperature warning threshold, a warning message is sent.

[0132] When the target discharge model is a safe state discharge model, the temperature of the discharge circuit is compared with the first temperature warning threshold to determine whether the temperature of the discharge circuit is greater than the first temperature warning threshold, and a second judgment result is generated.

[0133] If the second judgment result is yes, a reminder message is sent; if the second judgment result is no, a reminder message is not sent.

[0134] In some embodiments, optionally, if the second determination result is yes, a reminder message is sent to the control platform or user terminal.

[0135] When the target discharge model is a safe state discharge model, controlling the discharge tube according to the target discharge parameters helps to accurately grasp the timing of model switching and the timing of sending reminder information, ensuring that the discharge circuit is always in the optimal working state across the entire operating range.

[0136] In some embodiments, the first temperature alert threshold may be between 54°C and 56°C. By limiting the range of the first temperature alert threshold, it is possible to avoid the first temperature alert threshold being too high or too low, which is beneficial for accurately determining the timing of sending alert information.

[0137] In one specific embodiment, the first temperature alert threshold is 54°C.

[0138] In one specific embodiment, the first temperature alert threshold is 55°C.

[0139] In one specific embodiment, the first temperature alert threshold is 56°C.

[0140] In some embodiments, optionally, such as Figure 8 As shown, the target discharge parameters are determined based on the target discharge model, including: S2087, when the target discharge model is a warning state discharge model, the discharge threshold voltage includes a second discharge voltage threshold, the discharge mode is a pulse width modulation discharge mode, and the reminder threshold parameter includes a second temperature reminder threshold; wherein, the second temperature reminder threshold is greater than the first preset temperature threshold and less than the second preset temperature threshold.

[0141] When the temperature of the discharge circuit is greater than the first preset temperature threshold and less than or equal to the second preset temperature threshold, the warning state discharge model is used as the target discharge model.

[0142] When the target discharge model is a warning state discharge model, the discharge parameters include the second discharge voltage threshold, the pulse width modulation discharge mode, and the second temperature reminder threshold.

[0143] In some embodiments, optionally, the conduction state, conduction time, and discharge power of the bleeder are controlled according to the target discharge parameters, including: S2103, when the bus voltage of the servo drive system is greater than the second discharge voltage threshold, controls the bleed tube to enter the conduction state, and controls the conduction time and discharge power of the bleed tube through pulse width modulation discharge mode.

[0144] When the target discharge model is a warning state discharge model, the bus voltage of the servo drive system is compared with the second discharge voltage threshold to determine whether the bus voltage is greater than the second discharge voltage threshold, and a third judgment result is generated.

[0145] If the third judgment result is yes, the discharge tube is controlled to enter the conduction state, and the conduction time and discharge power of the discharge tube are controlled by pulse width modulation discharge method.

[0146] If the third judgment result is negative, the control vent pipe will enter the cut-off state.

[0147] It should be noted that controlling the conduction time and discharge power of the bleeder tube through pulse width modulation discharge means precisely controlling the discharged energy per unit time by adjusting the PWM duty cycle (Pulse Width Modulation) of the bleeder tube.

[0148] S2104, if the temperature of the discharge circuit is greater than the second temperature warning threshold, send a warning message.

[0149] When the target discharge model is a warning state discharge model, the temperature of the discharge circuit is compared with the second temperature reminder threshold to determine whether the temperature of the discharge circuit is greater than the second temperature reminder threshold, and a fourth judgment result is generated.

[0150] If the fourth judgment result is yes, a reminder message will be sent; if the fourth judgment result is no, a reminder message will not be sent.

[0151] In some embodiments, optionally, if the fourth determination result is yes, a reminder message is sent to the control platform or user terminal.

[0152] When the target discharge model is a warning state discharge model, controlling the discharge of the discharge tube according to the target discharge parameters is beneficial to accurately grasp the timing of model switching and the timing of sending reminder information, ensuring that the discharge circuit is always in the optimal working state across the entire operating range.

[0153] In some embodiments, the second temperature alert threshold may optionally be between 69°C and 71°C. By limiting the range of the second temperature alert threshold, it is possible to avoid the second temperature alert threshold being too high or too low, which is beneficial for accurately determining the timing of sending alert information.

[0154] In one specific embodiment, the second temperature alert threshold is 69°C.

[0155] In one specific embodiment, the second temperature alert threshold is 70°C.

[0156] In one specific embodiment, the second temperature alert threshold is 71°C.

[0157] In some embodiments, optionally, such as Figure 9 As shown, the target discharge parameters are determined based on the target discharge model, including: S2088, when the target discharge model is an emergency discharge model, the discharge threshold voltage includes a third discharge voltage threshold, the discharge method is a switch-type discharge method, and the reminder threshold parameter includes a third temperature reminder threshold; wherein, the third temperature reminder threshold is greater than the second preset temperature threshold.

[0158] When the temperature of the discharge circuit is greater than the second preset temperature threshold, the emergency discharge model is used as the target discharge model.

[0159] When the target discharge model is an emergency discharge model, the discharge parameters include the third discharge voltage threshold, the switch-type discharge mode, and the third temperature warning threshold.

[0160] In some embodiments, optionally, the conduction state, conduction time, and discharge power of the bleeder are controlled according to the target discharge parameters, including: S2105 controls the bleeder tube to enter the conduction state when the bus voltage of the servo drive system is greater than the third discharge voltage threshold, and controls the conduction time and discharge power of the bleeder tube through a switch-type discharge method.

[0161] When the target discharge model is an emergency discharge model, the bus voltage of the servo drive system is compared with the third discharge voltage threshold to determine whether the bus voltage is greater than the third discharge voltage threshold, and a fifth judgment result is generated.

[0162] If the fifth judgment result is yes, the discharge tube is controlled to enter the conduction state, and the conduction time and discharge power of the discharge tube are controlled by pulse width modulation discharge method.

[0163] If the fifth judgment result is negative, the control vent pipe will enter the cut-off state.

[0164] It should be noted that the switch-type discharge method is a binary control method with only two output states. The two output states are fully on (100% output) and fully off (0% output).

[0165] S2106, if the temperature of the discharge circuit exceeds the third temperature warning threshold, a warning message is sent.

[0166] When the target discharge model is an emergency discharge model, the temperature of the discharge circuit is compared with the third temperature warning threshold to determine whether the temperature of the discharge circuit is greater than the third temperature warning threshold, and a sixth judgment result is generated.

[0167] If the result of the sixth judgment is yes, a reminder message will be sent; if the result of the sixth judgment is no, a reminder message will not be sent.

[0168] In some embodiments, optionally, if the sixth determination result is yes, a reminder message is sent to the control platform or user terminal.

[0169] When the target discharge model is an emergency discharge model, controlling the discharge of the discharge tube according to the target discharge parameters helps to accurately grasp the timing of model switching and the timing of sending reminder information, ensuring that the discharge circuit is always in the optimal working state across the entire operating range.

[0170] In some embodiments, the third temperature alert threshold may optionally be between 84°C and 86°C. By limiting the range of the third temperature alert threshold, it is possible to avoid the third temperature alert threshold being too high or too low, which is beneficial for accurately determining the timing of sending alert information.

[0171] In one specific embodiment, the third temperature alert threshold is 84°C.

[0172] In one specific embodiment, the third temperature alert threshold is 85°C.

[0173] In one specific embodiment, the third temperature alert threshold is 86°C.

[0174] In one embodiment of the present invention, such as Figure 10 As shown, the discharge control device 300 includes an operating status information acquisition unit 310, a basic parameter acquisition unit 320, a discharge model generation unit 330, a target discharge model determination unit 340, and a discharge control unit 350.

[0175] The running status information acquisition unit 310 is used to acquire the running status information of the mobile robot 100 through the six-axis gyroscope 130; wherein, the running status information includes motion posture information, turning action information and acceleration and deceleration status information.

[0176] The linear acceleration and angular velocity of the mobile robot 100 are collected by a six-axis gyroscope 130, and the operating status information of the mobile robot 100 is determined based on the linear acceleration and angular velocity of the mobile robot 100.

[0177] Optionally, linear acceleration includes, but is not limited to: acceleration of the mobile robot 100 in a first direction; acceleration of the mobile robot 100 in a second direction; and acceleration of the mobile robot 100 in a third direction. Angular velocity includes, but is not limited to: rotational angular velocity of the mobile robot 100 in the first direction; rotational angular velocity of the mobile robot 100 in the second direction; and rotational angular velocity of the mobile robot 100 in a third direction. The first direction is perpendicular to the second direction, and the first direction is perpendicular to the third direction.

[0178] It should be noted that the first direction is the front-to-back direction; the second direction is the left-to-right direction; and the third direction is the up-to-down direction.

[0179] Optionally, motion posture information includes, but is not limited to: tilt angle and roll angle. Turning motion information includes, but is not limited to: rotation direction (e.g., turning left or right) and rotation angle. Acceleration / deceleration state information includes, but is not limited to: the mobile robot 100 is accelerating or decelerating in a first direction; the mobile robot 100 is accelerating or decelerating in a second direction; the mobile robot 100 is accelerating or decelerating in a third direction.

[0180] By acquiring the operating status information of the mobile robot 100, it is possible to capture data or information under working conditions such as sudden stop and sudden turn of the mobile robot 100, and avoid untimely release due to lag in status perception.

[0181] The basic parameter acquisition unit 320 is used to acquire the basic parameters preset in the mobile robot 100; wherein, the basic parameters include: the size parameters of the mobile robot 100, the weight parameters of the mobile robot 100, the position parameters of the walking system 140, the transmission system parameters, and the battery voltage of the servo drive system 120.

[0182] Taking the 140 walking system as an example with a wheel assembly mechanism: The dimensions of the mobile robot 100 include, but are not limited to: wheel track, wheelbase, and center of gravity height.

[0183] It should be noted that track width refers to the distance between the left and right wheels, which affects steering stability. Wheelbase refers to the distance between the front and rear wheels, which affects pitch attitude.

[0184] The weight parameters of the mobile robot 100 include, but are not limited to: unloaded weight and maximum load weight.

[0185] The positional parameters of the walking system 140 include, but are not limited to: the mounting height and wheel diameter of the wheels (left and right wheels or front and rear wheels).

[0186] It should be noted that the wheels affect the contact pressure between the walking system 140 and the ground. The wheel diameter is used to convert wheel speed into the moving speed of the mobile robot 100.

[0187] Transmission system parameters include, but are not limited to: reduction ratio and transmission efficiency.

[0188] It should be noted that the reduction ratio is the ratio between the motor speed and the wheel speed. The transmission efficiency is used to calculate the actual output torque.

[0189] By acquiring the pre-set basic parameters from the mobile robot 100, a basic database is constructed, providing a data foundation for the construction of the discharge model in subsequent steps.

[0190] The discharge model generation unit 330 is used to generate multiple discharge models based on operating status information and basic parameters; among them, the discharge model is used to output discharge parameters, and each discharge model corresponds to a set of discharge parameters.

[0191] Based on operational status information and basic parameters, various discharge models adapted to different operational scenarios are generated.

[0192] By constructing multiple discharge models, it is possible to adapt to different operating scenarios, enabling the mobile robot 100 to quickly and accurately match discharge parameters under various working conditions, ensuring that the discharge circuit is always in the optimal working state across the entire operating range.

[0193] Optionally, multiple discharge models are available, including a safe state discharge model, a warning state discharge model, and an emergency state discharge model. Discharge parameters include discharge threshold voltage, discharge method, and alert threshold parameters.

[0194] It should be noted that the safe state discharge model is suitable for low-risk operating conditions; the early warning state discharge model is suitable for medium-risk operating conditions; and the emergency state discharge model is suitable for high-risk operating conditions.

[0195] The target discharge model determination unit 340 is used to determine the selected target discharge model based on the discharge circuit temperature of the servo drive system 120, and to determine the target discharge parameters based on the target discharge model.

[0196] Optionally, the mobile robot 100 also includes a temperature sensor. The temperature sensor is located on the servo circuit board 121 and is used to acquire the temperature information of the servo circuit board 121. The main control module of the mobile robot 100 determines the discharge circuit temperature of the servo drive system 120 based on the temperature information of the servo circuit board 121.

[0197] When the discharge circuit temperature is less than or equal to the first preset temperature threshold, the safe state discharge model is used as the target discharge model. When the discharge circuit temperature is greater than the first preset temperature threshold but less than or equal to the second preset temperature threshold, the warning state discharge model is used as the target discharge model. When the discharge circuit temperature is greater than the second preset temperature threshold, the emergency state discharge model is used as the target discharge model.

[0198] It should be noted that the second preset temperature threshold is greater than the first preset temperature threshold.

[0199] The discharge control unit 350 is used to control the conduction state, conduction time and discharge power of the discharge tube 122 according to the target discharge parameters.

[0200] By automatically matching discharge parameters, the discharge parameters can be optimized in a timely manner when the operating conditions of the mobile robot 100 change abruptly, effectively solving the problem of lag in manual adjustment and improving safety performance.

[0201] This invention aims to provide a discharge control device 300 that generates multiple discharge models adapted to different operating scenarios based on operating status information and basic parameters, and determines the target discharge model and target discharge parameters based on the temperature of the discharge circuit, and controls the discharge tube 122 according to the target discharge parameters. This design approach has several advantages: First, it can automatically match discharge parameters and perform discharge control according to the operating conditions of the mobile robot 100, achieving real-time response to dynamically changing operating conditions and a high degree of automation. Second, it eliminates the need for manual adjustment of discharge parameters; when the operating conditions of the mobile robot 100 change abruptly, it can promptly optimize the discharge parameters, effectively solving the problem of lag in manual adjustments and improving safety performance. Third, it can quickly and accurately match discharge parameters under various operating conditions, which helps reduce debugging costs and ensures that the discharge circuit (servo circuit board 121 with discharge tube 122 installed) is always in optimal working condition across the entire operating range.

[0202] In some embodiments, optionally, such as Figure 11 As shown, the intelligent discharge module 400 includes a memory 410 and a processor 420. The memory 410 stores programs or instructions that can be executed on the processor 420. When the processor 420 executes the programs or instructions, it implements the steps of the discharge control method in any of the above embodiments. The intelligent discharge module 400 has the beneficial effects of any of the above embodiments, which will not be elaborated further here.

[0203] In some embodiments, optionally, the readable storage medium stores a program or instructions that, when executed by a processor, implement the steps of the discharge control method in any of the above embodiments. The readable storage medium possesses the beneficial effects of any of the above embodiments, which will not be elaborated further here.

[0204] In this invention, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance; the term "multiple" refers to two or more unless otherwise explicitly defined. The terms "install," "connect," "link," and "fix" should be interpreted broadly. For example, "connect" can be a fixed connection, a detachable connection, or an integral connection; "link" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0205] In the description of this invention, it should be understood that the terms "upper," "lower," "left," "right," "front," "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or unit referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0206] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0207] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A discharge control method, characterized in that, This invention is applied to a mobile robot, which includes a frame, a servo drive system, a six-axis gyroscope, and a walking system. The servo drive system, the six-axis gyroscope, and the walking system are all located on the frame, and the servo drive system and the walking system are connected. The servo drive system includes a servo circuit board and a discharge pipe connected to the servo circuit board. The discharge control method includes: The mobile robot's operating status information is obtained through the six-axis gyroscope; wherein, the operating status information includes motion posture information, turning action information, and acceleration / deceleration status information; Obtain the pre-set basic parameters of the mobile robot; wherein, the basic parameters include: the size parameters of the mobile robot, the weight parameters of the mobile robot, the position parameters of the walking system, the transmission system parameters, and the battery voltage of the servo drive system; Based on the operating status information and the basic parameters, multiple discharge models are generated; wherein, the discharge model is used to output discharge parameters, and each discharge model corresponds to a set of discharge parameters; Based on the discharge circuit temperature of the servo drive system, the target discharge model is determined, and the target discharge parameters are determined according to the target discharge model. Based on the target discharge parameters, control the conduction state, conduction time, and discharge power of the discharge tube; The various discharge models include a safe state discharge model, a warning state discharge model, and an emergency state discharge model; The discharge parameters include discharge threshold voltage, discharge method, and alert threshold parameters; The determination of the target discharge model based on the discharge circuit temperature of the servo drive system includes: When the temperature of the discharge circuit is less than or equal to the first preset temperature threshold, the safe state discharge model is used as the target discharge model. When the temperature of the discharge circuit is greater than the first preset temperature threshold and less than or equal to the second preset temperature threshold, the warning state discharge model is used as the target discharge model; wherein, the second preset temperature threshold is greater than the first preset temperature threshold. If the temperature of the discharge circuit is greater than the second preset temperature threshold, the emergency discharge model will be used as the target discharge model.

2. The discharge control method according to claim 1, characterized in that, Determining the target discharge parameters based on the target discharge model includes: When the target discharge model is the safe state discharge model, the discharge threshold voltage includes a first discharge voltage threshold, the discharge mode is a pulse width modulation discharge mode, and the reminder threshold parameter includes a first temperature reminder threshold; wherein, the first temperature reminder threshold is less than the first preset temperature threshold; The step of controlling the conduction state, conduction time, and discharge power of the venting tube according to the target discharge parameters includes: When the bus voltage of the servo drive system is greater than the first discharge voltage threshold, the discharge tube is controlled to enter the conduction state, and the conduction time and discharge power of the discharge tube are controlled by the pulse width modulation discharge method. If the temperature of the discharge circuit exceeds the first temperature warning threshold, a warning message is sent.

3. The discharge control method according to claim 1, characterized in that, Determining the target discharge parameters based on the target discharge model includes: When the target discharge model is the warning state discharge model, the discharge threshold voltage includes a second discharge voltage threshold, the discharge mode is a pulse width modulation discharge mode, and the reminder threshold parameter includes a second temperature reminder threshold; wherein, the second temperature reminder threshold is greater than the first preset temperature threshold and less than the second preset temperature threshold; The step of controlling the conduction state, conduction time, and discharge power of the venting tube according to the target discharge parameters includes: When the bus voltage of the servo drive system is greater than the second discharge voltage threshold, the discharge tube is controlled to enter the conduction state, and the conduction time and discharge power of the discharge tube are controlled by the pulse width modulation discharge method. If the temperature of the discharge circuit exceeds the second temperature alert threshold, an alert message is sent.

4. The discharge control method according to claim 1, characterized in that, Determining the target discharge parameters based on the target discharge model includes: When the target discharge model is the emergency discharge model, the discharge threshold voltage includes a third discharge voltage threshold, the discharge method is a switch-type discharge method, and the reminder threshold parameter includes a third temperature reminder threshold; wherein, the third temperature reminder threshold is greater than the second preset temperature threshold; The step of controlling the conduction state, conduction time, and discharge power of the venting tube according to the target discharge parameters includes: When the bus voltage of the servo drive system is greater than the third discharge voltage threshold, the discharge tube is controlled to enter the conduction state, and the conduction time and discharge power of the discharge tube are controlled by the switch-type discharge method. If the temperature of the discharge circuit is greater than the third temperature warning threshold, a warning message will be sent.

5. A discharge control device, characterized in that, include: The running status information acquisition unit (310) is used to acquire the running status information of the mobile robot (100) through a six-axis gyroscope (130); wherein, the running status information includes motion posture information, turning action information and acceleration / deceleration status information; The basic parameter acquisition unit (320) is used to acquire the basic parameters preset in the mobile robot (100); wherein, the basic parameters include: the size parameters of the mobile robot (100), the weight parameters of the mobile robot (100), the position parameters of the walking system (140), the transmission system parameters, and the battery voltage of the servo drive system (120); The discharge model generation unit (330) is used to generate multiple discharge models based on the operating status information and the basic parameters; wherein, the discharge model is used to output discharge parameters, and each discharge model corresponds to a set of discharge parameters; The target discharge model determination unit (340) is used to determine the selected target discharge model based on the discharge circuit temperature of the servo drive system (120), and to determine the target discharge parameters according to the target discharge model. The discharge control unit (350) is used to control the conduction state, conduction time and discharge power of the discharge tube (122) according to the target discharge parameters; The various discharge models include a safe state discharge model, a warning state discharge model, and an emergency state discharge model; The discharge parameters include discharge threshold voltage, discharge method, and alert threshold parameters; Based on the discharge circuit temperature of the servo drive system (120), the target discharge model to be selected is determined, including: When the temperature of the discharge circuit is less than or equal to the first preset temperature threshold, the safe state discharge model is used as the target discharge model. When the temperature of the discharge circuit is greater than the first preset temperature threshold and less than or equal to the second preset temperature threshold, the warning state discharge model is used as the target discharge model; wherein, the second preset temperature threshold is greater than the first preset temperature threshold. If the temperature of the discharge circuit is greater than the second preset temperature threshold, the emergency discharge model will be used as the target discharge model.

6. A smart discharge module, characterized in that, include: A memory (410) and a processor (420), wherein the memory (410) stores a program or instructions executable on the processor (420), and the processor (420) implements the steps of the discharge control method as described in any one of claims 1 to 4 when executing the program or instructions.

7. A readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the steps of the discharge control method as described in any one of claims 1 to 4.

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