Emergency stop switch device and emergency stop switch control device

Abstract

The invention provides an emergency stop switch device and an emergency stop switch control device, the emergency stop switch device comprises a relay, the relay is connected in series on an emergency stop loop of machinery equipment, and the machinery equipment stops running when the emergency stop loop is disconnected; a first UWB unit, wherein the first UWB unit is connected with the relay; and the first UWB unit is configured to respond to a UWB data packet and control the relay to disconnect the emergency stop loop. The emergency stop switch device in the embodiment can be triggered by the wireless UWB data packet to control the relay to disconnect the emergency stop loop, the relay does not need to be close to machine equipment for operation, the safety performance is improved, the UWB data packet is stable in transmission and high in transmission speed, the emergency stop switch device can respond in time and control the relay to disconnect the emergency stop loop, and a good emergency stop control effect is achieved.

Description

Technical Field

[0001] It belongs to the field of robotics technology, and more specifically, it relates to an emergency stop switch device and an emergency stop switch control device. Background Technology

[0002] With the development of technology, humanoid robots and other mobile robots have become a key research focus in the industry. Mobile robots are battery-powered and have no cables, so an emergency stop button is installed on them. When a malfunction occurs, the emergency stop button cuts off the robot's circuitry, ensuring its safety.

[0003] However, in real-world applications, when a mobile robot malfunctions or encounters an emergency, its robotic arm may swing incessantly, or the robot may move at high speed. In such situations, the operator cannot approach the robot and press the emergency stop button in time. Therefore, existing emergency stop button designs suffer from ineffective emergency stop control. Summary of the Invention

[0004] The purpose of this embodiment is to provide an emergency stop switch device and an emergency stop switch control device to solve the technical problem of poor emergency stop control effect in related robot emergency stop button design schemes.

[0005] To achieve the above objectives, in a first aspect, an emergency stop switch device is provided, comprising: A relay connected in series in the emergency stop circuit of a machine, which stops operating when the emergency stop circuit is disconnected; The first UWB unit is connected to the relay; The first UWB unit is configured to control the relay to disconnect the emergency stop circuit in response to a UWB data packet.

[0006] Optionally, the first UWB unit includes a first UWB receiver and a first control module, wherein the first UWB receiver is connected to the first control module; The first UWB receiver is configured to receive UWB data packets; The first control module is configured to, in response to the UWB data packet received by the first UWB receiver, control the relay to disconnect the emergency stop circuit when the UWB data packet includes an emergency stop signal.

[0007] Optionally, when the UWB data packet includes an emergency stop signal, controlling the relay to disconnect the emergency stop circuit in response to the UWB data packet received by the first UWB receiver is configured as follows: when the UWB data packet includes the emergency stop signal, and the distance between the first UWB receiver and the first transmitter is less than or equal to a set distance, the relay is controlled to disconnect the emergency stop circuit in response to the UWB data packet received by the first UWB receiver, wherein the first transmitter is the source of the UWB data packet.

[0008] Optionally, the first control module is further configured to: control the relay to activate the emergency stop circuit when the UWB data packet received by the first UWB receiver is switched from an emergency stop signal to a heartbeat signal.

[0009] Optionally, the step of controlling the relay to activate the emergency stop circuit when the UWB data packet received by the first UWB receiver is switched from an emergency stop signal to a heartbeat signal is configured as follows: when the UWB data packet received by the first UWB receiver is switched from an emergency stop signal to a heartbeat signal, and the distance between the first UWB receiver and the first transmitter is less than or equal to a set distance, the relay is controlled to activate the emergency stop circuit, wherein the first transmitter is the source of the UWB data packet.

[0010] Optionally, the first UWB unit further includes a first UWB transmitter, which is configured to transmit a UWB pulse signal for the receiver of the UWB pulse signal to locate.

[0011] Optionally, the emergency stop switch device further includes an emergency stop module, which is installed on the machine equipment. The emergency stop device is connected in series with the relay. The emergency stop module is configured as a normally closed switch. When the emergency stop module is triggered, it disconnects the emergency stop circuit to which it belongs.

[0012] Optionally, the first UWB unit includes a first UWB receiver and a first control module, wherein the first UWB receiver is connected to the first control module; The first UWB receiver is configured to receive UWB data packets; The first control module is configured to, in response to the UWB data packet, control the relay to disconnect the emergency stop circuit when the UWB communication protocol of the UWB data contains a preset identifier.

[0013] In a second aspect, a robot is also provided, including the emergency stop switch device described in the first aspect above, wherein the emergency stop circuit of the emergency stop switch device is connected in series with the power input terminal of the robot's drive system.

[0014] In a third aspect, an emergency stop switch control device is also provided, comprising: The stop control module is configured with two switchable states: non-triggered state and triggered state. The second UWB unit, the stop control module is connected to the second UWB unit; The second UWB unit is configured to: detect the status of the stop control module and send UWB data packets according to the status of the stop control module.

[0015] Optionally, the second UWB unit includes a second UWB transmitter and a second control module, and the second UWB transmitter and the second control module are connected. The second UWB transmitter is configured to: send the UWB data packets; The second control module is configured to: generate an emergency stop signal when the stop control module is detected to be in the triggered state, and control the second UWB transmitter to send the UWB data packet encapsulated by the emergency stop signal; and control the second UWB transmitter to send the UWB data packet encapsulated by the heartbeat signal when the stop control module is detected to be in the untriggered state.

[0016] Optionally, the second UWB unit further includes a second UWB receiver, which is connected to the second control module; The second UWB receiver is configured to receive UWB pulse signals to locate the second transmitter, which is the source of the UWB pulse signals. The step of generating an emergency stop signal and controlling the second UWB transmitter to send the UWB data packet encapsulated by the emergency stop signal when the stop control module is detected to be in the triggered state is configured as follows: when the angle deviation between the second UWB receiver and the second transmitter is within a preset range, the emergency stop signal is generated and the UWB data packet encapsulated by the emergency stop signal is sent to the second transmitter.

[0017] Optionally, the second control module is configured to: control the second UWB transmitter to transmit the UWB data packet encapsulated by the emergency stop signal at a first frequency, and control the second UWB transmitter to transmit the UWB data packet encapsulated by the heartbeat signal at a second frequency, wherein the first frequency is greater than the second frequency.

[0018] In the fourth aspect, an emergency stop switch control system is also provided, comprising: The emergency stop switch device as described in the first aspect above and the emergency stop switch control device as described in the third aspect above, wherein the emergency stop switch device is paired with the emergency stop switch device, the emergency stop switch control device is used to send UWB data packets, the emergency stop switch device is used to receive the UWB data packets, and controls the connected emergency stop circuit to disconnect according to the UWB data packets.

[0019] The beneficial effects of the provided emergency stop switch device and emergency stop switch control device are as follows: Compared with the prior art, the emergency stop switch device of the embodiment includes a relay and a first UWB unit. The relay is connected in series in the emergency stop circuit of the machine equipment, and the first UWB unit is connected to the relay. The first UWB unit is configured to control the relay to disconnect the emergency stop circuit in response to UWB data packets. The UWB data packets can be transmitted wirelessly, that is, the first UWB unit can wirelessly receive UWB data packets, so that the emergency stop switch device can realize wireless triggering and control the relay to disconnect the emergency stop circuit when triggered. The machine equipment stops running when the emergency stop circuit is disconnected, without the need for operators to approach the machine equipment to perform emergency stop operations. In the event of machine equipment (such as a mobile robot) failure or emergency, wireless control of the machine equipment to stop operation can be realized, improving safety performance. In addition, the UWB data packet transmission is stable and fast, and the emergency stop switch device can respond in time and control the relay to disconnect the emergency stop circuit, with better emergency stop control effect. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments, 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. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 A schematic diagram of the emergency stop switch device provided in the embodiment; Figure 2 A schematic diagram of the emergency stop switch control device provided in the embodiment; Figure 3 This is a schematic diagram of the emergency stop switch control device provided in the embodiment, showing the positioning of the emergency stop switch device.

[0022] The following are the labeling elements in the figure: 1-Emergency stop switch device; 2-Emergency stop switch control device; 11-Relay; 12-First UWB unit; 13-First pairing button; 14-First antenna; 15-Emergency stop module; 16-Emergency stop circuit; 21-Stop control module; 22-Second UWB unit; 23-Second pairing button; 24-Second antenna. Detailed Implementation

[0023] To make the technical problem to be solved, the technical solution, and the beneficial effects clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of the invention.

[0024] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0025] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of description and simplification, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations.

[0026] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the following description of embodiments, "a plurality of" means two or more, unless otherwise explicitly specified.

[0027] Humanoid robots and other mobile robots are currently a focus of the industry. Unlike stationary robots, mobile robots are compact in design, powered by batteries, and in case of emergencies or malfunctions, their robotic arms may continuously wave, or the robots may move at high speeds, such as continuing to wave their limbs rapidly after falling to the ground. In such situations, the operator cannot approach the mobile robot and press the emergency stop button in time; therefore, the emergency stop button on the robot itself is essentially unusable.

[0028] Wireless technology enables long-distance signal transmission without requiring the robot to be physically near it, allowing for wireless control of emergency stops. For example, a mobile robot controller could send an emergency stop signal over the network to halt the robot. However, this method has limitations. Firstly, the controller and robot rely on a local area network (LAN) for signal transmission. Poor LAN stability (e.g., lag) can prevent the robot from responding promptly, or wireless emergency stop functionality is unavailable in areas without a LAN. Secondly, the robot system must process the emergency stop signal from the controller before executing it. If the robot malfunctions, the system may fail to process the signal, resulting in the robot's inability to respond.

[0029] Therefore, the relevant emergency stop button design has the problem of poor emergency stop control effect.

[0030] Based on this, in some embodiments, an emergency stop switch device is provided, which can be controlled by an emergency stop switch control device at a certain distance sending UWB data packets. There is no need for a local area network communication connection between the emergency stop switch device and the emergency stop switch control device, nor is there a need for the machine equipment system software where the emergency stop switch device is located to process the emergency stop signal. The emergency stop switch device responds to the emergency stop signal in a timely manner, and the emergency stop control effect is better.

[0031] UWB (Ultra Wide Band) technology is a wireless communication technology that uses nanosecond-level non-sinusoidal narrow pulses to transmit data. UWB technology has advantages such as low system complexity, low transmitted signal power spectral density, insensitivity to channel fading, low interception capability, and high positioning accuracy. UWB uses pulse transmission technology, shares frequency bands with other communication protocols, and can transmit signals over a very wide bandwidth. For general communication technologies, UWB signals are white noise, which is neither detectable nor interfered with.

[0032] Please see Figure 1 The emergency stop switch device 1 provided in some embodiments will now be described. The emergency stop switch device 1 includes a relay 11 and a first UWB unit 12, wherein the relay 11 is connected in series in the emergency stop circuit 16 of the machine equipment, and the first UWB unit 12 is connected to the relay 11. The first UWB unit 12 is configured to control the relay 11 to disconnect the emergency stop circuit 16 in response to a UWB data packet.

[0033] It should be noted that the machine is equipped with an emergency stop circuit 16, which is connected to the machine's drive system (such as...). Figure 1As shown, the interface of emergency stop circuit 16 is connected to the power input terminal of the drive system. When emergency stop circuit 16 is disconnected, the power supply to the drive system is disconnected, and the machine stops running; when emergency stop circuit 16 is connected, the power supply to the drive system is connected, and the machine can run.

[0034] In this embodiment, relay 11 is connected in series with emergency stop circuit 16. The first UWB unit 12 controls relay 11 to open or close the emergency stop circuit 16, thereby stopping the machine. For example, relay 11 is connected in normally closed mode. Under normal circumstances, emergency stop circuit 16 is open. When the first UWB unit 12 controls relay 11 to open emergency stop circuit 16, relay 11 switches to open mode, and emergency stop circuit 16 is disconnected.

[0035] Optionally, the first UWB unit 12 can receive UWB data packets and, based on the received UWB data packets, control the relay 11 to open or close the emergency stop circuit 16. The UWB data packets are transmitted by other devices. For example, an emergency stop switch control device 2 (the source of the UWB data packets) is provided, and the emergency stop switch control device 2 is operated to transmit UWB data packets, which can be transmitted wirelessly. Therefore, even without being near the emergency stop switch device 1, the first UWB unit 12 of the emergency stop switch device 1 can still receive the UWB data packets and, in response, control the relay 11 to open the emergency stop circuit 16. After the emergency stop circuit 16 is opened, the machine stops operating. Therefore, the operator can operate the emergency stop switch control device 2 to transmit UWB data packets without being near the emergency stop switch device 1, thus controlling the machine to stop and ensuring operational safety. In particular, when the emergency stop switch device 1 is applied to mobile robots and in scenarios where the mobile robot needs to be stopped urgently, it can control the mobile robot to stop urgently from a certain distance. Even if the mobile robot is swinging or running at high speed, it will not affect the emergency stop control of the mobile robot.

[0036] Optionally, please refer to the following as well. Figure 1 and Figure 2The emergency stop switch control device 2 includes a control module and a second UWB unit 22, connected to a stop control module 21. The stop control module 21 is configured with two switchable states: a non-triggered state and a triggered state. The second UWB unit 22 is configured to detect the state of the stop control module 21 and send UWB data packets based on that state. For example, in the triggered state, the second UWB unit 22 sends UWB data packets. Upon receiving the UWB data packets, the first UWB unit 12, in response, controls the relay 11 to disconnect the emergency stop circuit 16, thus controlling the emergency stop switch device 1. In the non-triggered state, the second UWB unit 22 does not send UWB data packets, and the first UWB unit 12, not receiving any UWB data packets, does not control the relay 11.

[0037] As an example, the stop control module 21 is electrically connected to the second UWB unit 22. When the stop control module 21 is touched (e.g., pressed and held for more than 5 seconds), the electrical signal between the stop control module 21 and the second UWB unit 22 changes (e.g., from low to high level), thus generating a trigger signal, and the stop control module 21 is in a triggered state. When the stop control module 21 is no longer touched, the electrical signal between the stop control module 21 and the second UWB unit 22 changes (e.g., from high to low level), thus generating a stop trigger signal, and the stop control module 21 is in a non-triggered state. The second UWB unit 22 determines the state of the stop control module 21 based on this trigger signal or the stop trigger signal.

[0038] As an example, the stop control module 21 is connected in series with the second UWB unit 22. The stop control module 21 is configured with a first position and a second position. When the stop control module 21 is in the first position, its state is triggered; when it is in the second position, its state is untriggered. For example, when the stop control module 21 is in the first position, it is connected to the first UWB unit 12, and the first UWB unit 12 determines the state of the stop control module 21 through a connection signal (such as a high-level signal). When the stop control module 21 is in the second position, it is disconnected from the first UWB unit 12, and the first UWB unit 12 determines the state of the stop control module 21 through a disconnection signal (such as a low-level signal).

[0039] Optionally, the stop control module 21 is a self-locking button. When the self-locking button is pressed to the first position, it is locked, so that the self-locking button remains in the first position and the stop control module 21 is always in the triggered state. Then the first UWB unit 12 continuously sends UWB data packets. When the self-locking button is rotated to the unlock position, the self-locking button is pushed to the second position by the spring force. The stop control module 21 switches to the non-triggered state, and the first UWB unit 12 does not send UWB data packets.

[0040] In this embodiment, the operator can control the first UWB unit 12 to send UWB data packets by adjusting the position of the stop control module 21, thereby controlling the emergency stop switch device 1.

[0041] It is understood that UWB data packets have the characteristics of fast transmission speed, stable transmission, and immunity to environmental interference. In this embodiment, the emergency stop switch device 1 responds with UWB data packets as control commands, controlling the relay 11 to disconnect the emergency stop circuit 16 and stop the machine. When the machine experiences an emergency or malfunction, the fast transmission of UWB data packets allows the emergency stop switch device 1 to respond promptly and stop the machine in time. Furthermore, the stable transmission of UWB data packets avoids signal delays. Moreover, after the first UWB unit 12 responds to the UWB data packet, it directly controls the relay 11 to disconnect the emergency stop circuit 16, eliminating the need for the machine's system software to process the UWB data packet. Errors in the machine's system software do not affect the emergency stop switch device 1's ability to stop the machine promptly. Therefore, the emergency stop switch device 1 provided in this embodiment, on the one hand, eliminates the need for operators to approach, preventing injury from machine swings or high-speed movements, and improves the response speed of the emergency stop switch device 1. On the other hand, it achieves emergency stop control without requiring integration with the machine's system software, and can also control the machine to stop urgently in the event of a system failure.

[0042] In this embodiment, compared to the low-precision measurement methods such as received signal strength used in wireless communication technologies like Bluetooth and WIFI, the UWB communication protocol avoids signal amplifier cracking, resulting in higher accuracy and security. Furthermore, UWB has no intermediate frequency or carrier signal, making the system simpler, with shorter processing time and faster response. Therefore, using UWB data packets transmitted via the UWB communication protocol as the control signal for the emergency stop switch device 1 enables the device to control the machine to stop urgently, offering advantages such as fast response, high stability, and no need for system software integration, resulting in superior emergency stop control performance.

[0043] In some embodiments, please refer to Figure 1The first UWB unit 12 of the emergency stop switch device 1 includes a first UWB receiver, a first UWB transmitter, and a first control module. The first UWB receiver and the first UWB transmitter are connected to the first control module. The first UWB receiver is configured to receive UWB data packets. The first control module is configured to control the relay 11 to disconnect the emergency stop circuit 16 in response to the UWB data packet received by the first UWB receiver when the UWB data packet includes an emergency stop signal.

[0044] In this embodiment, the emergency stop switch device 1 responds to the emergency stop signal in the UWB data packet as a control command, controlling the relay 11 to disconnect the emergency stop circuit 16. It can be understood that the emergency stop signal is generated by the emergency stop switch control device 2 based on the trigger state of the stop control module 21.

[0045] Optionally, the first UWB receiver includes a first antenna 14, through which UWB data packets are received.

[0046] Optionally, the first control module includes a first microcontroller capable of performing simple arithmetic processing on UWB data packets. For example, the first control module can identify whether the UWB data packet includes an emergency stop signal and generate a control command to control relay 11 to disconnect the emergency stop circuit 16.

[0047] In this embodiment, when the first control module obtains a UWB data packet from the first UWB receiver, it identifies whether the UWB data packet includes an emergency stop signal. If the UWB data packet includes an emergency stop signal, it outputs a control command to control the relay 11 to disconnect the emergency stop circuit 16, thereby controlling the machine to stop running and realizing the emergency stop of the machine based on the UWB data packet control of the emergency stop switch device 1.

[0048] It is understood that, in order to avoid miscontrol, the emergency stop switch device 1 can also be configured through the following embodiments: As an example, the first control module is configured to respond to UWB data packets sent by a pre-paired emergency stop switch control device 2. For example, each emergency stop switch device 1 is paired with at least one emergency stop switch control device 2. The first control module obtains UWB data packets from a first UWB receiver, determines whether the sender of the UWB data packets is a pre-paired emergency stop switch control device 2 based on the identifier carried in the UWB data packets, and if so, includes an emergency stop signal in the UWB data packets. In response to the UWB data packets, the control module controls the relay 11 to disconnect the emergency stop circuit 16.

[0049] As an example, the first control module is configured to: when the UWB data packet includes an emergency stop signal and the distance between the first UWB receiver and the first transmitter is less than or equal to a set distance, in response to the UWB data packet received by the first UWB receiver, control the relay to disconnect the emergency stop circuit, wherein the first transmitter is the source of the UWB data packet.

[0050] That is, the first control module responds to UWB data packets sent by the first transmitter within a set distance range, but does not respond to UWB data packets sent by the first transmitter within a set distance range. For example, when the first UWB receiver of the emergency stop switch device 1 receives a UWB data packet, the first control module determines the distance between the first UWB receiver and the first transmitter. If the distance is within the set distance (the distance is less than or equal to the set distance), and the UWB data packet includes an emergency stop signal, the module responds to the UWB data packet and controls the relay 11 to disconnect the emergency stop circuit 16.

[0051] This means setting the effective range of UWB data packets. For example, if the range is set to 3m, the first control module will only respond to UWB data packets sent by the first transmitter within the set range. This prevents unsafe operation when the actual condition of the machine cannot be accurately known at a distance, and also prevents unauthorized operation at a distance.

[0052] It is understood that the aforementioned first transmitting end refers to the emergency stop switch control device 2. (Continue to refer to...) Figure 2 The second UWB unit 22 of the emergency stop switch control device 2 includes a second UWB transmitter and a second control module, which are connected together. The second UWB transmitter is configured to transmit UWB data packets. The second control module is configured to: generate an emergency stop signal and control the second UWB transmitter to transmit UWB data packets encapsulated by the emergency stop signal when the stop control module 21 is detected to be in a triggered state; and control the second UWB transmitter to transmit UWB data packets encapsulated by a heartbeat signal when the stop control module 21 is detected to be in a non-triggered state.

[0053] That is, the signals in the UWB data packets sent by the second UWB transmitter are different in the non-triggered state and the triggered state, which facilitates the emergency stop switch device 1 to perform corresponding control based on the signals in the UWB data packets. For example, when the stop control module 21 is in the triggered state, it means that it is necessary to control the emergency stop switch device 1 to disconnect the power supply of the machine. At this time, the second control module generates an emergency stop signal, and the second UWB transmitter sends a UWB data packet encapsulated with the emergency stop signal. The first UWB receiver receives the UWB data packet. If the first control module determines that the UWB data packet includes the emergency stop signal, it controls the relay 11 to disconnect the emergency stop circuit 16. When the stop control module 21 is in the non-triggered state, it means that it is not necessary to control the emergency stop switch device to disconnect the power supply of the machine. At this time, the second UWB transmitter sends a UWB data packet encapsulated with a heartbeat signal. The emergency stop switch device 1 only needs to maintain the heartbeat connection. The first UWB receiver receives the UWB data packet. If the first control module determines that the UWB data packet does not include the emergency stop signal, it does not control the relay 11.

[0054] It is understood that the second control module of the emergency stop switch control device 2 includes a second microcontroller, which can identify the state of the stop control module 21 and generate an emergency stop signal when the stop control module 21 is in the triggered state, and control the second UWB transmitter to send UWB data packets encapsulated by the emergency stop signal.

[0055] The second UWB transmitter includes a second antenna 24, through which UWB data packets are transmitted.

[0056] As an example, when the stop control module 21 of the emergency stop switch control device 2 is in the triggered state, the second control module generates an emergency stop command and controls the second UWB transmitter to send a UWB data packet encapsulated with an emergency stop signal at a first frequency. The first UWB receiver of the emergency stop switch device 1 receives the UWB data packet. When the first control module determines that the UWB data packet includes an emergency stop signal and the emergency stop switch control device 2 is within a set distance range, it responds to the UWB data packet and controls the relay 11 to disconnect the emergency stop circuit 16 to ensure control safety and avoid unauthorized control.

[0057] For example, the first frequency is 10ms / time, and the second frequency is 100ms / time. By using high-frequency transmission of UWB data packets encapsulated by the emergency stop signal, the frequency at which the emergency stop switch receives UWB data packets suddenly increases, which can speed up the response of the emergency stop switch and enable the emergency stop switch to respond to UWB data packets more promptly.

[0058] In some alternative embodiments, the first UWB unit includes a first UWB receiver and a first control module, the first UWB receiver being connected to the first control module; the first UWB receiver is configured to receive UWB data packets; the first control module is configured to control the relay 11 to disconnect the emergency stop circuit in response to the UWB data packet if the UWB communication protocol of the UWB data contains a preset identifier.

[0059] In this embodiment, the emergency stop switch device 1 responds to the control command using the UWB communication protocol, controlling the relay 11 to disconnect the emergency stop circuit 16.

[0060] For example, a preset identifier is set in the UWB communication protocol to distinguish between emergency stop signals and non-emergency stop signals. For instance, if the emergency stop switch control device 2 needs to send an emergency stop signal, it sends a UWB data packet based on the UWB communication protocol carrying the preset identifier. After the first control module of the emergency stop switch device 1 receives the UWB data packet from the first UWB receiver, it identifies whether the UWB communication protocol of the UWB data packet carries the preset identifier. If the UWB communication protocol carries the preset identifier, it determines that the UWB data packet is an emergency stop signal, responds to the UWB data packet, and controls the relay 11 to disconnect the emergency stop circuit 16. If it does not carry the preset identifier, it determines that the UWB data packet is a non-emergency stop signal, and does not respond to the UWB data packet.

[0061] For example, this embodiment can also determine whether to respond to UWB data packets by combining the distance between the first UWB data sender and the first UWB receiver. The specific implementation method is the same as the aforementioned embodiment, and will not be repeated here.

[0062] In other embodiments, the first control module is further configured to: control relay 11 to activate emergency stop circuit 16 when the UWB data packet received by the first UWB receiver is switched from an emergency stop signal to a heartbeat signal. It is understood that the heartbeat signal and the emergency stop signal are different content commands; for example, the heartbeat signal is xxxxX and the emergency stop signal is XXXXx.

[0063] As an example, the heartbeat signal and the emergency stop signal are sent at different frequencies.

[0064] The heartbeat signal is used to maintain connection with the emergency stop switch 1. The emergency stop signal is used to control relay 11 to disconnect the emergency stop circuit.

[0065] As an example, the first control module is configured to determine whether to switch from an emergency stop signal to a heartbeat signal when the emergency stop signal in the UWB data packet changes to a heartbeat signal.

[0066] As an example, the first control module is configured to determine that the UWB data packet is switching from an emergency stop signal to a heartbeat signal when the receiving frequency of the UWB data packet changes from greater than or equal to a first frequency to less than or equal to a second frequency, and the first frequency is greater than the second frequency. That is, when the first transmitter switches from transmitting UWB data packets at a high frequency to transmitting UWB data packets at a low frequency, the receiving frequency of the UWB data packets received by the first UWB receiver also decreases. Based on the receiving frequency of the UWB data packets, the first control module can determine whether the signal has switched from an emergency stop signal to a heartbeat signal. For example, the first transmitter is an emergency stop switch control device 2. When the stop control module 21 of the emergency stop switch control device 2 is in a triggered state, the second control module controls the second UWB transmitter to transmit UWB data packets encapsulated with an emergency stop signal at a first frequency (high frequency). When the receiving frequency of the UWB data packets received by the first UWB receiver is greater than or equal to the first frequency, the first control module determines that the UWB data packet includes an emergency stop signal. When the stop control module 21 of the emergency stop switch control device 2 switches from the triggered state to the non-triggered state, the second control module controls the second UWB transmitter to transmit UWB data packets encapsulated by the heartbeat signal at the second frequency (low frequency). When the first UWB receiver receives the UWB data packets at a frequency lower than the first frequency (the second frequency is less than the first frequency), the first control module determines that the emergency stop signal has been switched to the heartbeat signal.

[0067] As another example, the heartbeat signal is a low-frequency radio frequency carrier signal from the first transmitter, used to maintain connection with the first UWB unit 12. For instance, the first transmitter is an emergency stop switch control device 2. When the stop control module 21 of the emergency stop switch control device 2 switches from a triggered state to a non-triggered state, the second control module controls the second UWB transmitter to send a low-frequency radio frequency carrier signal (low-frequency Bluetooth signal). When the first UWB receiver receives the low-frequency radio frequency carrier signal, the first control module can determine that the emergency stop signal has been switched to a heartbeat signal.

[0068] When the UWB data packet received by the first UWB receiver changes from an emergency stop signal to a heartbeat signal, it indicates that the emergency stop switch control device 2 stops controlling the emergency stop switch device 1. The emergency stop switch device 1 then controls the relay 11 to conduct the emergency stop circuit 16, enabling the machine to resume normal operation (such as restoring the power input of the drive system). This is equivalent to the emergency stop button on the machine switching from the triggered state to the non-triggered state, restoring the power circuit of the machine's drive system, and allowing the machine to resume normal operation.

[0069] As an example, when the UWB data packet received by the first UWB receiver is switched from an emergency stop signal to a heartbeat signal, the control relay 11 to activate the emergency stop circuit 16 is configured to activate the emergency stop circuit 16 when the UWB data packet received by the first UWB receiver is switched from an emergency stop signal to a heartbeat signal, and the distance between the first UWB receiver and the transmitter is less than or equal to a set distance.

[0070] In some scenarios: When the stop control module 21 of the emergency stop switch control device 2 is in the triggered state, the second UWB transmitter continuously transmits UWB data packets at the first frequency. The first UWB receiver of the emergency stop switch device 1 receives the UWB data packets. The first control module determines that the UWB data packets include an emergency stop signal and that the distance to the emergency stop switch control device 2 is within a set distance. It then controls the relay 11 to disconnect the emergency stop circuit 16. The stop control module 21 switches from the triggered state to the non-triggered state, and the second UWB transmitter transmits a heartbeat signal. At this time, the emergency stop switch control device 2 may transmit a heartbeat signal from outside the set distance (for example, after the operator removes the emergency stop switch control device 2, the state of the stop control module 21 is switched to the non-triggered state), or it may transmit a heartbeat signal within the set distance (for example, the operator controls the emergency stop switch device 1 through the emergency stop switch control device 2, the emergency stop switch device 1 controls the machine to stop running, the machine is debugged, and after debugging, the stop control module 21 of the emergency stop switch control device 2 is switched to the non-triggered device to restore the emergency stop circuit 16 of the machine). When the operator switches the state of the stop control module 21 to the non-triggered state outside the set distance, it is usually not to restore the machine to normal operation, but to prevent the emergency stop switch control device 2 from continuously transmitting UWB data packets at a high frequency, which consumes a lot of power and is prone to damage. In this scenario, the UWB data packet received by the first UWB receiver of the emergency stop switch device 1 changes from an emergency stop signal to a heartbeat signal. If the operator responds to this UWB data packet, it may cause the machine to resume its swinging or faulty operation, which does not meet the user's expectations. Therefore, the first control module of the emergency stop switch device 1 is configured to exit emergency stop control and control relay 11 to conduct emergency stop circuit 16 only when the UWB data packet received by the first UWB receiver is switched from an emergency stop signal to a heartbeat signal, and the distance between the first UWB receiver and the transmitter is less than or equal to a set distance. If the distance between the first UWB receiver and the transmitter is greater than the set distance, the UWB data packet (i.e., the heartbeat signal) is not responded to, and relay 11 remains disconnected from emergency stop circuit 16. That is, the emergency stop switch control device 2 has no effective effect on UWB data packets outside the set distance, and only has effective effect on UWB data packets within the set distance, thereby improving the control safety of the emergency stop switch device 1.

[0071] In some embodiments, the first UWB unit 12 further includes a first UWB transmitter connected to a first control module. The first control module is further configured to control the first UWB transmitter to transmit UWB pulse signals for positioning by a UWB pulse signal receiver.

[0072] It is understandable that the UWB pulse signal is different from the UWB data packet sent by the aforementioned emergency stop switch control device 2. For example, the UWB data packet is sent by the emergency stop switch control device 2, while the UWB pulse signal is sent by the emergency stop switch device 1; or the transmission frequency of the UWB data packet is different from the transmission frequency of the UWB pulse signal.

[0073] The UWB pulse signal transmitted by the first UWB transmitter is configured to: allow the emergency stop switch control device 2 to determine the orientation of the emergency stop switch device 1; and when the emergency stop switch control device 2 is pointed at the emergency stop switch device 1, then send a UWB data packet to control the pointed emergency stop switch device 1. For example, the second UWB unit 22 also includes a second UWB receiver connected to the second control module; the second UWB receiver is configured to: receive UWB pulse signals to locate the second transmitter; the second control module is further configured to: generate an emergency stop signal when it detects that the stop control module 21 is in a triggered state and the azimuth angle (i.e., angle deviation) of the second transmitter relative to the second UWB receiver is within a preset range, and send a UWB data packet encapsulated by the emergency stop signal to the second transmitter, the second transmitter being the source of the UWB positioning signal (i.e., the emergency stop switch device 1).

[0074] The emergency stop switch control device 2 supports AOA (Angle of Arrival) positioning, which determines the direction of the emergency stop switch device 1. Only when the emergency stop switch control device 2 is pointing towards the emergency stop switch device 1 will it send a UWB data packet to the emergency stop switch device 1, further preventing misoperation and miscontrol.

[0075] For example, such as Figure 3 As shown, the second signal receiver includes two second antennas 24, the distance between the two second antennas 24 being less than the wireless wavelength. The source position of the UWB pulse signal is determined by the time difference or phase difference of the UWB pulse signal received by the two second antennas 24, and then the azimuth angle θ of the emergency stop switch device 1 relative to the emergency stop switch control device 2 is determined based on the source position. If the azimuth angle θ is within a preset range, the second control module determines that the emergency stop switch control device 2 is pointing to the emergency stop switch device 1, and determines that a UWB data packet needs to be sent to the emergency stop switch device 1. Therefore, the second control module controls the second UWB transmitter to send a UWB data packet. After receiving the UWB data packet, the first UWB receiver responds to the UWB data packet and controls the relay 11 to disconnect the emergency stop circuit 16.

[0076] For example, the preset range can be 85°~95°, that is, when the azimuth angle θ is between 85° and 95°, it is determined that the emergency stop switch control device 2 is pointing towards the emergency stop switch device 1; when the azimuth angle θ is outside the range of 85°~95°, it is determined that the emergency stop switch control device 2 is not pointing towards the emergency stop switch device 1. Further, the preset range is 87°~93°, and judging the direction of the emergency stop switch control device 2 based on this preset range is more accurate.

[0077] Understandably, given that the antenna has a bidirectional function of transmitting and receiving signals, in order to simplify the emergency stop switch device 1 and the emergency stop switch control device 2, the first UWB receiver and the first UWB transmitter are the first antenna 14. The second UWB receiver and the second UWB transmitter are the second antenna 24.

[0078] In other embodiments, please continue to refer to Figure 1 and Figure 2 The emergency stop switch device 1 also includes a first Bluetooth module, and the emergency stop switch control device 2 also includes a second Bluetooth module. The first UWB unit 12 also includes a first pairing button 13 and a first pairing module. The first pairing button 13 and the first pairing module are connected in series. The first pairing button 13 is configured as a normally open button. The first pairing module is configured to broadcast a pairing data packet when the first pairing button 13 is closed, so that the first UWB unit 12 and the second UWB unit 22 can perform UWB communication pairing.

[0079] For example, the first pairing module is a Bluetooth module.

[0080] Correspondingly, the second UWB unit 22 also includes a second pairing button 23 and a second pairing module. The second pairing button 23 is connected in series with the second pairing module. The second pairing button 23 is configured as a normally open button. The second pairing module is configured to broadcast a pairing data packet when the second pairing button 23 is closed, so that the second UWB unit 22 and the first UWB unit 12 can perform UWB communication pairing.

[0081] For example, the second pairing module is a Bluetooth module.

[0082] It is understandable that a first pairing button 13 is provided on the emergency stop switch device 1, and the pairing between the emergency stop switch device 1 and the emergency stop switch control device 2 is initiated by the first pairing button 13, thereby establishing a UWB communication connection. A second pairing button 23 is provided on the emergency stop switch control device 2, and the pairing between the emergency stop switch control device 2 and the emergency stop switch device 1 is initiated by the second pairing button 23, thereby establishing a UWB communication connection.

[0083] Optionally, the emergency stop switch device 1 and the emergency stop switch control device 2 are paired via Bluetooth.

[0084] For example, pressing the first pairing button 13 on the emergency stop switch device 1 and the second pairing button 23 on the emergency stop switch control device 2 respectively enters the pairing mode. The first pairing module and the second pairing module establish a UWB connection. The first control module or the second control module accurately measures the distance between the emergency stop switch device 1 and the emergency stop switch control device 2 through UWB pulse signals. If the distance between the emergency stop switch device 1 and the emergency stop switch control device 2 meets the requirements (e.g., within a preset range), the emergency stop switch device 1 and the emergency stop switch control device 2 are successfully paired. The emergency stop switch device 1 records the ID code and UWB communication authentication method of the emergency stop switch control device 2. Correspondingly, the emergency stop switch control device 2 records the ID code and UWB communication authentication method of the emergency stop switch device 1. The emergency stop switch device 1 and the emergency stop switch control device 2 can communicate through the UWB communication protocol.

[0085] As an optional implementation, in order to improve safety performance and prevent abnormal access of the emergency stop switch control device 2, during pairing, the emergency stop switch device 1 can transmit the ID code of the emergency stop switch control device 2 to the control terminal of the machine equipment via the bus, and the control terminal can input the ID code of the emergency stop switch control device 2 to complete the authentication.

[0086] In this embodiment, UWB has the advantage of distance measurement, which can accurately measure distance and achieve safe and fast pairing operation.

[0087] In other embodiments, please continue to refer to Figure 1 The emergency stop switch device 1 also includes an emergency stop module 15, which is installed on the machine. The emergency stop device is connected in series with the relay 11. The emergency stop module 15 is configured as a normally closed switch. When the emergency stop module 15 is triggered, it disconnects the emergency stop circuit 16 to which it is located.

[0088] It is understandable that the emergency stop module 15 is a mechanical button on the emergency stop switch device 1, so that the operator can manually trigger the emergency stop module 15 to control the machine equipment to stop running.

[0089] In this embodiment, the emergency stop switch device 1 maintains the original mechanical button control for emergency stop of the machine equipment, and at the same time, it combines with the first UWB unit 12 to control the relay 11 to disconnect the emergency stop circuit 16, thereby realizing multiple ways to control the emergency stop of the machine equipment.

[0090] In other embodiments, please refer to the following: Figure 1 and Figure 2 An emergency stop switch control system is provided, including the emergency stop switch device 1 and the emergency stop switch control device 2 in the aforementioned embodiments, wherein the emergency stop switch device 1 and the emergency stop switch control device 2 communicate continuously via UWB.

[0091] Optionally, the emergency stop switch control device 2 can trigger the emergency stop switch device 1 to control the emergency stop circuit 16 to disconnect by sending UWB data packets, thereby realizing the control of the emergency stop switch device 1 to disconnect the power supply of the machine's drive system (the emergency stop circuit 16 is connected to the power input terminal of the drive system) through UWB wireless technology.

[0092] It should be noted that the emergency stop switch device 1, the emergency stop switch control device 2, and the interaction process between the two are based on the same concept as the emergency stop switch control system in the embodiment. For the specific functions and technical effects of the emergency stop switch control system, please refer to the aforementioned embodiment section, which will not be repeated here.

[0093] The above description is merely a preferred embodiment and is not intended to limit the scope of protection. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the description should be included within the scope of protection.

Claims

1. An emergency stop switch device, characterized in that: include: A relay connected in series in the emergency stop circuit of a machine, which stops operating when the emergency stop circuit is disconnected; The first UWB unit is connected to the relay; The first UWB unit is configured to control the relay to disconnect the emergency stop circuit in response to a UWB data packet.

2. The emergency stop switch device as described in claim 1, characterized in that: The first UWB unit includes a first UWB receiver and a first control module, wherein the first UWB receiver is connected to the first control module; The first UWB receiver is configured to receive UWB data packets; The first control module is configured to, in response to the UWB data packet received by the first UWB receiver, control the relay to disconnect the emergency stop circuit when the UWB data packet includes an emergency stop signal.

3. The emergency stop switch device as described in claim 2, characterized in that: When the UWB data packet includes an emergency stop signal, the system is configured to control the relay to disconnect the emergency stop circuit in response to the UWB data packet received by the first UWB receiver. Specifically, if the UWB data packet includes the emergency stop signal and the distance between the first UWB receiver and the first transmitter is less than or equal to a set distance, the system controls the relay to disconnect the emergency stop circuit in response to the UWB data packet received by the first UWB receiver. The first transmitter is the source of the UWB data packet.

4. The emergency stop switch device as described in any one of claims 2-3, characterized in that: The first control module is also configured to: control the relay to activate the emergency stop circuit when the UWB data packet received by the first UWB receiver is switched from an emergency stop signal to a heartbeat signal.

5. The emergency stop switch device as described in claim 4, characterized in that: When the UWB data packet received by the first UWB receiver is switched from an emergency stop signal to a heartbeat signal, the configuration for controlling the relay to activate the emergency stop circuit is as follows: when the UWB data packet received by the first UWB receiver is switched from an emergency stop signal to a heartbeat signal, and the distance between the first UWB receiver and the first transmitter is less than or equal to a set distance, the configuration for controlling the relay to activate the emergency stop circuit is as follows: the first transmitter is the source of the UWB data packet.

6. The emergency stop switch device as described in any one of claims 2-3, characterized in that: The first UWB unit further includes a first UWB transmitter, which is configured to transmit a UWB pulse signal for the receiver of the UWB pulse signal to locate.

7. An emergency stop switch control device, characterized in that: include: The stop control module is configured with two switchable states: non-triggered state and triggered state. The second UWB unit, the stop control module is connected to the second UWB unit; The second UWB unit is configured to: detect the status of the stop control module and send UWB data packets according to the status of the stop control module.

8. The emergency stop switch control device as described in claim 7, characterized in that: The second UWB unit includes a second UWB transmitter and a second control module, and the second UWB transmitter and the second control module are connected. The second UWB transmitter is configured to: send the UWB data packets; The second control module is configured to: generate an emergency stop signal when the stop control module is detected to be in the triggered state, and control the second UWB transmitter to send the UWB data packet encapsulated by the emergency stop signal; and control the second UWB transmitter to send the UWB data packet encapsulated by the heartbeat signal when the stop control module is detected to be in the untriggered state.

9. The emergency stop switch control device as described in claim 8, characterized in that: The second UWB unit also includes a second UWB receiver, which is connected to the second control module; The second UWB receiver is configured to receive UWB pulse signals to locate the second transmitter, which is the source of the UWB pulse signals. The step of generating an emergency stop signal and controlling the second UWB transmitter to send the UWB data packet encapsulated by the emergency stop signal when the stop control module is detected to be in the triggered state is configured as follows: when the angle deviation between the second UWB receiver and the second transmitter is within a preset range, the emergency stop signal is generated and the UWB data packet encapsulated by the emergency stop signal is sent to the second transmitter.

10. The emergency stop switch control device as described in claim 8 or 9, characterized in that: The second control module is configured to: control the second UWB transmitter to transmit the UWB data packet encapsulated by the emergency stop signal at a first frequency, and control the second UWB transmitter to transmit the UWB data packet encapsulated by the heartbeat signal at a second frequency, wherein the first frequency is greater than the second frequency.

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