Robot control method, robot suspension system and control device

Abstract

According to the robot control method, the robot suspension system and the control device, the robot suspension system corresponds to a first robot, one end of the suspension system is movably connected to a guide rail, and the suspension system comprises a traction piece connected with the first robot and a motor controlling the traction piece. The control method comprises the following steps: acquiring a state signal of the first robot; determining a motor control signal according to the state signal; and controlling the motor based on the motor control signal. According to the control method, an efficient linkage mechanism of the suspension system and the robot is constructed, the automation level is improved, and the safety and reliability of robot operation are enhanced.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to robot control methods and related devices. Background Technology

[0002] In current technological scenarios, most mainstream robot suspension systems rely on manual operation. These systems exhibit significant technical shortcomings in practical applications: they lack an efficient collaborative mechanism with the robot or other controlled object, preventing the suspension system from adaptively adjusting to the robot's real-time operating status. This makes it difficult to anticipate and quickly handle emergencies such as sudden robot tipping, and also hinders the full utilization of the collaborative working efficiency between the suspension system and the robot, thus reducing system safety, operational efficiency, and flexibility in adapting to different scenarios. Furthermore, multiple suspension systems operating simultaneously are prone to collisions and interference, requiring users to frequently operate multiple remote controls. All of these issues urgently require technological optimization and solutions. Summary of the Invention

[0003] The main objective of this invention is to provide a robot control method and related devices to solve the technical problems of lack of effective linkage between the robot suspension system and the controlled robot, and how to accurately control the robot suspension system motor according to different robot states.

[0004] In a first aspect, embodiments of this application provide a robot control method applied to a robot suspension system. The robot suspension system corresponds to a first robot, one end of which is movably connected to a guide rail. The suspension system includes a traction member connected to the first robot and a motor controlling the traction member. The method includes: Obtain the status signal of the first robot; The motor control signal is determined based on the status signal; The motor is controlled based on the motor control signal.

[0005] Optionally, determining the motor control signal based on the state signal includes: determining whether the first robot has a risk of tipping over based on the state signal; if the first robot has a risk of tipping over, generating a first motor control signal to prevent the risk of tipping over; the first motor control signal is a gradual buffer pull-up control signal, which controls the output torque of the motor to increase linearly along a preset time gradient, driving the traction component to apply an upward traction force at a continuous and non-abrupt pull-up rate.

[0006] Optionally, determining the motor control signal based on the state signal includes: determining whether the first robot has a collision risk based on the state signal; if the first robot has a collision risk, generating a second motor control signal to avoid the collision; the second motor control signal is a dynamic obstacle avoidance adjustment signal, which dynamically adjusts the motor speed and steering control command based on the distance parameter and relative speed parameter of the collision risk, and sends a command to the first robot to enable the first robot to achieve continuous trajectory correction along the obstacle avoidance path.

[0007] Optionally, determining the motor control signal based on the state signal includes: determining whether the first robot is in a walking state based on the state signal; if the first robot is in a walking state, generating a third motor control signal adapted to the walking state; the third motor control signal is a follow-up control signal, which is synchronized in real time with the walking speed, walking direction, and gait cycle of the first robot, and adjusts the motor speed through continuously output pulse width modulation signals, so that the extension rate and tension of the traction member are dynamically matched with the robot's walking posture.

[0008] Optionally, determining the motor control signal based on the state signal includes: determining whether the first robot is in a suspended state based on the state signal; if the first robot is in a suspended state, generating a fourth motor control signal adapted to the suspended state; the fourth motor control signal is a static stable signal to keep the motor in a stable state, or outputting a closed-loop adjustment signal with small fluctuations to maintain constant tension of the traction component.

[0009] Optionally, determining the motor control signal based on the status signal includes: determining whether the first robot is in a non-working state based on the status signal; if the first robot is in a non-working state, generating a fifth motor control signal adapted to the non-working state; the fifth motor control signal is a low-power standby control signal, controlling the motor to enter a low-power mode, and the amplitude of the output control signal is lower than the signal amplitude in the working state, so that the traction component maintains a preset slack or minimum tension locking state.

[0010] Optionally, determining whether the first robot is at risk of tipping over based on the status signal includes: determining whether the status signal is a slip signal, a fall signal, a rollover signal, or a stagger signal; if so, determining that the robot is at risk of tipping over.

[0011] Optionally, the step of controlling the motor based on the motor control signal further includes: when the status signal is a slip signal, a fall signal, or a roll signal, controlling the first robot to enter a suspended state.

[0012] Optionally, the step of controlling the motor based on the motor control signal further includes: when the status signal is a stagger signal, controlling the first robot to resume the working mode before the stagger.

[0013] Optionally, determining whether the first robot has a collision risk based on the status signal includes: the status signal including the position information and / or movement speed of the first robot; obtaining the status signal of the second robot, including the position information and / or movement speed of the second robot; the second suspension system corresponding to the second robot and the robot suspension system being located on the same track; and determining whether the first robot and / or the robot suspension system have a collision risk based on the position information and / or movement speed of the first robot and the position information and / or movement speed of the second robot.

[0014] Optionally, determining whether the first robot has a collision risk based on the status signal includes: acquiring the position information and / or movement speed of the robot suspension system; acquiring the status signal of the second robot, including the position information and / or movement speed of the second suspension system corresponding to the second robot; the second suspension system and the robot suspension system being located on the same track; and determining whether the first robot and / or the robot suspension system have a collision risk based on the position information and / or movement speed of the robot suspension system and the position information and / or movement speed of the second suspension system.

[0015] Optionally, determining whether the first robot is in a moving state based on the status signal includes: the status signal includes the walking speed and walking direction of the first robot; determining whether the first robot is within the safe range of the guide rail based on the walking speed and walking direction; when the robot is within the safe range, the first robot is in a moving state.

[0016] Optionally, when the robot is outside the safe area, the first robot is in a restricted movement state.

[0017] Optionally, determining whether the first robot is in a suspended state based on the state signal includes: determining whether the state signal is a fixed-point suspension signal, a translational suspension signal, a lifting suspension signal, or a posture adjustment suspension signal; if so, then determining that the robot is in a suspended state.

[0018] Optionally, if the first robot exits the suspended state, video recording of the first robot is performed; if the first robot enters the suspended state, video recording of the first robot is stopped.

[0019] Optionally, determining whether the first robot is in a non-working state based on the status signal includes: determining whether the status signal is a standby signal, a shutdown signal, a charging status signal, or a maintenance status signal; if so, then determining that the robot is in a non-working state.

[0020] Optionally, determining whether the first robot is in a non-working state based on the status signal includes: acquiring a first operation signal of the robot; acquiring a second operation signal of the robot; determining whether the time interval between the second operation signal and the first operation signal is greater than a preset duration; and determining that the first robot is in a non-working state when the time interval is greater than the preset duration.

[0021] Optionally, determining the motor control signal based on the status signal includes: confirming a motor control signal that matches the first robot based on the robot's shape information and / or model information.

[0022] Secondly, embodiments of this application provide a robot suspension system corresponding to a first robot. One end of the suspension system is movably connected to a guide rail. The suspension system includes a traction member connected to the first robot and a motor for controlling the traction member. The robot suspension system further includes: A controller that performs the control method as described above.

[0023] Thirdly, this application provides a robot suspension system control device for controlling at least one robot suspension system as described above. The robot suspension system receives position information of each robot suspension system and corresponding robot status signals, and centrally generates and synchronously distributes motor control signals of each robot suspension system.

[0024] This application provides a robot control method, a robot suspension system, and a control device. The robot control method accurately identifies whether the robot is in a safety emergency scenario such as tipping over or colliding, or in a work scenario requiring the coordination of the suspension system, such as movement or suspension, by real-time acquisition of robot status signals. Based on the status signals, an algorithm generates corresponding motor control commands, which can achieve multiple functions: assisting the robot in avoiding safety emergencies and precisely coordinating with the robot to complete movement, suspension, and other work processes. Finally, based on the motor control commands, the motors of the robot suspension system are driven to operate. This control method establishes a highly efficient linkage mechanism between the suspension system and the robot, significantly improving the intelligence and automation level of the entire system and significantly enhancing the safety and reliability of robot operations. Simultaneously, multiple suspension systems can work collaboratively through this linkage mechanism, effectively avoiding mutual interference problems such as collisions. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of a scenario illustrating a robot control method according to an embodiment of this application.

[0027] Figure 2 This is a flowchart illustrating a robot control method according to one embodiment of this application.

[0028] Figure 3 This is a schematic diagram of the control device for a robot according to one embodiment of this application.

[0029] The realization of the objective, functional characteristics and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0030] 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 a part of the embodiments of the present invention, and not all of them. 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.

[0031] It should be noted that all directional indicators (such as up, down, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0032] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0033] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0034] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0035] This invention provides a robot control method applied to a robot suspension system. The robot suspension system corresponds to a first robot and includes a traction component connected to the first robot, and a motor controlling the traction component; it is the object of the control method and control system of this invention.

[0036] like Figure 1 The diagram shows a scenario 100 where the control method of this robot is located. The guide rail 110 is the core load-bearing and guiding component. The guide rail has a connecting part for fixing the guide rail to the support structure (such as truss or ceiling) of the work space, forming a motion reference extending along a preset path. The suspension systems 120 and 121 are mounted on the main track section of the guide rail 110 in a sliding / rolling manner. The two can move independently or in conjunction along the axis of the guide rail. Each suspension system unit has built-in suspension drive, positioning and locking functional modules to support and control the spatial attitude and vertical position of the robots 130 and 131 connected below. The robots 130 and 131 are rigidly / flexibly connected to the lower execution interfaces of the corresponding suspension systems 120 and 121, respectively.

[0037] The guide rail movement of the suspension systems 120 and 121 can be flexibly configured. It supports both a powerless mode, where the system slides along the guide rail 110 by inertia based on its own rolling / sliding structure or is driven by external traction force; or it can be configured with a power drive module, whose power sources include independently deployed drive motors (such as servo motors or stepper motors), or by receiving command signals output by the control device, which are responded to by the built-in drive unit and converted into driving force to achieve active displacement, speed adjustment and precise positioning along the guide rail 110, adapting to the motion control needs of different working scenarios.

[0038] The states of robots 130 and 131, along with their operational actions (such as moving, stationary, suspended, and working), are transmitted to suspension systems 120 and 121 via a transmission link. Simultaneously, the extension direction of guide rail 110 determines the horizontal operational coverage of the robot's execution unit. Multiple suspension-robot combinations can achieve seamless connection or collaborative operation of the work area through the guide rail.

[0039] like Figure 2 As shown, a robot control method 200 is applied to a robot suspension system, the robot suspension system corresponding to a first robot, one end of the suspension system being movably connected to a guide rail, the suspension system including a traction member connected to the first robot, and a motor controlling the traction member, characterized by comprising the following steps: Step 210: Obtain the status signal of the first robot; Step 220: Determine the motor control signal based on the status signal; Step 230: Control the motor based on the motor control signal.

[0040] Step 210: Obtain the status signal of the first robot.

[0041] This step forms the foundation for information perception in enabling the linkage between the suspension system and the robot. It involves actively transmitting data to the robot itself or collecting data from sensors on the suspension system (such as attitude sensors, distance sensors, and force sensors) to acquire multi-dimensional state data of the robot in real time. This includes, but is not limited to: the robot's spatial attitude (tilt angle, displacement), operating speed and acceleration, distance to surrounding obstacles, and the forces acting on the robotic arm.

[0042] These status signals directly map the robot's current working scenario and potential risks, providing accurate real-time data support for subsequent control decisions. Addressing the deficiency in existing technologies where the suspension system and the controlled robot lack effective linkage, step 210 breaks down the information barrier between the two, enabling the suspension system to "sense" the robot's actual working conditions, rather than operating independently, thus fundamentally solving the problem of insufficient linkage.

[0043] Step 220: Determine the motor control signal based on the status signal. This step is the core decision-making process for achieving intelligent linkage. It involves analyzing and processing the collected state signals using preset control algorithms (such as PID control, fuzzy control, machine learning algorithms, deep learning algorithms, etc.). If the status signal indicates that the robot is at risk of tipping over (such as the tilt angle exceeding the threshold), a motor control signal is generated to adjust the traction force, thereby correcting the posture by increasing the traction force on one side. If the status signal detects that the robot is too close to an obstacle (collision risk), the speed and steering control commands of the motor are dynamically adjusted based on the distance and relative speed parameters of the collision risk, so that the traction component can reserve sufficient traction distance for the robot's subsequent obstacle avoidance maneuvers. Simultaneously, an obstacle avoidance command is sent to the robot to execute the obstacle avoidance maneuver. If the status signal indicates that the robot needs to enter a walking or suspended state, then speed and torque control signals that match its motion requirements are generated.

[0044] Further details will be illustrated in the following examples.

[0045] Step 220 converts the robot's state requirements into control commands that the motor can execute, which solves the problem of poor coordination between the suspension system and the robot in the prior art. This enables the suspension system's actions to be precisely matched with the robot's actual needs, improves the system's intelligent decision-making capabilities, and specifically avoids the collision risk when multiple robots are suspended, thus strengthening the safety protection strategy.

[0046] Step 230: Control the motor based on the motor control signal. This step is the execution phase for implementing the linkage control. It transmits the motor control signals (such as speed, steering, and torque parameters) generated by the decision to the drive motor of the suspension system. The motor drives flexible traction components (such as steel cables or belts), rigid traction, or a combination of rigid and flexible traction methods to assist the robot in performing actions such as descent, lifting, suspension, and following. When a control signal for posture correction is received, the motor adjusts its output torque and corrects the robot's center of gravity in real time through the traction component to prevent it from tipping over. When an obstacle avoidance control signal is received, the motor adjusts its rotation direction and speed so that the traction component can reserve sufficient traction distance for the robot's obstacle avoidance actions and sends instructions to the robot to keep it away from the danger zone. When a state switching control signal is received, the motor runs according to preset parameters and works with the robot to complete the relevant actions.

[0047] Step 230 transforms the control intent of the suspension system into actual actions through the precise execution of the motor, turning the suspension system from an "independent device" into a "collaborative partner" of the robot. This completely solves the problem of loose connection between the two in the existing technology, significantly improves the automation level and operational safety of the system, and reduces the need for manual operation (no need for multiple remote controls), thus optimizing the user experience.

[0048] In summary, steps 210, 220, and 230 form an interconnected and inseparable organic whole, deeply coordinating through a closed-loop logic of "perception-decision-execution": Step 210's multi-dimensional state perception provides real-time data input for the entire system, serving as a prerequisite for subsequent decision-making and execution; Step 220's intelligent decision-making algorithm generates precise control commands based on perceived data, becoming the core link connecting perception and execution; Step 230's motor execution translates the decision commands into actual actions, achieving dynamic adaptation of the suspension system to the robot. Each step is indispensable, collectively breaking down the information barriers between the suspension system and the robot, completely resolving the problem of insufficient coordination, and ultimately forming a complete control chain from state capture to action response, systematically improving the overall system's intelligence level, operational safety, and operational efficiency.

[0049] For the robot suspension system to effectively control the first robot, it needs to acquire its status signals, which form the basis for subsequent control. These status signals reflect the robot's current state, such as position, speed, and attitude. Determining the motor control signals based on these status signals is crucial for instructing the motors to perform corresponding actions, thereby controlling the traction components and adjusting the robot's trajectory.

[0050] In terms of application scenarios, for example on an automated production line in a factory, the suspension system obtains the robot's status in real time and controls the motors during the robot's task execution, ensuring the robot's stable operation.

[0051] The suspension system collects the status signals of the first robot in real time and transmits them to the robot control device. The robot control device analyzes and processes the status signals according to preset algorithms and logic to determine the motor control signals. Regarding parameter settings, different status signals correspond to different motor control signal parameters; for example, the motor speed control parameters will differ at different travel speeds.

[0052] This overall control process enables effective linkage between the robot suspension system and the controlled robot, and can precisely control the robot suspension system motor according to different robot states, thereby improving the stability and reliability of robot operation.

[0053] In some embodiments, the method further includes: Based on the status signal, it is determined whether the first robot is at risk of tipping over; if the first robot is at risk of tipping over, a first motor control signal is generated to prevent the tipping over; the first motor control signal is a gradual buffer pull-up control signal, which controls the output torque of the motor to increase linearly along a preset time gradient, driving the traction component to apply an upward traction force at a continuous and non-abrupt pull-up rate.

[0054] When the first robot is at risk of tipping over, a sudden, forceful pull may cause the robot to lose its posture control. However, a gradual buffer pull control signal can gradually increase the output torque of the motor, allowing the traction component to smoothly apply an upward force and avoid impacting the robot.

[0055] In application scenarios, such as when the robot encounters uneven ground while walking, it may slip or fall. In this case, the suspension system can effectively prevent the risk of tipping over.

[0056] The robot control device determines whether the status signal is a slip, fall, rollover, or stumble. If so, it determines that there is a risk of tipping over and then generates a gradual buffer lifting control signal according to a preset time gradient. Regarding parameter settings, the preset time gradient can be adjusted based on factors such as the robot's weight and the degree of tipping risk. For example, for a heavier robot, the time gradient can be set longer to make the torque increase more slowly.

[0057] This control method can effectively prevent the risk of tipping over without affecting the robot's original posture, thus improving the robot's safety and stability.

[0058] In some embodiments, the method further includes: Based on the status signal, it is determined whether the first robot faces a collision risk. If the first robot faces a collision risk, a second motor control signal is generated to avoid the collision. Based on the distance and relative speed parameters of the collision risk, the second motor control signal dynamically adjusts the motor's rotation speed and steering control commands, ensuring that the traction component can reserve sufficient traction distance for subsequent robot obstacle avoidance actions. An instruction is then sent to the first robot, causing it to perform obstacle avoidance actions along the obstacle avoidance path.

[0059] When the obstacle is another robot, by acquiring the position information and movement speed of the first and second robots (or more robots), the system calculates the distance and relative speed parameters of the collision risk. Then, based on these parameters, it dynamically adjusts the motor's speed and direction, controlling the lifting and lowering of the traction component to reserve sufficient space for the robot's upcoming obstacle avoidance maneuver. Simultaneously, it sends commands to the first robot to execute actions to avoid the collision. In application scenarios, such as when multiple robots are working together, if a second robot suddenly accelerates towards the first robot from behind, the first suspension system, anticipating the first robot's acceleration to avoid the second robot, generates a motor control signal to extend the traction component. This ensures the first robot is not restrained by the traction component during obstacle avoidance, while simultaneously sending a forward obstacle avoidance signal to the first robot. The first robot then accelerates to avoid the second robot behind, and the traction component of the first suspension system extends accordingly to accommodate the first robot's forward movement. The first suspension system can thus prevent collisions between robots.

[0060] The robot control device acquires the status signals of the first and second robots, calculates collision risk parameters, and generates motor control signals based on a preset obstacle avoidance algorithm. Regarding parameter settings, different distance and relative speed parameters correspond to different motor speed and steering control command parameters; for example, when the relative speed is higher, the motor speed adjustment range will be larger.

[0061] This control method can effectively avoid collisions between robots, improving the safety and efficiency of robot operations.

[0062] In some embodiments, the method further includes, for the purpose of avoiding collision between two suspension systems: The presence of a collision risk between the two suspension systems is determined based on the aforementioned status signals. These status signals include the position information and / or speed of the first suspension system corresponding to the first robot, and the position information and / or speed of the second suspension system corresponding to the second robot.

[0063] When two suspension systems operate on the same track, their positions and velocities determine whether a collision will occur. By acquiring their position information and movement speed, their relative positions and velocities can be calculated to assess the risk of collision. In application scenarios, such as in large automated warehousing and logistics centers, multiple suspended robots work collaboratively on tracks. Different suspension systems may approach each other on the track due to task scheduling or other reasons, necessitating this method to determine the potential risk of collision.

[0064] The robot suspension system control device acquires the position information and movement speed of the first and second suspension systems in real time through position and speed sensors installed on the suspension systems. This information is then transmitted to the control device, which calculates the distance and relative speed between the two systems based on a preset algorithm. Regarding parameter settings, a collision risk threshold needs to be set. When the calculated distance is less than this threshold and the relative speed reaches a certain value, a collision risk is considered to exist. For example, when the distance between the two suspension systems is less than 1 meter and the relative speed is greater than 0.5 meters per second, a collision risk is considered to exist.

[0065] If a collision risk is detected between the two suspension systems, an obstacle avoidance control signal is generated to prevent the collision. This obstacle avoidance control signal is a dynamically adjusted signal, which dynamically adjusts the speed of the motors and the steering control commands in the two suspension systems based on the distance and relative speed parameters of the collision risk.

[0066] Based on the calculated distance and relative speed parameters, the motion state of the suspension system is altered by adjusting the motor's speed and direction, thereby avoiding collisions. In application scenarios, when two suspension systems gradually approach each other on the track and there is a risk of collision, the control signals of the motors are adjusted to cause one suspension system and the robot to accelerate, decelerate, or change direction, achieving obstacle avoidance. Regarding parameter settings, different distance and relative speed parameters correspond to different motor speed and direction control command parameters. A parameter mapping table can be established, allowing the corresponding motor control parameters to be looked up based on the actually measured distance and relative speed.

[0067] This dynamically adjustable obstacle avoidance control signal can flexibly adjust the movement of the suspension system according to the actual collision risk, effectively avoiding collisions, improving the safety and efficiency of robot operations, reducing equipment damage and production stoppages caused by collisions, and lowering maintenance costs.

[0068] In some embodiments, the method further includes: Based on the status signal, it is determined whether the first robot is in a walking state; if the first robot is in a walking state, a third motor control signal adapted to the walking state is generated; the third motor control signal is a follow-up control signal, which is synchronized in real time with the walking speed, walking direction and gait cycle of the first robot, and adjusts the motor speed through continuously output pulse width modulation signal, so that the extension rate and tension of the traction component are dynamically matched with the robot's walking posture.

[0069] By acquiring state signals such as the walking speed, direction, and gait cycle of the first robot, a follow-up control signal is generated to synchronize the motor speed with the robot's movement in real time. This allows the extension and retraction rate and tension of the traction component to match the robot's posture. In application scenarios, such as when the first robot is performing an inspection task, the suspension system can ensure the robot's stable movement in this way.

[0070] The robot control device determines whether the first robot is within the safe range of the guide rail based on its walking speed and direction. If it is within the safe range, it is determined to be in motion, and then a follow-up control signal is generated according to a preset algorithm. In terms of parameter settings, different walking speeds and gait cycles correspond to different pulse width modulation signal parameters to achieve precise adjustment of the motor speed.

[0071] This control method makes the robot more stable during movement, reduces swaying and instability caused by mismatch between the traction components and the robot's posture, and improves the robot's movement performance.

[0072] In some embodiments, the method further includes: The status signal determines whether the first robot is in a suspended state; if the first robot is in a suspended state, a fourth motor control signal adapted to the suspended state is generated; the fourth motor control signal is a static stable signal, which keeps the motor in a stable state, or outputs a closed-loop adjustment signal with small fluctuations to maintain constant tension of the traction component.

[0073] When the first robot is suspended, the tension of the traction component is kept constant by outputting a static stability signal or a closed-loop adjustment signal with slight fluctuations, ensuring stable suspension of the robot. In application scenarios, such as when the first robot needs to perform high-altitude operations, the suspension system can ensure stable suspension of the robot in this way.

[0074] The robot control device determines whether the status signal is a fixed-point suspension signal, a translational suspension signal, a lifting suspension signal, or a posture adjustment suspension signal. If so, it determines that the robot is in a suspension state and then generates a static stabilization signal or a closed-loop adjustment signal according to a preset algorithm. Regarding parameter settings, the adjustment range of the closed-loop adjustment signal can be adjusted according to factors such as the robot's weight and center of gravity offset.

[0075] This control method ensures the stability of the robot in a suspended state, reduces swaying and instability caused by center of gravity shift, and improves the safety and reliability of robot suspension operations.

[0076] In some embodiments, the method further includes: The first robot is determined to be in a non-working state based on the status signal. If the first robot is in a non-working state, a fifth motor control signal adapted to the non-working state is generated. The fifth motor control signal is a low-power standby control signal, which controls the motor to enter a low-power mode. The amplitude of the output control signal is lower than the amplitude of the signal in the working state, so that the traction component maintains a preset slack or minimum tension locking state.

[0077] When the first robot is not in operation, the motors are controlled to enter a low-power mode to save energy and reduce unnecessary energy consumption. In application scenarios, such as when the first robot is in standby, stopped, charging, or maintenance mode, the suspension system can reduce energy consumption in this way.

[0078] The robot control device determines whether the status signal is a standby signal, a stop signal, a charging status signal, or a maintenance status signal. If so, it determines that the robot is in a non-working state and then generates a low-power standby control signal. Regarding parameter settings, the amplitude of the control signal output in low-power mode can be adjusted according to actual needs, and the preset slack or minimum tension lock-up state can also be set according to the specific situation of the robot.

[0079] This control method can effectively reduce the energy consumption of the robot's suspension system, improve energy utilization efficiency, and reduce operating costs.

[0080] In some embodiments, the method further includes: Based on the shape information and / or model information of the first robot, identify the motor control signal that matches the first robot.

[0081] Robots of different shapes and models have different weights, sizes, and motion characteristics. Therefore, it is necessary to determine the matching motor control signals based on their shape and model information to achieve precise robot control. In application scenarios, such as a robot warehouse with multiple different robot models, the suspension system can provide appropriate motor control signals for each robot based on its shape and model information.

[0082] The robot control device pre-stores motor control signal parameter tables corresponding to different robot shapes and models. Upon obtaining the shape and / or model information of the first robot, it searches the parameter table for the matching motor control signal. Regarding parameter settings, the motor control signal parameters differ for different robot shapes and models; for example, a heavier robot may require a higher motor output torque.

[0083] This approach can improve the precision of motor control, enabling the suspension system to better adapt to different robots and enhancing the robot's operational performance and stability.

[0084] A comprehensive database is built by pre-collecting relevant information on robots of different shapes and models. This information includes not only dimensions and weight, but also the robot's motion characteristics, such as maximum walking speed, acceleration, and steering agility, as well as its working modes and task requirements. For example, in large industrial automated workshops, various robots with different functions and specifications work together. These robots differ in shape, weight, and motion characteristics. By collecting and storing this information, the suspension system can better adapt to the needs of different robots.

[0085] When the first robot engages the suspension system, the robot control unit acquires its shape and / or model information through identification technology. Identification technology may include barcode scanning, RFID identification, and visual recognition. Then, based on the acquired information, it searches a pre-stored database for matching motor control signal parameters.

[0086] After determining the initial motor control signals based on the robot's shape and / or model information, its operating status is monitored in real time during operation, and the motor control signals are adjusted and optimized based on the monitoring results. Monitoring includes the robot's actual speed, acceleration, and posture.

[0087] Due to the complexity and uncertainty of the actual operating environment, even if the initial motor control signals are determined based on the robot's shape and model information, they may not fully meet the robot's actual needs. By monitoring the robot's operating status in real time and adjusting and optimizing based on the monitoring results, the motor control signals can be made more consistent with the actual situation, improving control accuracy. In application scenarios, such as on complex production lines, robots may be affected by factors such as load changes and variations in ground friction. By adjusting the motor control signals in real time, stable operation of the robot can be ensured.

[0088] Various sensors, such as speed sensors, acceleration sensors, and attitude sensors, are installed on the robot to collect real-time operational data. The robot control unit receives this data and compares it with preset operating parameters. If a deviation exceeds a certain range, the motor control signals are adjusted. Parameter settings include setting a deviation threshold and adjustment range. For example, when the robot's actual speed deviates from the preset speed by more than 5%, the motor control signals are adjusted; the adjustment range can be set according to the magnitude of the deviation and the robot's characteristics.

[0089] This method of real-time adjustment and optimization of motor control signals enables robots to maintain stable operation in various complex environments, improving their adaptability and reliability. Simultaneously, optimizing motor control signals reduces energy consumption, extends equipment lifespan, and lowers operating costs.

[0090] In some embodiments, the robot suspension system includes a robot control device; the robot control device is configured to acquire a status signal of the first robot; determine a motor control signal based on the status signal; and control the motor based on the motor control signal.

[0091] like Figure 3 As shown, the power and signal transmission hardware architecture of the robot suspension system 300, its composition and working process are as follows.

[0092] The system includes a lithium battery 310, a logic board 320, a driver 330, a motor 340, and an encoder 350; the logic board 320 integrates a WiFi / BLE wireless communication module, the brushless DC motor 340 is paired with an absolute position encoder 350, and the modules are connected sequentially via a wired link.

[0093] The lithium battery 310 continuously supplies power to the logic board 320. The logic board 320 controls the power supply to peripherals according to the working mode (normal / low power): in normal mode, it outputs power to the driver 330; in low power mode, it cuts off the power supply to the driver 330 and other peripherals, and only retains the periodic scanning power supply of the BLE module.

[0094] The logic board 320 receives control / status signals from the remote control or robot via WiFi / BLE, and outputs execution signals to the driver after logical judgment. The driver 330 receives the execution signal from the logic board 320 and drives the brushless DC motor 340 to run. The absolute position encoder 350 collects the rotation number and angle information of the motor 340 in real time and sends the data back to the driver 330 and the logic board 320. The logic board 320 uses this data to achieve precise position / speed control of the motor 340.

[0095] When the logic board 320 determines that it has entered low power mode, it retains only the periodic scanning function of the BLE module and shuts off the power supply to the other peripherals (including drivers and motors); after receiving the remote control operation signal or the robot status change signal, it restores the power supply to the driver and the system switches to normal working mode.

[0096] This embodiment focuses on the deep integration of electric hoists and robots, highlighting the synergistic application of force control mode and active / passive protection strategies. The specific control process is as follows: The logic board 320 establishes high-speed communication with the robot via WiFi. The torque sensor collects gravity data in real time and transmits it to the logic board 320. The logic board 320 loads the preset scene library and completes initialization. When the robot is in a suspended state, the torque sensor detects that the gravity remains constant, and the logic board matches the "suspended state" mapping command. At this time, the operator sends a lowering signal through the remote control. The logic board 320 controls the motor 340 to rotate at a constant speed according to the rope length data fed back by the absolute position encoder 350, so as to smoothly lower the robot. When the robot suddenly stumbles during movement, the torque sensor detects a brief fluctuation in gravity followed by a sharp rise (below the fall threshold). The logic board determines this as a "potential tipping risk" and generates a dynamic compensation control command. By fine-tuning the motor's 340 Nm torque, the traction rope applies auxiliary support force to help the robot regain a stable posture. When the robot accidentally falls (passive protection scenario), the torque sensor detects that the gravity exceeds the preset threshold in a short period of time. Without robot commands, the logic board 320 immediately triggers the "fall emergency" command in the scenario library, and drives the motor 340 to linearly increase the torque at a preset time gradient. The motor pulls the robot upward continuously and non-abruptly through the traction rope to avoid collision between the robot and the ground. When the robot detects a circuit malfunction and is about to collapse (active protection scenario), it actively sends a pull-up command to the logic board. After receiving the command, the logic board 320 cross-verifies the data with the torque sensor. Once confirmed to be correct, it responds quickly and controls the motor to move at the optimal pull-up rate, achieving dual safety protection. After the task is completed, the operator sends a stop signal via remote control. The robot switches to standing mode. If no new operation signal is received within 10 minutes, the logic board 320 automatically enters low power mode, shuts off the power supply to the motor and WiFi module, and only retains the BLE periodic scanning function to extend the lithium battery life.

[0097] The robot control unit is the core control component of the entire suspension system. It acquires the robot's status signals through sensors, processes them using internal algorithms and logic, determines the motor control signals, and transmits them to the motors to control them. The robot control unit enables automated control of the robot suspension system, improving control accuracy and real-time performance, and enhancing the robot's operating efficiency and stability.

[0098] In some embodiments, the robot suspension system control device is used to control at least one robot suspension system as described above. The robot suspension system receives position information of each robot suspension system and corresponding robot status signals, and centrally generates and synchronously distributes motor control signals of each robot suspension system.

[0099] The robot suspension system control device collects position information and robot status signals from multiple robot suspension systems, performs centralized analysis and processing, and generates motor control signals in a unified manner. These signals are then simultaneously sent to each robot suspension system, enabling unified control of multiple robot suspension systems. In application scenarios, such as on automated production lines in large factories, multiple robot suspension systems operate simultaneously. This control device allows for efficient management and control of these suspension systems.

[0100] The robot suspension system control unit communicates with each robot suspension system via a network to acquire real-time position information and status signals. Then, based on preset algorithms and logic, it analyzes and processes this information to generate motor control signals, which are then synchronously transmitted to each robot suspension system via the network. Regarding parameter settings, the algorithm and logic parameters for centrally generating the motor control signals can be adjusted according to different production needs and robot layouts.

[0101] This embodiment is applied to a multi-robot collaborative suspension operation scenario. For example, it includes three electric hoists arranged in parallel on guide rails (all equipped with anti-collision devices), a unified control device, and one remote controller. Each electric hoist suspends one robot, realizing multi-system collaborative control and anti-collision protection.

[0102] The specific control process is as follows: After the unified control device is initialized, it synchronously receives data such as the position information of the three electric hoists and the robot status signal. The remote controller establishes communication with the unified control device through the control board. Operators can use a unified control device to preset the target positions for the three electric hoists in sequence (e.g., robot A corresponds to guide rail coordinate X1, robot B corresponds to X2, and robot C corresponds to X3). The unified control device stores the position parameters and synchronizes them to the logic board of each electric hoist. After pressing the "One-Click Lowering" button, the unified control device sends a synchronous operation command to the three electric hoists. The logic board combines the real-time position feedback from the absolute position encoder, and the three electric hoists adjust their motor speeds to accurately lower the traction rope and lower the robot to the preset position. During operation, the electric hoist anti-collision device monitors the front guide rail in real time. When an electric hoist detects that the distance to an adjacent electric hoist is less than the preset safety threshold (such as 50cm), it immediately sends an anti-collision warning to the unified control device. After receiving the warning signal, the unified control device simultaneously sends control commands to the corresponding robot and electric hoist: controls the robot to stop moving, adjusts the electric hoist motor to enter a semi-braking state, and keeps the traction rope at minimum tension to avoid collisions and interference between multiple electric hoists; When an operator adjusts the lifting speed of a certain electric hoist using the linear joystick of the remote control, the unified control device synchronizes the status of that electric hoist to other systems in real time, dynamically adjusts the safety distance threshold between adjacent electric hoists, and ensures the safety and flexibility of multi-system collaborative operation.

[0103] This centralized control approach can improve the management efficiency of robot suspension systems, reduce control complexity, lower operating costs, and ensure the synchronous operation of each robot suspension system, thereby enhancing the performance and stability of the entire production system.

[0104] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A robot control method applied to a robot suspension system, the robot suspension system corresponding to a first robot, one end of the suspension system being movably connected to a guide rail, the suspension system including a traction member connected to the first robot, and a motor for controlling the traction member, characterized in that, Includes the following steps: Obtain the status signal of the first robot; The motor control signal is determined based on the status signal; The motor is controlled based on the motor control signal.

2. The robot control method according to claim 1, characterized in that, Determining the motor control signal based on the status signal includes: Based on the status signal, determine whether the first robot is at risk of tipping over; If the first robot is at risk of tipping over, a first motor control signal is generated to prevent the tipping risk. The first motor control signal is a gradual buffer lifting control signal, which controls the output torque of the motor to increase linearly along a preset time gradient, thereby driving the traction component to apply an upward traction force at a continuous and non-abrupt lifting rate.

3. The robot control method according to claim 1, characterized in that, Determining the motor control signal based on the status signal includes: Based on the status signal, determine whether the first robot is at risk of collision; If the first robot is at risk of collision, a second motor control signal is generated to avoid the collision. The second motor control signal is a dynamic obstacle avoidance adjustment signal. Based on the distance parameter and relative speed parameter of the collision risk, it dynamically adjusts the speed and steering control command of the motor and sends a command to the first robot to enable the first robot to continuously correct its trajectory along the obstacle avoidance path.

4. The robot control method according to claim 1, characterized in that, Determining the motor control signal based on the status signal includes: Determine whether the first robot is in a moving state based on the status signal; If the first robot is in a moving state, a third motor control signal adapted to the moving state is generated; The third motor control signal is a follow-up control signal, which is synchronized in real time with the walking speed, walking direction and gait cycle of the first robot. The motor speed is adjusted by continuously outputting pulse width modulation signals, so that the extension rate and tension of the traction component are dynamically matched with the robot's walking posture.

5. The robot control method according to claim 1, characterized in that, Determining the motor control signal based on the status signal includes: Determine whether the first robot is in a suspended state based on the status signal; If the first robot is in a suspended state, a fourth motor control signal adapted to the suspended state is generated; The fourth motor control signal is a static stable signal, which keeps the motor in a stable state, or outputs a closed-loop adjustment signal with small fluctuations to maintain constant tension of the traction component.

6. The robot control method according to claim 1, characterized in that, Determining the motor control signal based on the status signal includes: Determine whether the first robot is in a non-working state based on the status signal; If the first robot is in a non-working state, a fifth motor control signal adapted to the non-working state is generated; The fifth motor control signal is a low-power standby control signal, which controls the motor to enter a low-power mode. The amplitude of the output control signal is lower than the amplitude of the signal in the working state, so that the traction component maintains a preset slack or minimum tension locking state.

7. The robot control method according to claim 2, characterized in that, The step of determining whether the first robot is at risk of tipping over based on the status signal includes: Determine whether the status signal is a slip signal, fall signal, roll signal, or stumble signal; If so, then it is determined that the robot is at risk of tipping over.

8. The robot control method according to claim 7, characterized in that, The process of controlling the motor based on the motor control signal further includes: When the status signal is a slip signal, fall signal, or roll signal, the first robot is controlled to enter a suspended state.

9. The robot control method according to claim 7, characterized in that, The process of controlling the motor based on the motor control signal further includes: When the status signal is a stagger signal, the first robot is controlled to resume its working mode before the stagger.

10. The robot control method according to claim 3, characterized in that, The step of determining whether the first robot has a collision risk based on the status signal includes: The status signal includes the position information and / or movement speed of the first robot; Acquire the status signal of the second robot, including the position information and / or movement speed of the second robot; the second suspension system corresponding to the second robot is located on the same track as the robot suspension system; Based on the position information and / or moving speed of the first robot, and the position information and / or moving speed of the second robot, determine whether there is a collision risk for the first robot and / or the robot suspension system.

11. The robot control method according to claim 3, characterized in that, Also includes: Obtain the position information and / or movement speed of the first robot suspension system; Acquire the status signal of the second robot, including the position information and / or movement speed of the second suspension system corresponding to the second robot; the second suspension system is located on the same track as the first robot suspension system; Based on the position information and / or movement speed of the first robot suspension system, and the position information and / or movement speed of the second suspension system, determine whether there is a collision risk to the first robot and / or the first robot suspension system.

12. The robot control method according to claim 4, characterized in that, The step of determining whether the first robot is in a moving state based on the status signal includes: The status signal includes the walking speed and walking direction of the first robot; Based on the walking speed and the walking direction, determine whether the first robot is within the safe range of the guide rail; When the robot is within the safe range, the first robot is in motion.

13. The robot control method according to claim 12, characterized in that: When the robot is outside the safe area, the first robot is in a restricted movement state.

14. The robot control method according to claim 5, characterized in that, Determining whether the first robot is in a suspended state based on the status signal includes: Determine whether the status signal is a fixed-point suspension signal, a translational suspension signal, a lifting suspension signal, or an attitude adjustment suspension signal; If so, then the robot is determined to be in a suspended state.

15. The robot control method according to claim 5, characterized in that: If the first robot exits the suspended state, then video recording will be performed on the first robot; Once the first robot enters a suspended state, video recording of the first robot will stop.

16. The robot control method according to claim 6, characterized in that, The step of determining whether the first robot is in a non-working state based on the status signal includes: Determine whether the status signal is a standby signal, a shutdown signal, a charging status signal, or a maintenance status signal; if so, determine that the robot is in a non-working state.

17. The robot control method according to claim 1, characterized in that, Determining the motor control signal based on the status signal includes: Based on the shape information and / or model information of the first robot, identify the motor control signal that matches the first robot.

18. A robot suspension system corresponding to a first robot, one end of the suspension system being movably connected to a guide rail, the suspension system comprising a traction member connected to the first robot, and a motor for controlling the traction member, characterized in that, The robot suspension system also includes: A controller that performs the control method as described in any one of claims 1-17.

19. A robot suspension system control device for controlling at least one robot suspension system as described in claim 18, characterized in that: The robot suspension system receives the position information of each robot suspension system and the corresponding robot status signal, and centrally generates and synchronously distributes the motor control signals of each robot suspension system.

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