Robot control system and robot

Abstract

The utility model provides a robot control system and a robot. The robot control system comprises a detection assembly which is used for detecting external environment information of a robot; the driving assembly is used for driving the robot to work; the first controller is in communication connection with the detection assembly and the driving assembly, and the first controller is used for controlling the driving assembly to work according to the external environment information detected by the detection assembly; and the second controller is in communication connection with the detection assembly, the driving assembly and the first controller, and the second controller is used for controlling the working states of the driving assembly and the first controller. According to the robot control system provided by the utility model, the first controller and the second controller are respectively arranged, the first controller can control the driving assembly to work according to the external environment information detected by the detection assembly, and the second controller can control the working states of the driving assembly and the first controller. Namely, the first controller is mainly used for performing motion control on the robot, and the second controller is mainly used for performing safety monitoring on the robot.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, and in particular to a robot control system and a robot. Background Art

[0002] As autonomous mobile robots (AMRs) are increasingly used in industrial sites, it is inevitable that there are areas where people and mobile robots work together. Therefore, while ensuring production efficiency, it is also necessary to pay attention to the safety of personnel. Among related technologies, the safety of robot control systems is relatively low. Utility Model Content

[0003] The utility model aims to solve or improve at least one of the above technical problems.

[0004] Therefore, the first object of the present invention is to provide a robot control system.

[0005] The second purpose of the utility model is to provide a robot.

[0006] To achieve the first purpose of the utility model, the technical solution of the utility model provides a robot control system including: a detection component, the detection component is used to detect the external environment information of the robot; a driving component, the driving component is used to drive the robot to work; a first controller, the first controller is communicated with the detection component and the driving component respectively, and the first controller is used to control the driving component to work according to the external environment information detected by the detection component; a second controller, the second controller is communicated with the detection component, the driving component and the first controller respectively, and the second controller is used to control the working status of the driving component and the first controller.

[0007] The robot control system provided by the utility model mainly includes: a detection component, a drive component, a first controller and a second controller. Among them, the detection component can detect the external environment information of the robot, and the number of the detection components can be multiple. The drive component can drive the robot to work, that is, the drive component can send the control instructions issued by the first controller and / or the second controller to the specific components of the robot, so as to realize the movement and work of the robot. The first controller is connected to the detection component in communication, and can obtain the external environment information detected by the detection component. The first controller is also connected to the drive component in communication, and the first controller can control the drive component to work, that is, the first controller can control the drive component to work according to the external environment information detected by the detection component, so as to realize the normal operation of the robot, that is, the first controller is mainly used to process the motion control logic and the realization of non-safety functions of the robot. The second controller is connected to the detection component in communication, and when the safety protection zone of the detection component is triggered, the detection component will send a trigger signal to the second controller, and the second controller is also connected to the drive component and the first controller in communication. When the second controller receives the trigger signal, the second controller controls the first controller and the drive component to change the working state. The robot control system provided by the utility model is provided with a first controller and a second controller, wherein the first controller is mainly used for motion control logic and non-safety function implementation, and the second controller is used for safety monitoring of the robot, so that the safety electric control circuit in the robot control system can be independent of the motion control, thereby avoiding the instability of the robot control system caused by the coupling of non-safety signals, and further making the safety level of the robot reach PLd (Protection Level Definition, used to evaluate the safety level of different objects in the field of computer security), thereby greatly reducing the risk of personal injury, stabilizing the performance of the robot control system, and improving the robustness of the robot control system.

[0008] In addition, the technical solution provided by the utility model may also have the following additional technical features:

[0009] In some technical schemes, optionally, the drive component includes: a walking servo drive, which is communicated with the first controller and the second controller respectively, and the second controller is used to control the working state of the walking servo drive; and / or a lifting servo drive, which is communicated with the first controller and the second controller respectively, and the second controller is used to control the working state of the lifting servo drive.

[0010] In this technical solution, the driving component may include: a walking servo drive and / or a lifting servo drive. The walking servo drive is connected to the first controller in communication, and the first controller controls the walking servo drive to realize the walking function of the robot. The walking servo drive is also connected to the second controller in communication. When the second controller receives the trigger signal, after waiting for a preset time, the second controller directly disconnects the STO (Safe Torque Off) of the walking servo drive. STO is a safety function of the walking servo drive. When the STO of the walking servo drive is disconnected, the walking servo drive will not be able to provide energy to the motor, that is, the walking servo drive will not be able to drive the robot to perform walking work, thereby ensuring the safety of the robot. The lifting servo drive is connected to the first controller in communication, and the first controller controls the lifting servo drive to realize the lifting function of the robot. The lifting servo drive is also connected to the second controller in communication. When the second controller receives the trigger signal, after waiting for a preset time, the second controller will control the lifting servo drive to cut off the power, so that the lifting servo drive cannot drive the robot to perform lifting work, thereby ensuring the safety of the robot. The utility model realizes the walking function and the lifting function of the robot by setting a walking servo driver and / or a lifting servo driver. The walking servo driver and / or the lifting servo driver are connected to the second controller for communication, so that when the safety protection zone in the detection component is triggered, the second controller can control the walking servo driver and / or the lifting servo driver to stop working, thereby improving the safety of the robot and reducing the occurrence of accidents and losses.

[0011] In some technical solutions, optionally, the drive component also includes: a contactor, the contactor is communicatively connected to the second controller, the contactor is electrically connected to the lifting servo driver, and the second controller controls the contactor to disconnect to control the lifting servo driver to be in a power-off state.

[0012] In this technical solution, the drive component also includes: a contactor. The contactor is communicatively connected with the second controller and electrically connected with the lifting servo driver. Since the lifting servo driver does not have the STO (Safe Torque Off) function, the second controller cannot directly control the lifting servo driver to stop working. Therefore, the second controller is communicatively connected with the contactor, and the contactor is electrically connected with the lifting servo driver. The second controller controls the contactor to disconnect, thereby controlling the lifting servo driver to cut off power. At the same time, the number of contactors can be two. The utility model replaces the STO (Safe Torque Off) function with a double contactor, so that the second controller can control the lifting servo driver to cut off power.

[0013] In some technical solutions, optionally, the robot control system also includes: an emergency stop button, which is connected to the second controller and is used to control the second controller to stop working; and a reset button, which is connected to the second controller and is used to restart the second controller.

[0014] In this technical solution, the robot control system further includes: an emergency stop button and a reset button, wherein the emergency stop button is connected to the second controller, and the second controller stops working in time by triggering the emergency stop button. The reset button is connected to the second controller, and the second controller resumes working or resets the settings in the second controller by triggering the reset button.

[0015] In some technical solutions, optionally, the robot control system also includes: a safety steering encoder, the safety steering encoder is connected to the first controller, and the first controller controls the working state of the robot according to data information of the safety steering encoder.

[0016] In this technical solution, the robot control system also includes: a safety steering encoder. The safety steering encoder can be used to obtain the posture of the robot's differential wheel set and identify the robot's movement direction. The first controller is connected to the safety steering encoder, and the first controller can control the robot's working state according to the data information of the safety steering encoder.

[0017] In some technical schemes, optionally, the robot control system also includes: a motor main encoder component, which is respectively connected to the drive component and the motor, and is used to transmit the speed of the motor to the first controller through the drive component; a motor sub-encoder component, which is respectively connected to the second controller and the motor, and is used to transmit the speed of the motor to the second controller.

[0018] In the technical scheme, the robot control system also includes: a motor main encoder component and a motor sub-encoder component. That is to say, in the utility model, the motor of the robot adopts the form of a dual encoder, wherein the motor main encoder component is connected to the motor and the drive component respectively, and the motor main encoder component can feed back the parameters such as the speed of the motor to the drive component for motion control. Since the first controller is connected to the drive component, the first controller can realize the control of the motor according to the parameters fed back to the drive component, and the first controller will also be transmitted to the second controller via Ethernet. The motor sub-encoder component is connected to the second controller and the motor respectively, and the motor sub-encoder component directly feeds back the parameters such as the speed of the motor to the second controller, so that the second controller can monitor the parameters such as the speed of the motor. By setting the motor main encoder component and the motor sub-encoder component, the robot control system has independent speed monitoring, so that the monitoring is more comprehensive.

[0019] In some technical solutions, optionally, the robot control system also includes: a battery assembly, which is respectively connected to the detection assembly, the drive assembly and the first controller, and is used to provide power to the detection assembly, the drive assembly and the first controller.

[0020] In this technical solution, the robot control system further includes: a battery assembly. The battery assembly is electrically connected to the detection assembly, the drive assembly and the first controller respectively, and the battery assembly can provide electric energy to the detection assembly, the drive assembly and the first controller, so that the detection assembly, the drive assembly and the first controller can work normally.

[0021] In some technical schemes, optionally, the battery assembly includes: a first battery, the first battery is connected to the jacking servo drive through a contactor, and when the contactor is in a disconnected state, the first battery stops supplying power to the jacking servo drive; a second battery, the second battery is connected to the jacking servo drive, and is used to supply power to the jacking servo drive when the first battery stops supplying power to the jacking servo drive.

[0022] In this technical solution, the battery assembly includes a first battery and a second battery. The first battery is electrically connected to the detection assembly, the first controller, the walking servo drive and the safety steering encoder respectively, and can provide power for the detection assembly, the first controller, the walking servo drive and the safety steering encoder. At the same time, the first battery is also connected to the lifting servo drive through a contactor, that is, after the electric energy flows out of the first battery, the electric energy will first flow to the lifting servo drive through the contactor. When the second controller controls the contactor to disconnect, the electric energy cannot flow from the first battery to the lifting servo drive, that is, the lifting servo drive is in a power-off state and cannot work. The second battery is connected to the lifting servo drive, wherein the second battery is in an inoperative state under other circumstances, and only when the first battery stops supplying power to the lifting servo drive, the second battery will supply power to the lifting servo drive, and the power provided by the second battery is less than the power of the first battery, that is, the first battery is the main power supply, and the second battery is the auxiliary power supply. By setting up a second battery, and when the second controller disconnects the power supply between the lifting servo drive and the first battery through the contactor, the second battery supplies power to the lifting servo drive, thereby avoiding encoder data jumps caused by power failure of the lifting servo drive.

[0023] To achieve the second purpose of the utility model, the technical solution of the utility model provides a robot, including: a robot control system as described in any of the above items.

[0024] The robot provided by the utility model includes: the robot control system in any of the above technical solutions, which can achieve the technical effects of any of the above technical solutions. No further details will be given here.

[0025] In some technical solutions, the robot also includes: a first motor, the first motor is connected to a driving component, and the driving component is used to control the working state of the first motor; and / or a second motor, the second motor is connected to the driving component, and the driving component is used to control the working state of the second motor.

[0026] In this technical solution, the robot also includes: a first motor and / or a second motor, wherein the first motor and / or the second motor are respectively connected to a driving component, and the driving component can drive the first motor and / or the second motor to work.

[0027] Additional aspects and advantages of the present invention will become apparent in the following description or will be understood through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0029] Figure 1 One of the structural block diagrams of a robot control system according to an embodiment of the utility model;

[0030] Figure 2 This is a second structural block diagram of a robot control system according to an embodiment of the utility model;

[0031] Figure 3 is a working flow chart of a second controller according to an embodiment of the utility model;

[0032] Figure 4 is a structural block diagram of a robot according to an embodiment of the utility model;

[0033] in, Figure 1 , Figure 2 and Figure 4 The corresponding relationship between the reference numerals and the component names is as follows:

[0034] 10 robot control system, 102 detection component, 104 drive component, 1042 walking servo driver, 1044 lifting servo driver, 1046 contactor, 106 first controller, 108 second controller, 110 emergency stop button, 112 reset button, 114 safety steering encoder, 118 motor main encoder component, 120 motor secondary encoder component, 122 battery component, 1222 first battery, 1224 second battery, 20 robot, 202 first motor, 204 second motor, 30 motor. DETAILED DESCRIPTION

[0035] In order to more clearly understand the above-mentioned purpose, features and advantages of the utility model, the utility model is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0036] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0037] Refer to the following Figures 1 to 4 The present invention describes a robot control system and a robot according to some embodiments of the present invention.

[0038] like Figure 1 As shown, an embodiment of the utility model provides a robot control system 10 including: a detection component 102, the detection component 102 is used to detect external environment information of the robot; a drive component 104, the drive component 104 is used to drive the robot to work; a first controller 106, the first controller 106 is respectively communicated with the detection component 102 and the drive component 104, and the first controller 106 is used to control the drive component 104 to work according to the external environment information detected by the detection component 102; a second controller 108, the second controller 108 is respectively communicated with the detection component 102, the drive component 104 and the first controller 106, and the second controller 108 is used to control the working status of the drive component 104 and the first controller 106.

[0039] like Figure 1 As shown, the robot control system 10 provided by the utility model mainly includes: a detection component 102, a drive component 104, a first controller 106 and a second controller 108. Among them, the detection component 102 can detect the external environment information of the robot, such as identifying external obstacles, etc. For example, the detection component 102 can be a laser radar, a visual sensor, an ultrasonic sensor, etc., through which the obstacles can be identified and the distance between the robot and the obstacles can be determined, wherein the number of detection components 102 can be multiple. The drive component 104 can drive the robot to work, that is, the drive component 104 can send the control instructions issued by the first controller 106 and / or the second controller 108 to the specific components of the robot, thereby realizing the movement and work of the robot.

[0040] The first controller 106 is connected in communication with the detection component 102, and can obtain the external environment information detected by the detection component 102, wherein the first controller 106 and the detection component 102 can be connected in communication via TCP (Transmission Control Protocol) or IP (Internet Protocol). The first controller 106 is also connected in communication with the drive component 104, and the first controller 106 can control the operation of the drive component 104, that is, the first controller 106 can control the operation of the drive component 104 according to the external environment information detected by the detection component 102, thereby realizing the normal operation of the robot, that is, the first controller 106 is mainly used to process the motion control logic of the robot and the realization of non-safety functions. Exemplarily, the first controller 106 can be a self-developed IPC (Industrial Control Computer). The first controller 106 can communicate with the detection component 102 through Ethernet to obtain the external environment information detected by the detection component 102. Then the first controller 106 communicates with the drive component 104 through Canopen (a high-level communication protocol built on a control local area network) to control the action of the drive component 104 and realize the movement of the machine.

[0041] The second controller 108 is communicatively connected with the detection component 102. When the safety protection zone of the detection component 102 is triggered, the detection component 102 will send a trigger signal to the second controller 108, wherein the detection component 102 can configure the safety protection zone according to different scenarios, speeds, and movement directions. For example, when the safety protection zone of the detection component 102 is triggered, the detection component 102 can transmit the trigger signal to the second controller 108 via FsoE (FailSafe Over EtherCAT), and the second controller 108 can be a safety PLC (Programmable Logic Controller). The second controller 108 is also communicatively connected with the drive component 104 and the first controller 106, wherein the second controller 108 can be communicatively connected with the first controller 106 via TCP (Transmission Control Protocol) or IP (Internet Protocol), and the second controller 108 can be connected to the drive component 104 via an encoder or STO (Safe Torque Off). When the second controller 108 receives the trigger signal, the second controller 108 controls the first controller 106 and the drive component 104 to change the working state. For example, when the second controller 108 receives the trigger signal, the second controller 108 can send the trigger signal to the first controller 106 via Ethernet, so that the first controller 106 shuts down. After a preset time, the second controller 108 also controls the drive component 104 to cut off power.

[0042] The robot control system 10 provided by the utility model is provided with a first controller 106 and a second controller 108, wherein the first controller 106 is mainly used to process motion control logic and non-safety function implementation, and the second controller 108 is used to perform safety monitoring on the robot, so that the safety electric control circuit in the robot control system 10 can be independent of the motion control, thereby avoiding the instability of the robot control system 10 caused by the coupling of non-safety signals, and further making the safety level of the robot reach PLd (Protection Level Definition, used to evaluate the safety level of different objects in the field of computer security), thereby greatly reducing the risk of personal injury, stabilizing the performance of the robot control system 10, and improving the robustness of the robot control system 10.

[0043] In some embodiments, optionally, Figure 1As shown, the drive component 104 includes: a walking servo driver 1042, which is communicated with the first controller 106 and the second controller 108 respectively, and the second controller 108 is used to control the working state of the walking servo driver 1042; and / or a lifting servo driver 1044, which is communicated with the first controller 106 and the second controller 108 respectively, and the second controller 108 is used to control the working state of the lifting servo driver 1044.

[0044] In this embodiment, if Figure 1 As shown, the drive assembly 104 may include: a walking servo driver 1042 and / or a lifting servo driver 1044. The walking servo driver 1042 is connected to the first controller 106 in communication, and the first controller 106 controls the walking servo driver 1042 to realize the walking function of the robot. The walking servo driver 1042 is also connected to the second controller 108 in communication. When the second controller 108 receives the trigger signal, after waiting for a preset time, the second controller 108 directly disconnects the STO (Safe Torque Off) of the walking servo driver 1042. STO is a safety function of the walking servo driver 1042. When the STO of the walking servo driver 1042 is disconnected, the walking servo driver 1042 will not be able to provide energy to the motor, that is, the walking servo driver 1042 will not be able to drive the robot to perform walking work, thereby ensuring the safety of the robot. The lifting servo driver 1044 is connected to the first controller 106 in communication, and the first controller 106 controls the lifting servo driver 1044 to realize the lifting function of the robot. The lifting servo driver 1044 is also connected to the second controller 108 in communication. When the second controller 108 receives the trigger signal, after waiting for a preset time, the second controller 108 controls the lifting servo driver 1044 to cut off the power, so that the lifting servo driver 1044 cannot drive the robot to perform the lifting work, thereby ensuring the safety of the robot. The utility model realizes the walking function and the lifting function of the robot by setting the walking servo driver 1042 and / or the lifting servo driver 1044. And the walking servo driver 1042 and / or the lifting servo driver 1044 are connected to the second controller 108 in communication, so that when the safety protection zone in the detection component 102 is triggered, the second controller 108 can control the walking servo driver 1042 and / or the lifting servo driver 1044 to stop working, thereby improving the safety of the robot, thereby reducing the occurrence of accidents and losses.

[0045] In some embodiments, optionally, Figure 1As shown, the drive assembly 104 also includes: a contactor 1046, the contactor 1046 is communicatively connected to the second controller 108, the contactor 1046 is electrically connected to the lifting servo driver 1044, and the second controller 108 controls the contactor 1046 to disconnect to control the lifting servo driver 1044 to be in a power-off state.

[0046] In this embodiment, if Figure 1 As shown, the drive assembly 104 also includes: a contactor 1046. The contactor 1046 is communicatively connected with the second controller 108, and is electrically connected with the lifting servo driver 1044. Since the lifting servo driver 1044 does not have an STO (Safe Torque Off) function, the second controller 108 cannot directly control the lifting servo driver 1044 to stop working. Therefore, the second controller 108 is communicatively connected with the contactor 1046, and the contactor 1046 is electrically connected with the lifting servo driver 1044. The second controller 108 controls the contactor 1046 to disconnect, thereby controlling the lifting servo driver 1044 to cut off power. At the same time, the number of contactors 1046 can be two. The utility model replaces the STO (Safe Torque Off) function with a double contactor 1046, so that the second controller 108 can control the lifting servo driver 1044 to cut off power.

[0047] In some embodiments, optionally, Figure 1 As shown, the robot control system 10 also includes: an emergency stop button 110, which is connected to the second controller 108 and is used to control the second controller 108 to stop working; and a reset button 112, which is connected to the second controller 108 and is used to restart the second controller 108.

[0048] In this embodiment, if Figure 1 As shown, the robot control system 10 further includes: an emergency stop button 110 and a reset button 112, wherein the emergency stop button 110 is connected to the second controller 108, and the second controller 108 stops working in time by triggering the emergency stop button 110. The reset button 112 is connected to the second controller 108, and the second controller 108 is restarted or the settings in the second controller 108 are reset by triggering the reset button 112. Exemplarily, the emergency stop button 110 and the reset button 112 can be directly connected to an IO (Input / Output) module with safety and protection functions in the second controller 108.

[0049] In some embodiments, optionally, Figure 1As shown, the robot control system 10 also includes: a safe steering encoder 1046, which is connected to the first controller 106, and the first controller 106 controls the working state of the robot according to the data information of the safe steering encoder 1046.

[0050] In this embodiment, if Figure 1 As shown, the robot control system 10 also includes: a safety steering encoder 1046. The safety steering encoder 1046 can be used to obtain the posture of the differential wheel set of the robot and identify the movement direction of the robot. The first controller 106 is connected to the safety steering encoder 1046. The first controller 106 can control the working state of the robot according to the data information of the safety steering encoder 1046, for example, according to the different steering of the robot obtained by the safety steering encoder 1046, control the steering of the robot or switch the safety protection zone of the detection component 102.

[0051] In some embodiments, optionally, Figure 2 As shown, the robot control system 10 also includes: a motor main encoder component 118, which is respectively connected to the drive component 104 and the motor 30, and is used to transmit the speed of the motor to the first controller 106 through the drive component 104; a motor sub-encoder component 120, which is respectively connected to the second controller 108 and the motor, and is used to transmit the speed of the motor 30 to the second controller 108.

[0052] In this embodiment, if Figure 2 As shown, the robot control system 10 also includes: a motor main encoder component 118 and a motor sub-encoder component 120. That is to say, in the utility model, the motor of the robot adopts the form of a dual encoder, wherein the motor main encoder component 118 is connected to the motor and the drive component 104 respectively, and the motor main encoder component 118 can feed back the parameters such as the speed of the motor 30 to the drive component 104 for motion control. Since the first controller 106 is connected to the drive component 104, the first controller 106 can realize the control of the motor 30 according to the parameters fed back to the drive component 104, and the first controller 106 can also be transmitted to the second controller 108 via Ethernet. The motor sub-encoder component 120 is connected to the second controller 108 and the motor 30 respectively, and the motor sub-encoder component 120 directly feeds back the parameters such as the speed of the motor 30 to the second controller 108, so that the second controller 108 can monitor the parameters such as the speed of the motor. By setting the motor main encoder component 118 and the motor sub-encoder component 120, the robot control system 10 has independent speed monitoring, so that the monitoring is more comprehensive.

[0053] Exemplarily, the robot may have a walking motor and a lifting motor. The motor main encoder assembly 118 may include a first motor encoder and a second motor encoder. The first motor encoder is connected to the walking servo driver 1042 and the walking motor, respectively, and the first motor encoder can feed back the speed of the walking motor to the first controller 106 through the walking servo driver 1042; the second motor encoder is connected to the lifting servo driver 1044 and the lifting motor, respectively, and the second motor encoder can feed back the speed of the lifting motor to the first controller 106 through the lifting servo driver 1044. The motor sub-encoder assembly 120 may include a third motor encoder and a fourth motor encoder, wherein the third motor encoder is connected to the second controller 108 and the walking motor, respectively, and the third motor encoder can directly feed back the speed of the walking motor to the second controller 108. The fourth motor encoder is connected to the second controller 108 and the lifting motor, respectively, and the fourth motor encoder can directly feed back the speed of the lifting motor to the second controller 108.

[0054] In some embodiments, optionally, Figure 1 As shown, the robot control system 10 also includes: a battery component 122, which is respectively connected to the detection component 102, the drive component 104 and the first controller 106, and is used to provide power to the detection component 102, the drive component 104 and the first controller 106.

[0055] In this embodiment, if Figure 1 As shown, the robot control system 10 further includes: a battery assembly 122. The battery assembly 122 is electrically connected to the detection assembly 102, the drive assembly 104 and the first controller 106 respectively, and the battery assembly 122 can provide power to the detection assembly 102, the drive assembly 104 and the first controller 106, so that the detection assembly 102, the drive assembly 104 and the first controller 106 can work normally.

[0056] In some embodiments, optionally, Figure 1 As shown, the battery assembly 122 includes: a first battery 1222, which is connected to the lifting servo driver 1044 through a contactor 1046, and when the contactor 1046 is in a disconnected state, the first battery 1222 stops supplying power to the lifting servo driver 1044; and a second battery 1224, which is connected to the lifting servo driver 1044, and is used to supply power to the lifting servo driver 1044 when the first battery 1222 stops supplying power to the lifting servo driver 1044.

[0057] In this embodiment, if Figure 1As shown, the battery assembly 122 includes a first battery 1222 and a second battery 1224. The first battery 1222 is electrically connected to the detection assembly 102, the first controller 106, the travel servo driver 1042 and the safety steering encoder 1046, respectively, and can provide power to the detection assembly 102, the first controller 106, the travel servo driver 1042 and the safety steering encoder 1046. At the same time, the first battery 1222 is also connected to the lifting servo driver 1044 through the contactor 1046, that is, after the electric energy flows out of the first battery 1222, the electric energy will first flow to the lifting servo driver 1044 through the contactor 1046. When the second controller 108 controls the contactor 1046 to be disconnected, the electric energy cannot flow from the first battery 1222 to the lifting servo driver 1044, that is, the lifting servo driver 1044 is in a power-off state and cannot work. The second battery 1224 is connected to the lifting servo driver 1044, wherein the second battery 1224 is in an inoperative state under other circumstances, and only when the first battery 1222 stops supplying power to the lifting servo driver 1044, the second battery 1224 will supply power to the lifting servo driver 1044, and the power provided by the second battery 1224 is less than the power of the first battery 1222, that is, the first battery 1222 is the main power source, and the second battery 1224 is the auxiliary power source. By providing the second battery 1224, and when the second controller 108 disconnects the power supply between the lifting servo driver 1044 and the first battery 1222 through the contactor 1046, the second battery 1224 supplies power to the lifting servo driver 1044, thereby avoiding the encoder data jump caused by the power failure of the lifting servo driver 1044.

[0058] like Figure 3As shown, first, the detection component 102 can configure the safety protection zone according to different scenarios, speeds, and movement directions. If the safety protection zone is triggered, the detection component 102 transmits the trigger signal to the second controller 108 through FsoE (FailSafe Over EtherCAT, Fail-Safe Ethernet Protocol). After the second controller receives the signal triggering the safety protection zone, it transmits it to the first controller 106 through Ethernet to perform SS1 type shutdown. After waiting for a certain period of time, the second controller 108 disconnects the STO (Safe Torque Off) function of the walking servo driver 1042 and the first controller 106. At the same time, the first controller 106 controls the walking servo driver 1042 to stop working through Canopen (a high-level communication protocol built on a control area network). At the same time, the power supply of the first battery 1222 of the lifting servo driver 1044 is disconnected through the contactor 1046. In order to avoid the encoder data jump caused by the drive power failure, the second battery 1224 supplies power to the lifting servo driver 1044. When the contactor 1046 is disconnected, the second controller 108 collects the normally closed auxiliary contacts of the contactor 1046 for EDM (External Device Monitor) monitoring. At the same time, the contactor 1046 meets the EN1175 (European Norm 1175) standard.

[0059] The robot control system 10 provided by the utility model enables the robot to have the following advantages: First, the safety of the robot is increased: the safety robot pays more attention to safety in design and manufacturing, and can provide higher safety protection, thereby reducing the occurrence of accidents and losses. Compared with the traditional robot obstacle avoidance strategy, it adds independent walking speed monitoring, lifting speed monitoring, differential wheel rotation direction monitoring, etc., making the monitoring more comprehensive. Secondly, the reliability of the robot is increased: the safety robot needs to adopt more reliable hardware and software design, so as to improve the reliability and stability of the robot and reduce the failure rate. At the same time, the adaptability of the robot is increased: the safety robot needs to take into account a variety of different working scenes and environments, so as to improve the adaptability of the robot and can work in more environments. Then the flexibility of the robot is increased: the safety robot needs to have higher flexibility, can be adjusted and optimized according to different tasks and environments, and can complete more tasks. Finally, it has scalability: the safety robot needs to have higher scalability, and can achieve higher safety and functionality by adding components such as sensors and controllers.

[0060] like Figure 4 As shown, the utility model proposes a robot 20, comprising: a robot control system 10 as any one of the above items.

[0061] The robot 20 provided by the utility model includes: the robot control system 10 in any of the above embodiments. For example, the robot 20 can be an autonomous mobile robot or an automatic guided transport vehicle. The robot 20 provided by the utility model can achieve the technical effects of any of the above embodiments. No further details will be given here.

[0062] In some embodiments, the robot 20 also includes: a first motor 202, the first motor 202 is connected to a driving component, and the driving component is used to control the working state of the first motor 202; and / or a second motor 204, the second motor 204 is connected to the driving component, and the driving component is used to control the working state of the second motor 204.

[0063] In this embodiment, the robot 20 further includes: a first motor 202 and / or a second motor 204, wherein the first motor 202 and / or the second motor 204 are respectively connected to a driving assembly, and the driving assembly can drive the first motor 202 and / or the second motor 204 to work. Exemplarily, the first motor 202 can be a walking motor, and the first motor 202 can be connected to a walking servo driver in the driving assembly, and the first controller controls the first motor by controlling the walking servo driver, so that the robot performs walking work. The second motor 204 can be a lifting motor, and the second motor can be connected to a lifting servo driver in the driving assembly, and the first controller controls the second motor by controlling the lifting servo driver, so that the robot performs lifting work.

[0064] In the present invention, the terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance; the term "plurality" refers to two or more, unless otherwise clearly defined. The terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; "connected" can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0065] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by terms such as "up", "down", "left", "right", "front" and "back" are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or unit referred to must have a specific direction, be constructed and operated in a specific orientation, and therefore, cannot be understood as a limitation on the present invention.

[0066] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0067] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may be subject to various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A robot control system, characterized in that: The robot control system comprises: A detection component, wherein the detection component is used to detect external environment information of the robot; A driving component, wherein the driving component is used to drive the robot to work; a first controller, the first controller being communicatively connected to the detection component and the driving component respectively, and the first controller being used for controlling the driving component to work according to the external environment information detected by the detection component; The second controller is respectively connected to the detection component, the drive component and the first controller for communication, and the second controller is used to control the working state of the drive component and the first controller.

2. The robot control system according to claim 1, characterized in that: The drive assembly comprises: A travel servo driver, wherein the travel servo driver is respectively in communication with the first controller and the second controller, and the second controller is used to control the working state of the travel servo driver; and / or A lifting servo driver is communicatively connected with the first controller and the second controller respectively, and the second controller is used to control the working state of the lifting servo driver.

3. The robot control system according to claim 2, characterized in that: The drive assembly also includes: A contactor is communicatively connected with the second controller, the contactor is electrically connected with the lifting servo driver, and the second controller controls the lifting servo driver to be in a power-off state by disconnecting the contactor.

4. The robot control system according to any one of claims 1 to 3, characterized in that: The robot control system also includes: An emergency stop button, which is connected to the second controller and is used to control the second controller to stop working; A reset button is connected to the second controller and is used to restart the second controller.

5. The robot control system according to any one of claims 1 to 3, characterized in that: Also includes: A safety steering encoder is connected to the first controller, and the first controller controls the working state of the robot according to data information of the safety steering encoder.

6. The robot control system according to any one of claims 1 to 3, characterized in that: The robot control system also includes: A motor main encoder component, the motor main encoder component is connected to the drive component and the motor respectively, and is used to transmit the speed information of the motor to the first controller through the drive component; A motor sub-encoder component is connected to the second controller and the motor respectively, and is used to transmit the speed information of the motor to the second controller.

7. The robot control system according to claim 3, characterized in that: The robot control system also includes: A battery assembly, wherein the battery assembly is respectively connected to the detection assembly, the drive assembly and the first controller, and is used to provide electrical energy to the detection assembly, the drive assembly and the first controller.

8. The robot control system according to claim 7, characterized in that: The battery assembly comprises: A first battery, wherein the first battery is connected to the lifting servo driver through the contactor, and when the contactor is in a disconnected state, the first battery stops supplying power to the lifting servo driver; A second battery is connected to the lifting servo driver and is used for supplying power to the lifting servo driver when the first battery stops supplying power to the lifting servo driver.

9. A robot, characterized in that: include: A robot control system as claimed in any one of claims 1 to 8.

10. The robot according to claim 9, characterized in that: Also includes: A first motor, wherein the first motor is connected to a driving component, and the driving component is used to control a working state of the first motor; and / or A second motor, wherein the second motor is connected to the driving component, and the driving component is used to control the working state of the second motor.

Images