Control methods, devices, electronic equipment, and readable storage media for delivery robots

Abstract

This application relates to the field of equipment control technology, and provides a control method, device, electronic device, and readable storage medium for a delivery robot. The method includes: acquiring the operating current signal and position feedback signal of the servo motor driving the door; determining the real-time load torque characterization value of the servo motor based on the operating current signal; determining the real-time motion state characterization value of the door based on the position feedback signal; determining whether a pinching event has occurred based on the real-time load torque characterization value and the real-time motion state characterization value; and if a pinching event is determined to have occurred, controlling the servo motor to reverse to release the door.

Description

Technical Field

[0001] This application relates to the field of equipment control technology, and in particular to a control method, device, electronic equipment and readable storage medium for a delivery robot. Background Technology

[0002] With the growing demand for intelligent services, delivery robots are being used more and more widely in hotels, hospitals, office buildings, and residences. These robots achieve precise delivery of goods through autonomous navigation and intelligent interaction, effectively improving service efficiency and reducing labor costs.

[0003] However, as a mobile device that coexists with humans in a dynamic environment, its safety design is particularly critical. Especially when users are storing or retrieving items, the opening and closing of the robot's hatch may pose a risk of mechanical pinching, which is directly related to the safety of human-computer interaction and user experience.

[0004] Therefore, optimizing the door safety mechanism of delivery robots and improving safety during use is a pressing technical problem that needs to be solved. Summary of the Invention

[0005] In view of this, embodiments of this application provide a control method, device, electronic device, and readable storage medium for a delivery robot, which can improve safety during use.

[0006] A first aspect of this application provides a control method for a delivery robot, comprising: Collect the operating current signal and position feedback signal of the servo motor driving the hatch; Based on the operating current signal, determine the real-time load torque characterization value of the servo motor; Based on the position feedback signal, determine the real-time motion state characterization value of the hatch; Based on the real-time load torque characterization value and the real-time motion state characterization value, it is determined whether a pinching event has occurred. If a hand-pinching event is detected, the servo motor is controlled to reverse to release the hatch.

[0007] A second aspect of this application provides a control device for a delivery robot, comprising: The acquisition module is used to acquire the operating current signal and position feedback signal of the servo motor that drives the hatch. The first determining module is used to determine the real-time load torque characterization value of the servo motor based on the operating current signal; The second determining module is used to determine the real-time motion state characterization value of the hatch based on the position feedback signal; The judgment module is used to determine whether a pinching event has occurred based on the real-time load torque characterization value and the real-time motion state characterization value. The control module is used to control the servo motor to reverse and release the hatch if a hand-pinching event is detected.

[0008] A third aspect of this application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the above-described method.

[0009] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the above-described method.

[0010] The beneficial effects of this application embodiment compared with the prior art are as follows: It collects the operating current signal and position feedback signal of the servo motor driving the hatch; determines the real-time load torque characterization value of the servo motor based on the operating current signal; and determines the real-time motion state characterization value of the hatch based on the position feedback signal. It can abstract the original signals into physical quantities that directly reflect the output state of the drive end and the motion state of the load end. Based on the real-time load torque characterization value and the real-time motion state characterization value, it determines whether a pinching event has occurred. It utilizes the dynamic temporal characteristics of the sudden change in drive end torque due to the elastic deformation of the pinched object in this specific physical event. By capturing and verifying this specific causal relationship, it can effectively distinguish between a pinching event and a simple, normal high-resistance working condition where load and motion change synchronously, achieving high specificity identification of pinching events. If a pinching event is determined to have occurred, it controls the servo motor to reverse to release the hatch, completing the control from risk detection to active safety protection, transforming the logical judgment result into a substantial safety action, and improving usage safety. Attached Figure Description

[0011] To more clearly illustrate the technical solutions in the embodiments of this application, 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 this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 This is a flowchart illustrating a control method for a delivery robot provided in an embodiment of this application; Figure 2 This is a flowchart illustrating a method for determining a pinching event provided in an embodiment of this application; Figure 3 This is a schematic diagram of the structure of a control device for a delivery robot provided in an embodiment of this application; Figure 4This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0013] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0014] The embodiments of this application can be applied to at least the following scenarios: automated service scenarios requiring high-frequency, close-range human-machine interaction. When a delivery robot performs item delivery tasks in dynamic and unstructured environments such as hotel rooms, hospital wards, offices, or residences, its automatic door opening and closing function is a necessary interface for users to access items. Due to the openness of the usage scenarios, the user group covers different age groups and operating habits, and the operation process may involve situations such as distraction, children touching the robot out of curiosity, or asynchronous timing of user and robot collaboration.

[0015] In environments with frequent interactions and uncertain user behavior, mechanical doors pose a risk of pinching hands during closing due to accidental entry of body parts into the movement path. The essence of this risk lies in the fact that traditional anti-pinch protection mechanisms based on single thresholds, such as current or torque thresholds, struggle to effectively distinguish between pinching events and non-biological resistance encountered during normal door closing, such as slight obstruction of objects or uneven track friction. This can easily lead to false triggering of protective actions, impacting user experience, or, in extreme cases, failure to promptly identify genuine pinching events, causing safety hazards. Therefore, in service robot applications with high interaction and safety requirements, rapid, accurate, and reliable identification of pinching events during door closing has become a pressing technical problem that needs to be solved.

[0016] The following will describe in detail, with reference to the accompanying drawings, a control method and apparatus for a delivery robot according to an embodiment of this application.

[0017] Figure 1 This is a flowchart illustrating a control method for a delivery robot provided in an embodiment of this application. Figure 1 The control method for the delivery robot can be executed by the robot's controller or by the server. For example... Figure 1 As shown, the control method of this delivery robot includes: Step S101: Collect the operating current signal and position feedback signal of the servo motor driving the hatch; Step S102: Determine the real-time load torque characterization value of the servo motor based on the operating current signal; Step S103: Determine the real-time motion state characterization value of the hatch based on the position feedback signal; Step S104: Based on the real-time load torque characterization value and the real-time motion state characterization value, determine whether a pinching event has occurred; Step S105: If a hand-pinching event is detected, control the servo motor to reverse to release the hatch.

[0018] Among them, the real-time load torque characterization value refers to an electrical quantity that is directly related to or proportional to the motor output torque. It is obtained from the operating current signal through a specific conversion relationship and is used to characterize the current load on the motor.

[0019] The real-time motion state characterization value is a physical quantity that reflects the instantaneous speed or trend of the hatch's motion. It is obtained from the position feedback signal through differential or differential operations, and is usually velocity or acceleration, used to characterize the current mechanical motion state of the hatch.

[0020] A hand-pinching incident specifically refers to an unexpected mechanical obstruction caused by a human body part, such as a finger, accidentally entering the movement path during the closing of a hatch.

[0021] In step S101, when the servo motor drives the hatch to move, the phase current obtained from the driver reflects the real-time output state of the motor, while the position information fed back by sensors such as the encoder mounted on the motor shaft accurately records the mechanical displacement of the hatch. For example, the current sampling value inside the motor driver can be read periodically by an analog-to-digital converter, while the pulse signal output by the incremental encoder can be read simultaneously.

[0022] In step S102, according to the electromagnetic torque equation of the motor, under constant magnetic field conditions, the output torque of the motor is proportional to its q-axis current. Therefore, by multiplying the acquired operating current signal by a pre-measured or calculated motor torque constant, i.e., a conversion coefficient, a value proportional to the actual torque can be obtained as the real-time load torque characterization value. For example, if the measured current value at a certain moment is I and the torque constant is Kt, then the calculated real-time load torque characterization value T is the product of Kt and I.

[0023] In step S103, velocity information is obtained by differentiating the position information over consecutive time intervals using kinematic relationships, or by further differentiating the velocity to obtain acceleration. In digital systems, this is typically achieved by differentially calculating the position increments of adjacent sampling periods. For example, if the encoder pulse increment in the current sampling period is ΔP, the displacement corresponding to each pulse is ΔS, and the sampling period is Δt, then the real-time average velocity V for that period can be calculated. That is, V is equal to ΔP multiplied by ΔS and then divided by Δt, and this velocity value is used as the real-time motion state representation value.

[0024] In step S104, the dynamic coupling relationship between load changes and motion response is analyzed. During normal closing, if a uniformly increasing resistance is encountered, such as due to foreign objects on the track, the increase in load torque and the decrease in door speed are basically synchronized or slightly delayed. However, when soft tissue such as a hand is caught, due to the elasticity and deformation of the tissue, the motor current, which represents the torque value, will first rise sharply, while the actual mechanical movement of the door will have a slight lag in the deceleration of the motion state value due to the compression and buffering of the soft tissue.

[0025] Therefore, by monitoring the moment of abrupt change in the torque characterization value and the moment when the motion state characterization value begins to decrease significantly, and calculating the time difference between the two, normal resistance and sudden pinching can be effectively distinguished. For example, when the system detects that the rate of increase of the real-time load torque characterization value exceeds a preset abrupt change threshold within 1 millisecond, this instant is marked as the torque abrupt change moment T1; simultaneously, it detects that the rate of decrease of the real-time motion state characterization value subsequently exceeds another threshold, and this instant is marked as the motion deceleration moment T2. If the calculation shows that T1 is earlier than T2, and the time difference between the two is greater than a typical mechanical response delay time, such as 5 milliseconds, then a pinching event is determined to have occurred.

[0026] In step S105, after confirming a dangerous event, an emergency command is immediately sent to the motor driver to interrupt the current closing action and command the motor to rotate in the opposite direction, thereby driving the hatch to open in the reverse direction and releasing the trapped object. For example, after the controller detects a hand being trapped, it immediately generates a reverse pulse sequence to control the motor to run in the opposite direction at a specific speed and angle, causing the hatch to open a safe distance.

[0027] In the embodiments of this application, the operating current signal and position feedback signal of the servo motor driving the hatch are collected; the real-time load torque characterization value of the servo motor is determined based on the operating current signal; the real-time motion state characterization value of the hatch is determined based on the position feedback signal; the original signals can be abstracted into physical quantities that directly reflect the output state of the drive end and the motion state of the load end. Based on the real-time load torque characterization value and the real-time motion state characterization value, it is determined whether a pinching event has occurred; utilizing the dynamic timing characteristics of the sudden change in the drive end torque due to the elastic deformation of the pinched object in the specific physical event of pinching, by capturing and verifying this specific causal relationship, it is possible to effectively distinguish between a pinching event and a simple normal high-resistance working condition where the load and motion change synchronously, thus achieving high specificity identification of pinching events; if a pinching event is determined to have occurred, the servo motor is controlled to reverse to release the hatch, completing the control from risk detection to active safety protection, transforming the logical judgment result into a substantial safety action, and improving the safety of use.

[0028] In some embodiments, step S101 may specifically include the following steps: The analog current signal is acquired at a preset sampling frequency by a current sampling unit coupled in the servo motor drive circuit; The analog current signal is converted into a digital operating current signal through an analog-to-digital converter.

[0029] A current sampling unit coupled to the servo motor drive circuit acquires analog current signals at a preset sampling frequency. The current sampling unit can be a precision sampling resistor connected in series in the drive circuit, working in conjunction with a differential amplifier, or it can be a motor drive chip integrating current sensing functionality. The preset sampling frequency must be chosen to capture instantaneous changes in current, for example, set to no less than 1000 Hz, to ensure effective identification of current surges in subsequent steps.

[0030] The analog current signal is converted into a digital current signal by an analog-to-digital converter (ADC). The ADC should have sufficient accuracy and conversion speed, for example, using an ADC with a resolution of at least 12 bits, and its conversion rate should match the preset sampling frequency to ensure that the dynamic characteristics of the analog current signal are accurately and without distortion.

[0031] Meanwhile, step S101 also includes acquiring a position feedback signal through a position sensing unit. The position sensing unit can be an optical encoder or a magnetic encoder mounted on the servo motor shaft. This unit monitors the motor's rotation angle or accumulated pulse count in real time and outputs it as a digital signal or a specific protocol, constituting the position feedback signal. The update frequency of the position feedback signal also needs to be sufficiently high to synchronize with the operating current signal in time, providing an accurate timing basis for subsequent calculations of real-time motion state characterization values.

[0032] In some embodiments, step S102 may specifically include the following steps: The collected operating current signal is converted and calculated using a pre-calibrated torque-current conversion coefficient to obtain the real-time load torque characterization value.

[0033] The torque-to-current conversion factor is a constant value associated with a specific servo motor and its operating point, establishing a linear proportional relationship between the motor winding current and the electromagnetic torque it produces. This factor is typically provided by the manufacturer at the time of motor shipment, or can be obtained experimentally through calibration in specific control modes.

[0034] For permanent magnet synchronous motors, in their field-oriented control mode, the output torque is proportional to the q-axis current component. For brushed DC motors, the output torque is proportional to the armature current. Therefore, regardless of the specific motor type, under stable magnetic field conditions, there exists a definite coefficient that allows the real-time torque to be accurately calculated from the measured current value. This conversion calculation can be a scalar multiplication operation. For example, multiplying the digital current value I_adc obtained after analog-to-digital conversion at a certain moment by the pre-calibrated torque-current conversion coefficient K_t directly yields the corresponding real-time load torque characterization value T_char, whose calculation formula is essentially T_char = K_t × I_adc. This process is performed in real time within each signal sampling period.

[0035] Utilizing the inherent physical characteristics of the motor, the easily measurable electrical current signal is mapped to a real-time load torque value, a physical quantity that intuitively reflects the mechanical load, through linear calculation. This conversion process involves minimal computation, meeting the stringent real-time requirements of anti-pinch detection. Furthermore, because it relies on pre-calibrated fixed coefficients, it provides a solid and consistent data foundation for subsequent steps to accurately detect torque surges.

[0036] In some embodiments, step S103 may specifically include the following steps: Differential calculations are performed on the continuous position feedback signals to obtain the real-time movement speed value of the hatch; The real-time motion speed value is determined as the real-time motion state characterization value.

[0037] Specifically, differential arithmetic is a mathematical method in digital signal processing for calculating the change in signal value within adjacent sampling periods, used to approximate the rate of change of a physical quantity. Real-time motion velocity is a scalar value obtained by calculating the change in the hatch position per unit time, used to quantitatively describe the instantaneous speed of the hatch movement.

[0038] Based on the classic kinematic definition, instantaneous velocity is the first derivative of displacement with respect to time. In practical systems composed of digital position sensors, continuous derivatives are not readily available; therefore, a difference method is used to approximate the instantaneous velocity. Specifically, the position feedback signal is typically updated periodically in the form of discrete pulse counts or angle values. The difference between the position value obtained in the current sampling period and the previous sampling period is recorded; this difference represents the displacement increment of the hatch within a known, fixed sampling time interval. Dividing the displacement increment by the length of the sampling period yields the average velocity within that time window, which is then used as the real-time velocity value at the current moment.

[0039] For example, the encoder feeds back a position value of P1 at time t1 and a position value of P2 at time t2, with a time interval of Δt, i.e., the sampling period. Then, the real-time velocity value V obtained through differential calculation is the difference between P2 and P1, divided by Δt, i.e., V = (P2 - P1) / Δt. This calculated velocity value V is directly used as the real-time motion state representation of the hatch's current motion state.

[0040] Transforming raw position information into motion state information that better reflects the dynamic process involves differential operations. The differential operation itself is computationally simple, consumes very few processor resources, and can follow position signal updates without lag, ensuring the high timeliness of the obtained real-time motion velocity values. This is crucial for capturing subtle and rapid changes in motion state during a pinching event. By differentiating the position signal to obtain velocity, the system can be upgraded from simple displacement monitoring to monitoring motion trends. This provides indispensable key state variables for subsequent analysis of the temporal causal relationship between load changes and motion response.

[0041] In some embodiments, step S104 may specifically include the following steps: Step S201: When the slope of the real-time load torque characterization value exceeds the preset first slope threshold, it is determined that the load of the servo motor has started to undergo abnormal changes, and the moment when the slope of the value first exceeds the first slope threshold is recorded as the first moment. Step S202: When the slope of the real-time motion state characterization value exceeds the preset second slope threshold, it is determined that the motion of the hatch begins to decelerate due to obstruction, and the moment when the slope of the value first exceeds the second slope threshold is recorded as the second moment. Step S203: Calculate the time difference between the first time point and the second time point; Step S204: If the time difference is positive and its absolute value is greater than the preset delay threshold, it is determined that the abnormal change in load precedes the obstructed deceleration of motion in time, and a hand-pinching event is confirmed.

[0042] Specifically, the numerical rising slope refers to the rate at which the real-time load torque characterization value increases over time. It is obtained by performing differential or derivative operations on continuous sampling values ​​of this characterization value; a positive value indicates that the torque is increasing. The numerical falling slope refers to the rate at which the real-time motion state characterization value decreases over time; a negative value indicates that the motion speed is decreasing. The first slope threshold and the second slope threshold are pre-set critical values ​​used to determine whether the change is drastic enough to constitute an abnormal event. The delay threshold is a pre-set minimum time value used to determine whether there is a significant and physically consistent time interval between two events.

[0043] The essence of a hand-pinching incident is the instantaneous dynamic coupling between a motor-driven system and a human body with elastic and damping characteristics. When the door contacts the hand, the motor's load torque increases sharply immediately due to the resistance encountered. This is manifested in the fact that the rate of increase of the real-time load torque value instantaneously exceeds the rate of change under normal operating conditions. At the same time, since human soft tissue is not a rigid body, it deforms in the initial stage of compression. This buffering effect causes a slight lag in the actual mechanical deceleration of the door.

[0044] Therefore, this sequence is captured by continuously calculating and monitoring the rate of change of two key physical quantities, and the latest slope of the real-time load torque characterization value is calculated in each control cycle. For example, when the calculated current torque slope exceeds the first slope threshold for two consecutive sampling cycles, the system determines that an abnormal load change has occurred and marks the precise moment of the first over-limit as the first moment T1. In parallel, the system also calculates the slope of the real-time motion state characterization value. For example, when the calculated current velocity slope is below the second slope threshold for two consecutive sampling cycles, the system determines that the door movement has begun to decelerate significantly due to obstruction and marks the precise moment of the first over-limit as the second moment T2.

[0045] The time difference ΔT is calculated, which is T2 minus T1. A logical judgment is then executed, involving dual verification: first, verifying the timing relationship, ΔT must be greater than zero, confirming that the torque surge indeed occurs before deceleration; second, verifying the significance of the time interval, the absolute value of ΔT must be greater than a preset delay threshold, eliminating minor, random timing differences caused by sensor noise or computational jitter, ensuring that the detected phenomenon is a physically meaningful and genuine leading-time event. Only when both conditions are simultaneously met does the system ultimately confirm that a hand-pinching event has occurred.

[0046] Using a slope threshold instead of a single amplitude threshold allows the system to more sensitively capture sudden changes in the dynamic trends of load and motion, rather than just focusing on their absolute magnitude, thus triggering early warnings. By accurately capturing the first and second moments and analyzing their timing relationship, the core characteristic of the pinching event—a sudden surge in current and torque followed by impeded motion—is directly verified at the physical level. This fundamentally distinguishes the pinching event from normal operating conditions where the load and motion change synchronously despite encountering significant resistance, such as uniformly pushing a heavy object, thereby greatly reducing the system's false alarm rate. By setting a reasonable delay threshold, high-frequency noise and minor fluctuations in the signal can be effectively filtered out to prevent interference with timing judgment, further enhancing the robustness and reliability of the entire judgment process.

[0047] In some embodiments, when a pinching event is determined to have occurred, event data at the time of the event is recorded. The event data includes at least one of the following: current waveform data, position data, and corresponding timing information. Upload the event data to the associated backend management system.

[0048] Event data specifically refers to the set of raw or processed data captured and stored from sensors and processors within a preset time window before and after the point in time when the system confirms a pinching event. Current waveform data includes a sequence of continuous sampled values ​​of the operating current signal within the time window. Position data includes a sequence of continuous sampled values ​​of the position feedback signal within the same time window. Timing information includes at least a time stamp indicating when the pinching event is confirmed, and may further include precise timestamps for the first and second moments.

[0049] For example, the system allocates a buffer in non-volatile memory to continuously store high-frequency sampled data from the most recent few seconds in a first-in, first-out (FIFO) manner, including raw or pre-processed current and position signals. Once a gripper detection triggers, the system locks the contents of the current buffer, packages a complete data segment before and after the trigger point, along with a precise timestamp, into a structured event data record. When system communication resources allow, such as when the robot connects to a Wi-Fi network or returns to the charging dock, this record is automatically uploaded to a centralized backend management system via its network communication module.

[0050] Recording and uploading detailed event data provides complete data traceability for each triggered anti-pinch action. In case of disputes or when verification is required, the system state at the time of the event can be accurately reconstructed by replaying the synchronous waveforms of current and position, determining whether the action was correct. Secondly, the event data collected in these real-world scenarios constitutes a valuable database. Technicians can analyze this large amount of data to gain a deeper understanding of the signal characteristics of pinching events under various conditions, such as the signal differences when hands are pinched at different ages. This information can then be used to optimize key parameters such as the slope threshold and delay threshold, making the judgment algorithm more accurate. Furthermore, analyzing data from falsely triggered events helps identify and differentiate interference patterns that are similar to pinching signals but belong to normal operating conditions, thereby continuously reducing the system's false alarm rate.

[0051] In some embodiments, step S105 may specifically include the following steps: Generate a sequence of motor control commands that includes emergency braking and reverse motion commands; According to the motor control command sequence, the servo motor is controlled to stop its current direction of movement and drive the hatch to move in the opposite direction for a preset safe release stroke.

[0052] Specifically, the motor control command sequence is a set of digital commands generated by the controller according to predetermined logic and timing, used to directly command the motor drive. The emergency braking command is designed to quickly stop the motor from rotating in its current direction, typically achieved through dynamic braking by sending a zero-speed command to the drive or applying a short reverse pulse. The reverse motion command follows braking and commands the motor to rotate in the opposite direction to its previous movement. The preset safety release stroke is a minimum reverse movement distance or angle pre-set according to the hatch's mechanical structure and safety requirements, ensuring the complete release of any potentially trapped object. This distance or angle is converted into the specific number of rotations or steps the motor needs to perform.

[0053] The control logic immediately switches from monitoring mode to safety handling mode. First, an emergency braking command is generated. The core objective of this command is to immediately eliminate the driving force causing clamping. For example, the controller can send a rapid stop command to the servo driver via a specific communication interface. Upon receiving the command, the driver immediately cuts off the positive torque output and may activate an internal energy-dissipating braking circuit to stop the motor shaft from rotating in the shortest possible time. After confirming that the motor speed has dropped to zero or after a very short safety delay, a reverse motion command is generated.

[0054] For example, the controller sends a new target position command to the driver, which is calculated based on the motor's current position plus a reverse displacement corresponding to the safety release stroke. The driver then drives the motor to rotate in the opposite direction at a controlled speed and acceleration according to this command. The generation and transmission of the entire motor control command sequence must be completed in a very short time to ensure that the overall response delay from detecting a gripper to initiating the release action is as short as possible.

[0055] By generating and executing a structured sequence of motor control commands, the system achieves precise and orderly control of the motor. A clear emergency braking command can quickly terminate dangerous actions and prevent further increase in clamping force, which is the first step in mitigating potential injury. Reverse movement commands directly drive the hatch to open, providing a definite mechanical action for forward release of the clamp; compared to simply stopping movement, this is a proactive and positive protective measure. A preset safe release stroke is a key safety parameter, ensuring that the hatch has sufficient reverse movement to release the clamped object, avoiding secondary risks caused by insufficient reversal angle.

[0056] All of the above-mentioned optional technical solutions can be combined in any way to form the optional embodiments of this application, and will not be described in detail here.

[0057] The following are embodiments of the apparatus described in this application, which can be used to execute the embodiments of the method described in this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the method described in this application.

[0058] Figure 3 This is a schematic diagram of a control device for a delivery robot provided in an embodiment of this application. Figure 3 As shown, the control device of the delivery robot includes: The acquisition module 301 is used to acquire the operating current signal and position feedback signal of the servo motor driving the hatch. The first determining module 302 is used to determine the real-time load torque characterization value of the servo motor based on the operating current signal. The second determining module 303 is used to determine the real-time motion state characterization value of the hatch based on the position feedback signal; The judgment module 304 is used to determine whether a pinching event has occurred based on the real-time load torque characterization value and the real-time motion state characterization value. The control module 305 is used to control the servo motor to reverse and release the hatch if a hand-pinching event is detected.

[0059] In some embodiments, the determination module 304 is specifically used for: When the slope of the real-time load torque characterization value exceeds the preset first slope threshold, it is determined that the load of the servo motor has started to undergo abnormal changes, and the moment when the slope of the value first exceeds the first slope threshold is recorded as the first moment. When the slope of the real-time motion state characterization value exceeds the preset second slope threshold, it is determined that the movement of the hatch begins to decelerate due to obstruction, and the moment when the slope of the value first exceeds the second slope threshold is recorded as the second moment. Calculate the time difference between the first and second moments; If the time difference is positive and its absolute value is greater than the preset delay threshold, it is determined that the abnormal change in load precedes the obstructed deceleration of motion in time, and a hand-pinching event is confirmed.

[0060] In some embodiments, the first determining module 302 is specifically used for: The collected operating current signal is converted and calculated using a pre-calibrated torque-current conversion coefficient to obtain the real-time load torque characterization value.

[0061] In some embodiments, the second determining module 303 is specifically used for: Differential calculations are performed on the continuous position feedback signals to obtain the real-time movement speed value of the hatch; The real-time motion speed value is determined as the real-time motion state characterization value.

[0062] In some embodiments, the control device of the delivery robot further includes: The recording module is used to record event data when a pinching event is determined to have occurred. The event data includes at least one of the following: current waveform data, position data, and corresponding timing information. The upload module is used to upload event data to the associated backend management system.

[0063] In some embodiments, the control module 305 is specifically used for: Generate a sequence of motor control commands that includes emergency braking and reverse motion commands; According to the motor control command sequence, the servo motor is controlled to stop its current direction of movement and drive the hatch to move in the opposite direction for a preset safe release stroke.

[0064] In some embodiments, the acquisition module 301 is specifically used for: The analog current signal is acquired at a preset sampling frequency by a current sampling unit coupled in the servo motor drive circuit; The analog current signal is converted into a digital operating current signal through an analog-to-digital converter.

[0065] According to the technical solution provided in this application embodiment, the operating current signal and position feedback signal of the servo motor driving the hatch are collected; the real-time load torque characterization value of the servo motor is determined based on the operating current signal; the real-time motion state characterization value of the hatch is determined based on the position feedback signal; the original signals can be abstracted into physical quantities that directly reflect the output state of the drive end and the motion state of the load end. Based on the real-time load torque characterization value and the real-time motion state characterization value, it is determined whether a pinching event has occurred; utilizing the dynamic timing characteristics of the sudden change in the drive end torque due to the elastic deformation of the pinched object in the specific physical event of pinching, by capturing and verifying this specific causal relationship, it is possible to effectively distinguish between a pinching event and a simple normal high-resistance working condition where the load and motion change synchronously, thus achieving high specificity identification of pinching events; if a pinching event is determined to have occurred, the servo motor is controlled to reverse to release the hatch, completing the control from risk detection to active safety protection, transforming the logical judgment result into a substantial safety action, and improving the safety of use.

[0066] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0067] Figure 4 This is a schematic diagram of the electronic device 4 provided in an embodiment of this application. Figure 4As shown, the electronic device 4 of this embodiment includes: a processor 401, a memory 402, and a computer program 403 stored in the memory 402 and executable on the processor 401. When the processor 401 executes the computer program 403, it implements the steps in the various method embodiments described above. Alternatively, when the processor 401 executes the computer program 403, it implements the functions of each module / unit in the various device embodiments described above.

[0068] Electronic device 4 can be a desktop computer, laptop, handheld computer, cloud server, or other electronic device. Electronic device 4 may include, but is not limited to, processor 401 and memory 402. Those skilled in the art will understand that... Figure 4 This is merely an example of electronic device 4 and does not constitute a limitation on electronic device 4. It may include more or fewer components than shown, or different components.

[0069] The processor 401 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0070] The memory 402 can be an internal storage unit of the electronic device 4, such as a hard disk or RAM of the electronic device 4. The memory 402 can also be an external storage device of the electronic device 4, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, Flash Card, etc., equipped on the electronic device 4. The memory 402 can also include both internal and external storage units of the electronic device 4. The memory 402 is used to store computer programs and other programs and data required by the electronic device.

[0071] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0072] If an integrated module / unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program may include computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. A computer-readable medium may include: any entity or device capable of carrying computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in a computer-readable medium can be appropriately added to or subtracted according to the requirements of legislation and patent practice in a jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electrical carrier signals and telecommunication signals.

[0073] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A control method of a delivery robot, characterized by, The method includes: Collect the operating current signal and position feedback signal of the servo motor driving the hatch; Based on the operating current signal, determine the real-time load torque characterization value of the servo motor; Based on the position feedback signal, determine the real-time motion state characterization value of the hatch; Based on the real-time load torque characterization value and the real-time motion state characterization value, determine whether a pinching event has occurred; If the hand-pinching event is detected, the servo motor is controlled to reverse to release the hatch.

2. The method of claim 1, wherein, The step of determining whether a pinching event has occurred based on the real-time load torque characterization value and the real-time motion state characterization value includes: When the slope of the real-time load torque characterization value exceeds the preset first slope threshold, it is determined that the load of the servo motor has started to undergo abnormal change, and the moment when the slope of the value first exceeds the first slope threshold is recorded as the first moment. When the slope of the real-time motion state characterization value exceeds the preset second slope threshold, it is determined that the movement of the hatch begins to decelerate due to obstruction, and the moment when the slope of the value first exceeds the second slope threshold is recorded as the second moment. Calculate the time difference between the first time point and the second time point; If the time difference is positive and its absolute value is greater than the preset delay threshold, it is determined that the abnormal change in the load precedes the obstructed deceleration of the movement in time, and the hand-clamping event is confirmed to have occurred.

3. The method of claim 1, wherein, Determining the real-time load torque characterization value of the servo motor based on the operating current signal includes: The collected operating current signal is converted and calculated using a pre-calibrated torque-current conversion coefficient to obtain the real-time load torque characterization value.

4. The method of claim 1, wherein, Determining the real-time motion state characterization value of the hatch based on the position feedback signal includes: Differential operation is performed on the continuous position feedback signals to obtain the real-time movement speed value of the hatch; The real-time motion speed value is determined as the real-time motion state characterization value.

5. The method of claim 1, wherein, The method further includes: When the pinching event is determined to have occurred, the event data at the time of the event is recorded. The event data includes at least one of the following: current waveform data, position data and corresponding timing information. The event data is uploaded to the associated backend management system.

6. The method of claim 1, wherein, If the hand-clamping event is determined to have occurred, the step of controlling the servo motor to reverse in order to release the hatch includes: Generate a sequence of motor control commands that includes emergency braking and reverse motion commands; According to the motor control command sequence, the servo motor is controlled to stop its current direction of movement and drive the hatch to move in the opposite direction for a preset safe release stroke.

7. The method according to any one of claims 1 to 6, characterized in that, The operating current signal of the servo motor driving the hatch is collected, including: The analog current signal is acquired at a preset sampling frequency by a current sampling unit coupled in the servo motor drive circuit. The analog current signal is converted into the digital form of the operating current signal by an analog-to-digital converter.

8. A control device for a delivery robot, characterized in that, include: The acquisition module is used to acquire the operating current signal and position feedback signal of the servo motor that drives the hatch. The first determining module is used to determine the real-time load torque characterization value of the servo motor based on the operating current signal; The second determining module is used to determine the real-time motion state characterization value of the hatch based on the position feedback signal; The judgment module is used to determine whether a pinching event has occurred based on the real-time load torque characterization value and the real-time motion state characterization value. The control module is configured to, if the hand-clamping event is determined to have occurred, control the servo motor to reverse in order to release the hatch.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 7.

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