Multi-turn counting method and system for robot integrated joint module

Abstract

The invention discloses a multi-turn counting method and system for an integrated joint module of a robot, and relates to the technical field of encoder manufacturing, and the method comprises the steps: determining a Hall increment and a position interval through a historical angle value and an initial Hall state before power failure, and an angle value and a current Hall state during power-on again, and constructing state transition mapping; according to the method, the effective angle interval of the Hall state is systematically expanded, a built-in tolerance layer is established, counting accumulative errors caused by insufficient signal integrity in a traditional scheme are effectively avoided, and the reliability of a system is remarkably enhanced; in addition, through deep coupling of the low-resolution Hall signal and the high-precision angle reading, the real turn number change and the critical point micro-motion are accurately distinguished, and the robustness of the system is remarkably enhanced.

Description

Technical Field

[0001] This invention relates to the field of encoder manufacturing technology, specifically to a multi-turn counting method and system for integrated robot joint modules. Background Technology

[0002] Multi-turn absolute encoders are core position feedback components for high-precision motion control in robot joint modules, industrial servo systems, and other applications. Their performance directly determines the system's positioning accuracy, dynamic response, and reliability. Even after a power outage, the multi-turn absolute encoder retains its position information. Upon power-up, the absolute position of the current rotating axis can be directly read. The relationship between the encoder value and the physical position of the controlled machine is set during assembly, allowing the system to maintain position information without returning to a calibration point. The absolute position of the rotating axis refers to a manually defined position during installation, encompassing both single-turn absolute position information and the number of turns.

[0003] Traditionally, multi-turn absolute encoders have relied on a combination of mechanical gear sets and photoelectric encoders. While this approach is technically mature, it suffers from inherent drawbacks such as complex mechanical structures, large size, susceptibility to shock and vibration, and backlash in gear meshing. These limitations make it difficult to meet the stringent requirements of modern robots, especially humanoid robots, for high power density, high reliability, and compact design of joint modules. To overcome the limitations of mechanical solutions, electronic multi-turn encoder technology has emerged. However, traditional electronic multi-turn absolute encoders suffer from high power consumption after power failure, making it impossible to perform counts for extended periods while the encoder is rotating.

[0004] Therefore, a current mainstream technical approach is to adopt an architecture of "single-turn absolute encoder + quadrature Hall sensor". This approach eliminates mechanical gears and uses Hall sensors to detect changes in magnetic poles to count the number of turns, significantly improving vibration and shock resistance and reducing size. However, existing typical solutions based on this approach (such as the multi-turn absolute encoder, encoding method, controller, and storage medium shown in patent CN109556638B) usually adopt a master-slave dual-controller design, using an independent low-power controller to continuously monitor the Hall signal and directly accumulate the number of turns after power failure. While achieving basic functionality, this type of solution also introduces hardware. It results in high cost, increased system complexity, and, most importantly, insufficient robustness in dealing with complex dynamic operating conditions.

[0005] Specifically, the aforementioned hardware redundancy solution reveals several key shortcomings when applied to highly dynamic and unstructured applications such as humanoid robots. First, when joints frequently start and stop or are subjected to external impacts, the Hall sensor output is prone to signal jitter, and its direct counting logic struggles to effectively distinguish between changes in the effective number of revolutions and electrical noise, potentially leading to cumulative drift in the revolution count information. Second, for micro-motions or high-frequency reciprocating motions near the mechanical zero point, the system struggles to accurately determine whether a true full revolution has occurred, and misjudgments of critical states can easily introduce ±1% errors. Furthermore, the compact joint module contains severe electromagnetic interference, and this solution lacks advanced filtering and verification mechanisms for the Hall signal, resulting in weak anti-interference capabilities. The root cause of these shortcomings lies in its failure to deeply integrate and intelligently verify low-precision Hall signals with high-precision single-revolution position information, thus limiting its robustness.

[0006] Therefore, it is necessary to design a multi-turn counting method and system for integrated robot joint modules that combines low cost, high reliability and strong robustness. Summary of the Invention

[0007] The purpose of this invention is to provide a multi-turn counting method and system for integrated joint modules of robots, so as to solve the problems mentioned in the background art.

[0008] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a multi-turn counting method and system for an integrated robot joint module, comprising step S100: reading the final absolute position of the rotation axis stored before power failure from a non-volatile memory, wherein the final absolute position includes historical angle values. And historical absolute number of laps and the initial Hall state; Step S200: Obtain the angle value of the rotating shaft when power is restored after a power outage. Determine the current Hall state and Hall increment, the angle value. The Hall state is obtained by a single-turn absolute encoder and two orthogonally placed Hall sensors, respectively. Step S300: Determine the angle corresponding to the Hall state switching point under different rotation directions through calibration, divide the switching point into multiple position intervals I, and determine the angle value. Corresponding current position range Different state transition tables are created for different initial Hall states and position intervals I to form a state transition table database. These state transition tables are used to determine the state transition cycle compensation amount. ; Step S400: From the pre-established state transition table database, using the initial Hall state and historical angle values... Current position range Using the Hall increment as an index, the state transition cycle compensation amount can be retrieved. ; Step S500: Compensate according to the number of state transition cycles. Historical absolute number of laps The current absolute number of revolutions is calculated using Hall increments. Output the current absolute number of laps. and angle value .

[0009] According to the above technical solution, the state values ​​of the initial Hall state and the current Hall state are... , The angle ranges of the Hall state switching points are respectively mapped to the angle ranges of the Hall state after clockwise and counterclockwise rotation.

[0010] According to the above technical solution, the value of the Hall increment Used to calculate the initial Hall state and the current Hall state The sum of consecutive single signed state changes between them; Two consecutive states are mapped to a single increment value. ,when If the next Hall state matches the adjacent states in the forward rotation sequence, then... If the adjacent states in the reverse sequence are satisfied, then If the state remains unchanged, then If an illegal transition occurs, it will be flagged as an error or filtered.

[0011] According to the above technical solution, the position interval I in step S300 is a secondary division of the angle interval at the zero point.

[0012] According to the above technical solution, step S400 further includes: Step S410: From the pre-established state transition table database, with the initial Hall state and historical value Select a subset of state transition tables for the first-level index; Step S420: Using the current position interval The second-level index is used to locate the target state transition table from the subset of state transition tables; Step S430: Based on the value of the Hall increment The value of Hall increment The remainder after dividing by 4 is the third-level index, and the state transition cycle compensation amount is finally obtained by querying the target state transition table. .

[0013] According to the above technical solution, the state transition cycle compensation amount Used to correct the ambiguity of Hall count during power outages; the state transition count compensation amount can also output an illegal status code. When the illegal status code is output, the counting calculation ends and a recalibration or error detection process is triggered.

[0014] According to the above technical solution, step S500 further includes: Step S510: Calculate the value of the Hall increment. The quotient after dividing by 4; Step S520: Set the Hall increment value The quotient after divisibility by 4 and the absolute number of historical circles State transition cycle compensation amount The summation gives the current absolute number of laps. ; Step S530: Output the current absolute number of laps and angle value .

[0015] The present invention also provides a multi-turn counting system for an integrated robot joint module. The multi-turn counting system includes a controller, a single-turn absolute encoder, a Hall sensor, and a non-volatile memory. The controller is communicatively connected to the single-turn absolute encoder, the Hall sensor, and the non-volatile memory. The single-turn absolute encoder is configured to detect the angle of the joint module's rotation axis, including historical angle values. and current angle value ; The Hall sensors are configured as two orthogonally placed to detect the Hall state of the joint module rotation axis, including the initial Hall state and the current Hall state. The non-volatile memory is configured to read the historical final absolute position of the joint module's rotation axis, the final absolute position including historical angle values. And historical absolute number of laps and the initial Hall state; The controller, which has a pre-stored state transition table database, is configured to match the state transition table database with the feedback results from the single-turn absolute encoder, Hall sensor, and non-volatile memory to obtain the state transition cycle compensation amount. ; The controller is also configured to store historical absolute lap counts. State transition cycle compensation amount The quotients of the Hall state increment value divided by 4 are summed to obtain and output the current absolute number of cycles.

[0016] According to the above technical solution, the state values ​​of the initial Hall state and the current Hall state , The angle ranges of the Hall state switching points are respectively mapped to the angle ranges of the Hall state after unified clockwise and counterclockwise rotation; The value of the Hall state increment Used to calculate the initial Hall state and the current Hall state The sum of consecutive single signed state changes between them.

[0017] According to the above technical solution, the multi-cycle counting system also includes a battery module, which is configured to collect data from the Hall sensor after power failure.

[0018] Compared with the prior art, the beneficial effects achieved by the present invention are: the present invention, (1) By systematically expanding the effective angular range of the Hall state, a built-in tolerance layer is established, which enables the system to have inherent tolerance for signal transients and mechanical assembly deviations, effectively avoiding the counting accumulation error caused by insufficient signal integrity in traditional schemes, and significantly enhancing the reliability of the system. (2) By constructing a precise state transition mapping, this scheme realizes the deep coupling of low-resolution Hall signal and high-precision angle reading. The system performs intelligent matching based on real-time angle positioning, which can accurately identify the changes in the actual number of revolutions and the micro-movement of the critical point, realize the precise multi-revolution counting function, and significantly enhance the robustness of the system. Attached Figure Description

[0019] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the method flow of the present invention; Figure 2 This is a schematic diagram showing the correspondence between the output characteristics of the orthogonal Hall sensor of the present invention and the mechanical angle; Figure 3 This is a schematic diagram of the system module composition of the present invention. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Example 1 This embodiment defaults to selecting a single-turn absolute encoder with an electrical cycle of 360°. The encoder cycle refers to the actual mechanical angle corresponding to one electrical cycle of a single-turn absolute encoder.

[0022] Please see Figure 1 The present invention provides a technical solution: a multi-turn counting method and system for an integrated joint module of a robot, comprising: Step S100: Read the final absolute position of the rotating axis saved before the power failure from the non-volatile memory. The final absolute position includes historical angle values. And historical absolute number of laps , and the initial Hall state.

[0023] Step S200: Obtain the angle value of the rotating shaft when power is restored after a power outage. Determine the current Hall state and Hall increment, the angle. The values ​​and Hall states are obtained by a single-turn absolute encoder and two orthogonally placed Hall sensors, respectively.

[0024] The state values ​​of the initial Hall state and the current Hall state , The angle ranges of the Hall state switching points are respectively mapped to the angle ranges of the Hall state after clockwise and counterclockwise rotation.

[0025] Figure 2 As shown, in this scheme, the Hall state is detected by two orthogonally placed Hall sensors. One rotation of the axis is 360 degrees, and the orthogonal Hall sensors can acquire data up to 90 degrees accurately. Therefore, there are four possible Hall states. Taking the switching at 60 degrees clockwise as an example, the remaining three switching points are 330 degrees, 240 degrees, and 150 degrees. The corresponding Hall states at these switching points are: 00 (150°) → 10 (60°) → 11 (330°) → 01 (240°) → 00 (150°), with each valid state change corresponding to an increment of +1.

[0026] The four switching points during counterclockwise rotation are 30 degrees, 120 degrees, 210 degrees, and 300 degrees. The Hall states of the corresponding switching points are: 00 (120°) → 01 (210°) → 11 (300°) → 10 (30°) → 00 (120°), with each effective state change corresponding to an increment of -1.

[0027] The angle ranges corresponding to each Hall state are as follows: clockwise: 00 (150°~60°); 10 (60°~330°); 11 (330°~240°); 01 (240°~150°); counterclockwise: 00 (120°~210°); 01 (210°~300°); 11 (300°~30°); 10 (30°~120°).

[0028] Because clockwise and counterclockwise rotations have a hysteresis effect on the Hall effect, considering the forward and reverse lookup effect, the angle range corresponding to each state is expanded from 90° to 150°, ensuring stable detection of correct state changes under any circumstances. That is, the angle ranges corresponding to the Hall states after unifying clockwise and counterclockwise rotations are: 00 (60°~210°), 10 (150°~300°), 11 (240°~30°), 01 (330°~120°). By systematically expanding the effective angle range of the Hall states, a built-in tolerance layer is established, ensuring that the Hall state and angle range information input to subsequent decision stages is reliable, thus improving the robustness of the system.

[0029] The value of the Hall increment Used to calculate the initial Hall state and the current Hall state The sum of consecutive single signed state changes between two points, i.e., the amount of signed state change between them, is used to reflect the direction (clockwise / counterclockwise) and number of steps of the Hall signal flow.

[0030] For example, in this scheme, two consecutive states are mapped to a single increment value. ,when If the next Hall state matches the adjacent states in the forward rotation sequence, then... If the adjacent states in the reverse sequence are satisfied, then If the state remains unchanged, then If an illegal transition occurs (such as 00→11), it will be marked as an error or filtered.

[0031] In this scheme, the value of the Hall increment Used to calculate the initial Hall state and the current Hall state Between these points, the net number of quarter revolutions the motor's rotating shaft completes, i.e., the value of the Hall increment. .

[0032] For example, that is This indicates a full clockwise rotation of one revolution. This indicates that the rotation has completed a full revolution.

[0033] Step S300: Determine the angle corresponding to the Hall state switching point under different rotation directions through calibration, divide the switching point into multiple position intervals I, and determine the angle value. Corresponding current position range ; and for different initial Hall states A separate state transition table is created for position interval I to form a state transition table database, wherein the state transition tables are used to determine the state transition cycle compensation amount. .

[0034] Step S400: From the pre-established state transition table database, using the initial Hall state and historical angle values... Current position range Hall increment Using the index, the state transition cycle compensation amount can be retrieved. .

[0035] For example, the calibration determines the angle range corresponding to each Hall state as follows: clockwise: 00 (150°~60°); 10 (60°~330°); 11 (330°~240°); 01 (240°~150°); counterclockwise: 00 (120°~210°); 01 (210°~300°); 11 (300°~30°); 10 (30°~120°).

[0036] The Hall state after clockwise and counterclockwise rotation corresponds to four angle ranges: 00 (60°~210°), 10 (150°~300°), 11 (240°~30°), and 01 (330°~120°).

[0037] Specifically, in this solution, during the multi-turn counting period after the robot joint module is powered off, it is necessary to consider crossing the zero point. Each time the state changes and crosses the zero point, it is necessary to determine the increase or decrease of the number of turns based on the direction. Therefore, it is necessary to divide the interval containing the zero point into two parts.

[0038] The position interval I in step S300 is a secondary division of the angle interval passing through the zero point. The six angle intervals after secondary division are as follows: interval (60°~210°) (150°~300°) (240°~0°) (0°~30°) (330°~0°) (0°~120°).

[0039] Secondary partitioning, especially the division of intervals crossing zero (e.g., dividing 240°~30° into intervals). and interval Its function is to create a precise set of position tags. These tags are no longer used to simply determine the Hall state, but to achieve unambiguous rotation counts. These position tags, combined with Hall increments, enable the system to clearly identify changes in the actual number of rotations and boundary oscillations by querying a state transition table. Specifically, this manifests as: distinguishing between micro-motions and full rotations: high-frequency reciprocating motion near zero, with angles potentially ranging from... and interval The system can change back and forth between these states. By querying the state transition table, the system can determine whether it is a minor movement within a circle (number of circles remains the same) or a completion of a full circle (number of circles ±1). To identify the direction of motion, the system, combined with Hall effect increments, can determine whether it is approaching zero from a 330° direction (reverse rotation) or leaving zero from a 30° direction (forward rotation), thus correctly deciding whether to increase or decrease the number of circles.

[0040] Different initial Hall states and position intervals I correspond to different state transition tables, and the state change patterns correspond to the position intervals after secondary partitioning. For example, a predefined two-dimensional array is used to create state transition tables, and different state transition tables are created to form a state transition table database to determine the state transition cycle compensation amount. .

[0041] In this scheme, for example, the state transition table corresponding to the initial Hall state 00 is as follows: ; The state transition table for the initial Hall state 01 is as follows: ; When the initial Hall state is 11, and the historical angle value... At °, ; When the initial Hall state is 11, and the historical angle value... At °, ; When the initial Hall state is 10, and the historical angle value... At °, ; When the initial Hall state is 10, and the historical angle value... At °, Each array (lookup table) has dimensions [6][4] and index labels [i][j]. Its row index [i] corresponds to the current position range. This index divides the 360-degree mechanical angle into six specific zero-crossing points, which are used to accurately locate the mechanical angle region where the current rotation axis is located.

[0042] Column index [j] corresponds to the value of the Hall increment. The remainder, where the index represents the value of the Hall increment calculated from the Hall sensor state change during the period from power-off to power-on. The remainder after taking the modulus of 4 (ranging from 0 to 3) represents the direction of rotation and the micro-displacement.

[0043] Cell value: Represents the state transition cycle compensation amount. The state transition cycle compensation amount... Used to correct ambiguity in Hall effect counts during power outages; the state transition count compensation can also output an illegal status code. When the illegal status code is output, the counting calculation ends, triggering a recalibration or error detection process. Specifically, its value meaning is as follows: -1: Decrease the number of rotations by 1 (reverse one rotation); 0: Number of laps remains unchanged; +1: Increase the number of rotations by 1 (one clockwise rotation); 15: Illegal status error code, used for recalibration and error detection.

[0044] Step S400 further includes: Step S410: From the pre-established state transition table database, with the initial Hall state and historical value Select a subset of state transition tables for the first-level index; Step S420: Using the current position interval The second-level index is used to locate the target state transition table from the subset of state transition tables; Step S430: Based on the value of the Hall increment The value of Hall increment The remainder after dividing by 4 is the third-level index, and the state transition cycle compensation amount is finally obtained by querying the target state transition table. .

[0045] By constructing a sophisticated state transition table, this solution achieves deep coupling between low-precision Hall signals and high-precision angle information. The system intelligently queries the state table based on the current angular position, accurately distinguishing between changes in the actual number of revolutions and minute movements at critical points, effectively solving the technical challenge of zero-crossing misjudgment. This feature ensures the accuracy of position detection under complex motion sequences, providing reliable assurance for high-dynamic application scenarios.

[0046] Step S500: Compensate according to the number of state transition cycles. Historical absolute number of laps Hall increment Calculate the current absolute number of laps Output the current absolute number of laps. and angle value .

[0047] Step S500 further includes: Step S510: Calculate the value of the Hall increment. The quotient after dividing by 4; Step S520: Set the Hall increment value The quotient after divisibility by 4 and the absolute number of historical circles State transition cycle compensation amount The summation gives the current absolute number of laps. ,Right now ; Step S530: Output the current absolute number of laps and angle value .

[0048] Specifically, the multi-turn counting method in this application uses historical angle values ​​before the power outage. and the state value of the initial Hall state Angle value upon power-on and the current Hall state value Determine the value of the Hall increment. and position range A state transition mapping is constructed to obtain the state transition cycle compensation amount, realizing multi-cycle counting. Through deep coupling of low-resolution Hall signals and high-precision angle readings, the state transition table is intelligently matched to accurately distinguish between the actual cycle change and the critical point micro-motion, realizing the accurate multi-cycle counting function and significantly enhancing the robustness of the system.

[0049] Example 2 The present invention also provides a multi-turn counting system for an integrated robot joint module according to Embodiment 1. The multi-turn counting system includes a controller, a single-turn absolute encoder, a Hall sensor, and a non-volatile memory. The controller is communicatively connected to the single-turn absolute encoder, the Hall sensor, and the non-volatile memory. A single-turn absolute encoder is configured to detect the angle of the joint module's rotation axis, including historical angle values. and current angle value ; Two Hall sensors, configured to be placed orthogonally, are used to detect the Hall state of the joint module's rotation axis, including the initial Hall state and the current Hall state. The non-volatile memory is configured to read the historical final absolute position of the joint module's rotation axis, the final absolute position including historical angle values. And historical absolute number of laps and the initial Hall state; The controller, with a pre-stored state transition table database, is configured to match the results from the single-turn absolute encoder, Hall sensor, and non-volatile memory with the state transition table database to obtain the state transition turn compensation amount. ; The controller is also configured to record historical absolute lap numbers. State transition cycle compensation amount The quotients of the Hall state increment value divided by 4 are summed to obtain and output the current absolute number of cycles.

[0050] Specifically, the state values ​​of the initial Hall state and the current Hall state , The angle ranges of the Hall state switching points are respectively mapped to the angle ranges of the Hall state after unified clockwise and counterclockwise rotation; The value of Hall state increment Used to calculate the initial Hall state and the current Hall state The sum of consecutive single signed state changes between them.

[0051] Specifically, the multi-cycle counting system also includes a battery module configured to acquire data from the Hall sensor after a power outage.

[0052] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0053] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0054] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0055] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A multi-turn counting method for an integrated joint module of a robot, characterized in that, The method includes: Step S100: Read the final absolute position of the rotating axis saved before the power failure from the non-volatile memory. The final absolute position includes historical angle values. And historical absolute number of laps and the initial Hall state; Step S200: Obtain the angle value of the rotating shaft when power is restored after a power outage. Determine the current Hall state and Hall increment, the angle value. The Hall state is obtained by a single-turn absolute encoder and two orthogonally placed Hall sensors, respectively. Step S300: Determine the angle corresponding to the Hall state switching point under different rotation directions through calibration, divide the switching point into multiple position intervals I, and determine the angle value. Corresponding current position range Different state transition tables are created for different initial Hall states and position intervals I to form a state transition table database. These state transition tables are used to determine the state transition cycle compensation amount. ; Step S400: From the pre-established state transition table database, using the initial Hall state and historical angle values... Current position range Using the Hall increment as an index, the state transition cycle compensation amount can be retrieved. ; Step S500: Compensate according to the number of state transition cycles. Historical absolute number of laps The current absolute number of revolutions is calculated using Hall increments. Output the current absolute number of laps. and angle value .

2. The multi-turn counting method for an integrated robot joint module according to claim 1, characterized in that: The state values ​​of the initial Hall state and the current Hall state , The angle ranges of the Hall state switching points are respectively mapped to the angle ranges of the Hall state after clockwise and counterclockwise rotation.

3. The multi-turn counting method for an integrated robot joint module according to claim 2, characterized in that: The value of the Hall increment Used to calculate the initial Hall state and the current Hall state The sum of consecutive single signed state changes between them; Two consecutive states are mapped to a single increment value. ,when If the next Hall state matches the adjacent states in the forward rotation sequence, then... If the adjacent states in the reverse sequence are satisfied, then If the state remains unchanged, then If an illegal transition occurs, it will be flagged as an error or filtered.

4. The multi-turn counting method for an integrated robot joint module according to claim 3, characterized in that: The position interval I in step S300 is a secondary division of the angle interval passing through the zero point.

5. A multi-turn counting method for an integrated robot joint module according to any one of claims 1-4, characterized in that, Step S400 further includes: Step S410: From the pre-established state transition table database, with the initial Hall state and historical value Select a subset of state transition tables for the first-level index; Step S420: Using the current position interval The second-level index is used to locate the target state transition table from the subset of state transition tables; Step S430: Based on the value of the Hall increment The value of Hall increment The remainder after dividing by 4 is the third-level index, and the state transition cycle compensation amount is finally obtained by querying the target state transition table. .

6. The multi-turn counting method for an integrated robot joint module according to claim 5, characterized in that: The state transition cycle compensation amount Used to correct the ambiguity of Hall count during power outages; the state transition count compensation amount can also output an illegal status code. When the illegal status code is output, the counting calculation ends and a recalibration or error detection process is triggered.

7. The multi-turn counting method for an integrated robot joint module according to claim 6, characterized in that, Step S500 further includes: Step S510: Calculate the value of the Hall increment. The quotient after dividing by 4; Step S520: Set the Hall increment value The quotient after divisibility by 4 and the absolute number of historical circles State transition cycle compensation amount The summation gives the current absolute number of laps. ; Step S530: Output the current absolute number of laps and angle value .

8. A multi-turn counting system for an integrated joint module of a robot, the multi-turn counting system comprising a controller, a single-turn absolute encoder, a Hall sensor, and a non-volatile memory, wherein the controller is communicatively connected to the single-turn absolute encoder, the Hall sensor, and the non-volatile memory, characterized in that: The single-turn absolute encoder is configured to detect the angle of the joint module's rotation axis, including historical angle values. and current angle value ; The Hall sensors are configured as two orthogonally placed to detect the Hall state of the joint module rotation axis, including the initial Hall state and the current Hall state. The non-volatile memory is configured to read the historical final absolute position of the joint module's rotation axis, the final absolute position including historical angle values. And historical absolute number of laps and the initial Hall state; The controller, which has a pre-stored state transition table database, is configured to match the state transition table database with the feedback results from the single-turn absolute encoder, Hall sensor, and non-volatile memory to obtain the state transition cycle compensation amount. ; The controller is also configured to store historical absolute lap counts. State transition cycle compensation amount The quotients of the Hall state increment value divided by 4 are summed to obtain and output the current absolute number of cycles.

9. A multi-turn counting system for an integrated robot joint module according to claim 8, characterized in that: The state values ​​of the initial Hall state and the current Hall state , The angle ranges of the Hall state switching points are respectively mapped to the angle ranges of the Hall state after unified clockwise and counterclockwise rotation; The value of the Hall state increment Used to calculate the initial Hall state and the current Hall state The sum of consecutive single signed state changes between them.

10. A multi-turn counting system for an integrated robot joint module according to claim 8 or 9, characterized in that: The multi-cycle counting system also includes a battery module configured to acquire data from the Hall sensor after a power outage.

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