Monitoring system and autonomous mobile device

Abstract

The utility model provides a monitoring system and an autonomous mobile device, the monitoring system is used for the autonomous mobile device, the autonomous mobile device comprises a motor and a driving device, the driving device is used for driving the motor to operate, and the monitoring system comprises an encoder assembly arranged on the motor and used for collecting a first operation parameter and a second operation parameter of the motor, the encoder assembly is in communication connection with the driving device, and the driving device is used for generating a first speed according to the first operation parameter; the encoder module is connected with the encoder assembly, and the encoder module is used for generating a second speed according to the second operation parameter; and the controller is in communication connection with the driving device and the encoder module and is used for determining the running state of the autonomous moving device according to the first speed and the second speed. According to the utility model, the driving device of the autonomous moving device is used for processing the first operation parameter, so that an encoder module does not need to be independently arranged for the first operation parameter, and the purpose of reducing the cost of the monitoring system is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of circuits, in particular to a monitoring system and an autonomous mobile device. Background Art

[0002] In the related art, in order to ensure the safe operation of the autonomous mobile device, it is necessary to monitor the moving speed of the autonomous mobile device through a speed monitoring system. The existing speed monitoring system requires at least two safety encoder modules. The safety encoder module is an encoder module that meets the safety level of ISO13849-1:2023Cat.3 / PLd (Category3 / Performance LevelD) in the International Organization for Standardization (ISO). The cost of this safety encoder module is relatively high, which leads to an increase in the cost of the autonomous mobile device. Utility Model Content

[0003] The utility model aims to solve at least one of the technical problems existing in the prior art.

[0004] To this end, a first aspect of the utility model provides a monitoring system.

[0005] A second aspect of the present invention provides an autonomous mobile device.

[0006] The first aspect of the utility model provides a monitoring system for an autonomous mobile device, the autonomous mobile device includes a motor and a drive device, the drive device is used to drive the motor to operate, and the monitoring system includes: an encoder component, arranged on the motor, for collecting a first operating parameter and a second operating parameter of the motor, the encoder component is communicatively connected to the drive device, and the drive device is used to generate a first speed according to the first operating parameter; an encoder module, connected to the encoder component, and the encoder module is used to generate a second speed according to the second operating parameter; a controller, communicatively connected to the drive device and the encoder module, and is used to determine the operating state of the autonomous mobile device according to the first speed and the second speed.

[0007] The monitoring system provided by the utility model can be used to monitor the moving speed of the autonomous mobile device during operation to ensure that the autonomous mobile device moves at a safe moving speed during operation and avoid safety accidents caused by excessively fast moving speed of the autonomous mobile device.

[0008] Among them, the autonomous mobile device includes a motor and a driving device. The motor can drive the autonomous mobile device to move by rotating the output shaft, and the driving device can control the motor to realize the rotation of the motor according to the moving speed set in the driving device.

[0009] Furthermore, the monitoring system includes an encoder component, which is disposed on the motor of the autonomous mobile device, and can collect operating parameters of the motor during the operation of the motor of the autonomous mobile device, for example, the encoder component collects pulse signals generated by the motor shaft during the rotation process. It should be noted that the encoder component specifically needs to collect the first operating parameter and the second operating parameter generated by the motor during the operation, that is, the encoder needs to collect at least two operating parameters, and the monitoring system monitors the moving speed of the autonomous mobile device according to the two operating parameters, thereby meeting the safety level of ISO13849-1:2023Cat.3 / PLd (Category3 / Performance Level D).

[0010] Furthermore, the encoder component is connected to the driving device of the autonomous mobile device, and the first operating parameter collected by the encoder component can be processed by the driving device of the autonomous mobile device to generate the first speed of the autonomous mobile device. It can be understood that the encoder component of the monitoring system uses the control system for controlling the operation of the motor in the autonomous mobile device to process the first operating parameter, so that there is no need to set up an encoder unit separately for the first operating parameter, thereby achieving the purpose of reducing the cost of the autonomous mobile device.

[0011] Furthermore, the monitoring system also includes an encoder module, which is connected to the encoder component, so that the second operating parameter collected by the encoder component can be processed to generate a second speed of the autonomous mobile device.

[0012] Furthermore, the monitoring system further includes a controller, and the controller is communicatively connected to the driving device of the autonomous mobile device so that the first speed generated by the driving device after processing the first operating parameter can be transmitted to the driving device. At the same time, the driving device is also connected to the encoder module so that the second speed generated by the encoder module after processing the second operating parameter can be transmitted to the driving device.

[0013] After receiving the first speed and the second speed, the controller can compare the first speed and the second speed, so as to monitor the actual running speed of the autonomous moving device according to the comparison result between the first speed and the second speed.

[0014] Specifically, when the difference between the first speed and the second speed is less than or equal to the preset value, it means that the current moving speed of the autonomous mobile device matches the moving speed set by the driving device, that is, the operation process of the monitoring system is normal and no fault occurs. On the contrary, if the difference between the first speed and the second speed is greater than the preset value, it means that the operation process of the current monitoring system is abnormal, and the moving speed of the autonomous mobile device cannot be guaranteed to be within the safe speed, thereby realizing the monitoring of the moving speed of the autonomous mobile device.

[0015] Furthermore, when the difference between the first speed and the second speed is greater than a preset value, it indicates that the detection of the current moving speed of the autonomous mobile device is inaccurate. At this time, the autonomous mobile device needs to be immediately controlled to stop moving to avoid a safety accident caused by the autonomous mobile device moving too fast.

[0016] The monitoring system provided by the utility model includes an encoder component. The encoder component can collect the first operating parameter and the second operating parameter of the motor during the operation of the motor of the autonomous mobile device, and meet the safety level of ISO13849-1:2023Cat.3 / PLd. Furthermore, the encoder component is connected to the driving device of the autonomous mobile device to realize the first speed generated by processing the first operating parameter through the driving device. The encoder component is also connected to the encoder module, so that the second operating parameter is processed by the encoder module to generate the second speed. The operating state of the autonomous mobile device is further determined by the controller according to the first speed and the second speed to realize the monitoring of the autonomous mobile device. The first operating parameter is processed by the driving device of the autonomous mobile device, so that there is no need to set up an encoder module separately for the first operating parameter, that is, the use of the encoder module is reduced in the monitoring system, thereby achieving the purpose of reducing the cost of the monitoring system.

[0017] In addition, the monitoring system in the above technical solution provided by the utility model may also have the following additional technical features:

[0018] In some technical solutions, optionally, the encoder component includes: a first encoder, arranged at the motor, for collecting a first operating parameter, and the first encoder is connected to a driving device; a second encoder, arranged at the motor, for collecting a second operating parameter, and the second encoder is connected to an encoder module.

[0019] In this technical solution, the encoder assembly may include a first encoder and a second encoder, wherein the first encoder is used to be arranged on the motor of the autonomous mobile device to collect the first operating parameter of the motor. Correspondingly, the second encoder is also used to be arranged on the motor of the autonomous mobile device, but the second encoder is used to collect the second operating parameter of the motor, thereby realizing the simultaneous collection of the operating parameters of the motor by the two encoders, so that the monitoring system can meet the safety level of ISO13849-1:2023Cat.3 / PLd.

[0020] In some technical solutions, optionally, the first encoder and the second encoder are encoders using different working principles.

[0021] In this technical solution, the first encoder and the second encoder do not need to be of the same type or model, that is, the first encoder and the second encoder only need to be able to normally collect the operating parameters of the motor during the operation of the motor.

[0022] In some technical solutions, optionally, the monitoring system also includes: a control switch connected to the controller, and the control switch is used to be set on the driving device; the controller is used to control the operation of the control switch when the difference between the first speed and the second speed is greater than a preset value, so that the driving device stops driving the motor.

[0023] In this technical solution, the monitoring system may further include a control switch, and the control switch is used to control the driving device, thereby enabling the driving device to stop controlling the driving of the motor.

[0024] It is understandable that during the operation of the monitoring system, if it is detected that the difference between the first speed and the second speed is greater than the preset value, it indicates that the operation process of the current monitoring system is abnormal, and the moving speed of the autonomous mobile device cannot be guaranteed to be within the safe speed. At this time, it is necessary to control the autonomous mobile device to stop moving to avoid the autonomous mobile device moving too fast and causing a safety accident. By setting the control switch and connecting the control switch to the controller, when the controller detects that the difference between the first speed and the second speed is greater than the preset value, the controller can immediately control the control switch to realize the operation of the control switch, and the control switch can control the drive device to stop driving the motor, so that the autonomous mobile device can stop moving.

[0025] Specifically, the control switch can be arranged on the driving device, so that the control switch can directly control the driving device. At the same time, the control switch is connected to the controller of the monitoring system, so that when the controller detects that the difference between the first speed and the second speed is greater than a preset value, the control switch can be controlled.

[0026] In some technical solutions, optionally, the monitoring system also includes: a brake device connected to the controller, and the brake device is used to be set on the motor; the controller is used to control the operation of the brake device to stop the rotation of the motor shaft when the difference between the first speed and the second speed is greater than a preset value.

[0027] In this technical solution, the monitoring system may further include a brake device, which is used to control the rotating shaft of the motor, that is, to perform emergency braking on the rotating shaft of the motor so that the rotating shaft of the motor stops rotating quickly.

[0028] It is understandable that during the operation of the monitoring system, if it is detected that the difference between the first speed and the second speed is greater than the preset value, it indicates that the operation process of the current monitoring system is abnormal, and the moving speed of the autonomous mobile device cannot be guaranteed to be within the safe speed. At this time, it is necessary to control the autonomous mobile device to stop moving to avoid the autonomous mobile device moving too fast and causing a safety accident. However, only controlling the drive device by controlling the switch to stop the drive device from driving the motor may cause the motor shaft to be unable to stop rotating immediately, thereby causing the autonomous mobile device to continue to move under the action of inertia. Therefore, by setting the brake device and connecting the brake device to the controller, when the controller detects that the difference between the first speed and the second speed is greater than the preset value, the controller can immediately control the brake device to realize the operation of the brake device, and the brake device can perform emergency braking on the motor shaft, so that the motor shaft stops rotating quickly, and then the autonomous mobile device can stop moving quickly, ensuring the safety of the autonomous mobile device.

[0029] Specifically, the brake device can be arranged on the motor so that the brake device can directly brake the rotating shaft of the motor. At the same time, the brake device is connected to the controller of the monitoring system so that the controller can control the brake device when it is detected that the difference between the first speed and the second speed is greater than a preset value.

[0030] In some technical solutions, optionally, the encoder assembly and the drive device, and the drive device and the controller are connected using a controller area network bus.

[0031] In this technical solution, the encoder assembly and the drive device, as well as the drive device and the controller, can be connected to each other by using a controller area network (CAN) bus.

[0032] By communicating with the encoder assembly and the drive device, as well as with the drive device and the controller through the controller area network bus, the stability of data transmission between the encoder assembly and the drive device, and between the drive device and the controller can be ensured, thereby ensuring the stability and accuracy of the monitoring system operation.

[0033] A second aspect of the present invention provides an autonomous mobile device, comprising: a monitoring system as described in any one of the above technical solutions.

[0034] The autonomous mobile device provided by the utility model includes a monitoring system as in any one of the above-mentioned technical solutions. Through the monitoring system, the moving speed of the autonomous mobile device during operation can be monitored to ensure that the autonomous mobile device moves at a safe moving speed during operation, thereby avoiding safety accidents caused by excessively fast moving speed of the autonomous mobile device.

[0035] At the same time, the encoder component of the monitoring system utilizes the control system in the autonomous mobile device for controlling the motor operation to realize the processing of the first operating parameter, so there is no need to set up a separate encoder unit for the first operating parameter, thereby effectively reducing the manufacturing cost of the autonomous mobile device.

[0036] In some technical solutions, optionally, the autonomous mobile device also includes: a motor; and a driving device connected to the motor and used to control the operation of the motor.

[0037] In this technical solution, the autonomous mobile device includes a motor and a drive device. The motor can drive the autonomous mobile device to move by rotating the output shaft, and the drive device can control the motor to realize the rotation of the motor according to the moving speed set in the drive device.

[0038] The operator can operate the driving device to issue a control instruction to the driving device, and the driving device can determine the operation of the motor according to the control instruction so that the autonomous mobile device can operate according to the operator's instructions.

[0039] In some technical solutions, optionally, the driving device includes: a driver connected to the motor and used to drive the motor to operate, and the driver is also used to generate a first speed according to a first operating parameter; a control chip connected to the driver and used to control the operation of the driver.

[0040] In this technical solution, the driving device may include a driver and a control chip, wherein the control chip may be used to generate control instructions according to the operation of the operator, and then the control chip transmits the control instructions to the driver, and the driver may generate corresponding control signals according to the control instructions, and the control signals may be specifically used to indicate the motor's operating parameters such as speed and torque, and finally, the driver transmits the drive signal to the motor so that the motor can operate according to the drive signal.

[0041] It should be noted that the driver can be used to generate a first speed based on the first operating parameter. That is, the monitoring system uses the driver to process the first operating parameter and generate the first speed, so that there is no need to set up an encoder unit separately for the first operating parameter, thereby achieving the purpose of reducing the cost of the autonomous mobile device.

[0042] Specifically, the autonomous mobile device may be an autonomous mobile robot (AMR) or an automated guided vehicle (AGV).

[0043] 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

[0044] 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:

[0045] Figure 1 The structure block diagram of the monitoring system provided by the embodiment of the utility model is shown;

[0046] Figure 2 The schematic diagram of the structure of the monitoring system provided by the embodiment of the utility model is shown.

[0047] in, Figure 1 and Figure 2 The corresponding relationship between the reference numerals and the component names is as follows:

[0048] 100 monitoring system, 102 encoder assembly, 104 encoder module, 106 controller, 108 first encoder, 110 second encoder, 112 control switch, 114 brake device, 116 controller local area network bus, 200 autonomous mobile device, 202 motor, 204 drive device, 206 driver, 208 control chip. DETAILED DESCRIPTION

[0049] 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.

[0050] 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.

[0051] Refer to the following Figure 1 and Figure 2 To describe the monitoring system and autonomous mobile device provided according to some embodiments of the present invention.

[0052] The utility model provides a monitoring system 100, which is used for an autonomous mobile device 200. The autonomous mobile device 200 includes a motor 202 and a driving device 204. The driving device 204 is used to drive the motor 202 to operate. The monitoring system 100 includes: an encoder component 102, which is arranged on the motor 202 and is used to collect a first operating parameter and a second operating parameter of the motor 202. The encoder component 102 is communicatively connected to the driving device 204, and the driving device 204 is used to generate a first speed according to the first operating parameter; an encoder module 104, which is connected to the encoder component 102, and the encoder module 104 is used to generate a second speed according to the second operating parameter; a controller 106, which is communicatively connected to the driving device 204 and the encoder module 104, and is used to determine the operating state of the autonomous mobile device 200 according to the first speed and the second speed.

[0053] The monitoring system 100 provided by the utility model is as follows: Figure 1 and Figure 2 As shown, it can be used to monitor the moving speed of the autonomous mobile device 200 during operation to ensure that the autonomous mobile device 200 moves at a safe moving speed during operation to avoid safety accidents caused by excessive movement of the autonomous mobile device 200.

[0054] Among them, the autonomous mobile device 200 includes a motor 202 and a driving device 204. The motor 202 can drive the autonomous mobile device 200 to move by rotating the output shaft, and the driving device 204 can control the motor 202 to enable the motor 202 to rotate according to the moving speed set in the driving device 204.

[0055] Furthermore, the monitoring system 100 includes an encoder component 102, which is disposed on the motor 202 of the autonomous mobile device 200, and can collect operating parameters of the motor 202 during the operation of the motor of the autonomous mobile device 200, for example, the encoder component 102 collects pulse signals generated by the rotating shaft of the motor 202 during the rotation process. It should be noted that the encoder component 102 specifically needs to collect a first operating parameter and a second operating parameter generated during the operation of the motor 202, that is, the encoder needs to collect at least two operating parameters, and the monitoring system 100 monitors the moving speed of the autonomous mobile device 200 according to the two operating parameters, thereby meeting the safety level of ISO13849-1:2023Cat.3 / PLd.

[0056] Furthermore, the encoder component 102 is connected to the driving device 204 of the autonomous mobile device 200. The first operating parameter collected by the encoder component 102 can be processed by the driving device 204 of the autonomous mobile device 200, thereby generating a first speed of the autonomous mobile device 200. It can be understood that the encoder component 102 of the monitoring system 100 utilizes the control system used to control the operation of the motor 202 in the autonomous mobile device 200 to process the first operating parameter, so that there is no need to set up an encoder unit separately for the first operating parameter, thereby achieving the purpose of reducing the cost of the autonomous mobile device 200.

[0057] Furthermore, the monitoring system 100 further includes an encoder module 104 , which is connected to the encoder component 102 , so that the second operating parameter collected by the encoder component 102 can be processed to generate a second speed of the autonomous mobile device 200 .

[0058] Specifically, the encoder module 104 may include a safety encoder module, that is, an encoder module 104 that meets the safety level of ISO13849-1:2023Cat.3 / PLd, thereby ensuring that the monitoring process of the monitoring system 100 on the autonomous mobile device 200 meets the safety level of ISO13849-1:2023Cat.3 / PLd.

[0059] Furthermore, the monitoring system 100 further includes a controller 106, and the controller 106 is communicatively connected with the driving device 204 of the autonomous mobile device 200, so that the first speed generated by the driving device 204 after processing the first operating parameter can be transmitted to the driving device 204. At the same time, the driving device 204 is also connected with the encoder module 104, so that the second speed generated by the encoder module 104 after processing the second operating parameter can be transmitted to the driving device 204.

[0060] After receiving the first speed and the second speed, the controller 106 may compare the first speed with the second speed, so as to monitor the actual running speed of the autonomous mobile device 200 according to the comparison result between the first speed and the second speed.

[0061] Specifically, when the difference between the first speed and the second speed is less than or equal to the preset value, it indicates that the current moving speed of the autonomous mobile device 200 matches the moving speed set by the driving device 204, that is, the operation process of the monitoring system 100 is normal and no fault occurs. On the contrary, if the difference between the first speed and the second speed is greater than the preset value, it indicates that the current operation process of the monitoring system 100 is abnormal, and it is impossible to ensure that the moving speed of the autonomous mobile device 200 can be within the safe speed, thereby realizing the monitoring of the moving speed of the autonomous mobile device 200.

[0062] Furthermore, when the difference between the first speed and the second speed is greater than a preset value, it indicates that the detection of the current moving speed of the autonomous mobile device 200 is inaccurate. At this time, the autonomous mobile device 200 needs to be immediately controlled to stop moving to avoid a safety accident caused by the autonomous mobile device 200 moving too fast.

[0063] The monitoring system 100 provided by the utility model includes an encoder component 102. The encoder component 102 can collect the first operating parameter and the second operating parameter of the motor 202 during the operation of the motor 202 of the autonomous mobile device 200, and meet the safety level of ISO13849-1:2023Cat.3 / PLd. Further, the encoder component 102 is connected to the driving device 204 of the autonomous mobile device 200, so that the first operating parameter is processed by the driving device 204 to generate a first speed. The encoder component 102 is also connected to the encoder module 104, so that the second operating parameter is processed by the encoder module 104 to generate a second speed. The operating state of the autonomous mobile device 200 is further determined by the controller 106 according to the first speed and the second speed, so as to monitor the autonomous mobile device 200. The first operating parameter is processed by the driving device 204 of the autonomous mobile device 200, so that there is no need to set up an encoder module 104 separately for the first operating parameter, that is, the use of the encoder module 104 is reduced in the monitoring system 100, thereby achieving the purpose of reducing the cost of the monitoring system 100.

[0064] In some embodiments, optionally, Figure 1As shown, the encoder assembly 102 includes: a first encoder 108, which is arranged on the motor 202 and is used to collect a first operating parameter, and the first encoder 108 is connected to the driving device 204; a second encoder, which is arranged on the motor 202 and is used to collect a second operating parameter, and the second encoder is connected to the encoder module 104.

[0065] In this embodiment, the encoder assembly 102 may include a first encoder 108 and a second encoder 110, wherein the first encoder 108 is used to be arranged on the motor 202 of the autonomous mobile device 200 to collect the first operating parameter of the motor 202. Correspondingly, the second encoder 110 is also used to be arranged on the motor 202 of the autonomous mobile device 200, but the second encoder 110 is used to collect the second operating parameter of the motor 202, so that the operating parameters of the motor 202 are collected simultaneously by two encoders, so that the monitoring system 100 can meet the safety level of ISO13849-1:2023Cat.3 / PLd.

[0066] It should be noted that both the first encoder 108 and the second encoder 110 can be non-safety encoders, that is, the first encoder 108 and the second encoder 110 can only collect the operating parameters of the motor 202, and do not need to meet the safety level of ISO13849-1:2023Cat.3 / PLd, thereby effectively reducing the cost of the first encoder 108 and the second encoder 110, and further reducing the manufacturing cost of the autonomous mobile device 200.

[0067] Furthermore, the first encoder 108 and the second encoder 110 are encoders using different working principles.

[0068] Specifically, the first encoder 108 and the second encoder 110 do not need to be of the same type or model, that is, the first encoder 108 and the second encoder 110 only need to be able to normally collect the operating parameters of the motor 202 during the operation of the motor 202 .

[0069] For example, the first encoder 108 and the second encoder 110 may be incremental encoders or absolute encoders, and specifically may be sine-cosine encoders or A / B encoders.

[0070] In some embodiments, optionally, Figure 1 As shown, the monitoring system 100 also includes: a control switch 112, which is connected to the controller 106, and the control switch 112 is used to be set on the driving device 204; the controller 106 is used to control the control switch 112 to operate when the difference between the first speed and the second speed is greater than a preset value, so that the driving device 204 stops driving the motor 202.

[0071] In this embodiment, the monitoring system 100 may further include a control switch 112 , and the control switch 112 is used to control the driving device 204 , thereby causing the driving device 204 to stop driving the motor 202 .

[0072] It is understandable that during the operation of the monitoring system 100, if it is detected that the difference between the first speed and the second speed is greater than the preset value, it indicates that the operation process of the current monitoring system 100 is abnormal, and the moving speed of the autonomous mobile device 200 cannot be guaranteed to be within the safe speed. At this time, it is necessary to control the autonomous mobile device 200 to stop moving to avoid the autonomous mobile device 200 moving too fast and causing a safety accident. By setting the control switch 112 and connecting the control switch 112 to the controller 106, when the controller 106 detects that the difference between the first speed and the second speed is greater than the preset value, the controller 106 can immediately control the control switch 112 to realize the operation of the control switch 112, and the control switch 112 can control the driving device 204 to stop driving the motor 202, so that the autonomous mobile device 200 can stop moving.

[0073] Specifically, the control switch 112 can be disposed on the driving device 204, so that the control switch 112 can directly control the driving device 204. At the same time, the control switch 112 is connected to the controller 106 of the monitoring system, so that the controller 106 can control the control switch 112 when it is detected that the difference between the first speed and the second speed is greater than a preset value.

[0074] In some embodiments, optionally, Figure 1 As shown, the monitoring system 100 also includes: a brake device 114, which is connected to the controller 106, and the brake device 114 is used to be set on the motor 202; the controller 106 is used to control the operation of the brake device 114 to stop the rotation of the rotating shaft of the motor 202 when the difference between the first speed and the second speed is greater than a preset value.

[0075] In this embodiment, the monitoring system 100 may further include a brake device 114, which is used to control the rotating shaft of the motor 202, that is, to perform emergency braking on the rotating shaft of the motor 202 so that the rotating shaft of the motor 202 stops rotating quickly.

[0076] It is understandable that during the operation of the monitoring system 100, if it is detected that the difference between the first speed and the second speed is greater than the preset value, it indicates that the operation of the current monitoring system 100 is abnormal, and the moving speed of the autonomous mobile device 200 cannot be guaranteed to be within the safe speed. At this time, it is necessary to control the autonomous mobile device 200 to stop moving to avoid safety accidents caused by excessive movement of the autonomous mobile device 200. However, if the driving device 204 is only controlled by the control switch 112 so that the driving device 204 stops driving the motor 202, the shaft of the motor 202 may not stop rotating immediately, thereby causing the autonomous mobile device 200 to continue moving under the action of inertia. Therefore, by setting up the brake device 114 and connecting the brake device 114 to the controller 106, when the controller 106 detects that the difference between the first speed and the second speed is greater than the preset value, the controller 106 can immediately control the brake device 114 to realize the operation of the brake device 114, and the brake device 114 can perform emergency braking on the shaft of the motor 202, so that the shaft of the motor 202 stops rotating quickly, thereby enabling the autonomous mobile device 200 to stop moving quickly, thereby ensuring the safety of the autonomous mobile device 200.

[0077] Specifically, the brake device 114 can be provided on the motor 202, so that the brake device 114 can directly brake the rotating shaft of the motor 202. At the same time, the brake device is connected to the controller 106 of the monitoring system, so that the controller 106 can control the brake device 114 when it is detected that the difference between the first speed and the second speed is greater than a preset value.

[0078] In some embodiments, optionally, Figure 1 As shown, the encoder assembly 102 and the drive device 204 , and the drive device 204 and the controller 106 are connected by a controller area network bus 116 .

[0079] In this embodiment, the encoder assembly 102 and the drive device 204 as well as the drive device 204 and the controller 106 may be connected to each other by using a controller area network (CAN) bus 116 for communication.

[0080] By communicating with each other between the encoder component 102 and the drive device 204 and between the drive device 204 and the controller 106 through the controller LAN bus 116, the stability of data transmission between the encoder component 102 and the drive device 204 and between the drive device 204 and the controller 106 can be ensured, thereby ensuring the stability and accuracy of the operation of the monitoring system 100.

[0081] In addition, the encoder component 102 and the drive device 204, and the drive device 204 and the controller 106 may also be connected to each other through other connection modes. For example, the communication connection between the encoder component 102 and the drive device 204, and the drive device 204 and the controller 106 may be established based on the Transmission Control Protocol / Internet Protocol (TCP / IP protocol).

[0082] In some embodiments of the present invention, an autonomous mobile device 200 is provided, including: a monitoring system 100 as in any one of the above embodiments.

[0083] The autonomous mobile device 200 provided by the utility model includes a monitoring system 100 as in any one of the above-mentioned technical solutions. Through the monitoring system 100, the moving speed of the autonomous mobile device 200 during operation can be monitored to ensure that the autonomous mobile device 200 moves at a safe moving speed during operation, thereby avoiding safety accidents caused by excessive movement of the autonomous mobile device 200.

[0084] At the same time, the encoder component 102 of the monitoring system 100 utilizes the control system in the autonomous mobile device 200 for controlling the operation of the motor 202 to realize the processing of the first operating parameter, so there is no need to set up a separate encoder unit for the first operating parameter, thereby effectively reducing the manufacturing cost of the autonomous mobile device 200.

[0085] In some embodiments, optionally, the autonomous mobile device 200 further includes: a motor 202; and a driving device 204 connected to the motor 202 and used to control the operation of the motor 202.

[0086] In this embodiment, the autonomous mobile device 200 includes a motor 202 and a drive device 204. The motor 202 can drive the autonomous mobile device 200 to move by rotating the output shaft, and the drive device 204 can control the motor 202 to enable the motor 202 to rotate according to the moving speed set in the drive device 204.

[0087] The operator may operate the driving device 204 to issue a control instruction to the driving device 204 , and the driving device 204 may determine the operation of the motor 202 according to the control instruction, so that the autonomous mobile device 200 can operate according to the operator's instructions.

[0088] Furthermore, the driving device 204 includes: a driver 206 connected to the motor 202 and used to drive the motor 202 to operate. The driver 206 is also used to generate a first speed according to a first operating parameter; a control chip 208 connected to the driver 206 and used to control the operation of the driver 206.

[0089] Specifically, the drive device 204 may include a driver 206 and a control chip 208, wherein the control chip 208 may be used to generate a control instruction according to the operation of the operator, and then the control chip 208 transmits the control instruction to the driver 206, and the driver 206 may generate a corresponding control signal according to the control instruction, and the control signal may be specifically used to indicate the speed, torque and other operating parameters of the motor 202, and finally, the driver 206 transmits the drive signal to the motor 202, so that the motor 202 can operate according to the drive signal. Specifically, the control chip 208 is connected to the controller 106 through a transmission interface to receive the control instruction of the controller.

[0090] It should be noted that the driver 206 can be used to generate a first speed based on the first operating parameter. That is, the monitoring system uses the driver 206 to process the first operating parameter and generate the first speed, so that there is no need to set up an encoder unit separately for the first operating parameter, thereby achieving the purpose of reducing the cost of the autonomous mobile device 200.

[0091] During the actual operation of the autonomous mobile device 200, the operation of the monitoring system 100 is evaluated according to the ISO13849-1 standard. According to statistics, during the operation of the monitoring system 100, the diagnosis coverage rate of the fault type reaches 90% to 99%, which has a high diagnosis type coverage rate.

[0092] In addition, the reliability of the monitoring system 100 is evaluated, and the probability of failure of the monitoring system 100 per hour is less than 1×10 -7 %, meeting the safety level of ISO13849-1:2023Cat.3 / PLd.

[0093] Specifically, the probability of failure of the monitoring system 100 per hour includes the sum of the probability of failure in the data transmission process between the encoder component 102, the drive device 204, the encoder module 104 and the controller 106, the probability of failure in the operation of the controller 106, and the probability of failure in the operation of the control switch 112 and the brake device 114.

[0094] In addition, for ISO13849 bSafety level, and relevant standards of the International Electrotechnical Commission (IEC), such as IEC62061, IEC61508, IEC61508 a Etc., the probability of failure of the monitoring system 100 per hour can be met.

[0095] In some embodiments, the autonomous mobile device 200 optionally includes an autonomous mobile robot or an automatic guided transport vehicle.

[0096] Specifically, the autonomous mobile device 200 may be an autonomous mobile robot (AMR) or an automated guided vehicle (AGV).

[0097] In the description of the present invention, the term "plurality" refers to two or more than two. Unless otherwise clearly defined, the orientation or positional relationship indicated by the terms "upper" and "lower" is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention. The terms "connection", "installation", "fixation", etc. should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0098] 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.

[0099] 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 monitoring system for an autonomous mobile device, characterized in that: The autonomous mobile device comprises a motor and a driving device, wherein the driving device is used to drive the motor to operate, and the monitoring system comprises: an encoder component, disposed on the motor, for collecting a first operating parameter and a second operating parameter of the motor, the encoder component being communicatively connected to the drive device, and the drive device being used to generate a first speed according to the first operating parameter; an encoder module connected to the encoder assembly, the encoder module being used to generate a second speed according to the second operating parameter; A controller is communicatively connected with the driving device and the encoder module, and is used to determine the operating state of the autonomous mobile device according to the first speed and the second speed.

2. The monitoring system according to claim 1, characterized in that: The encoder assembly comprises: A first encoder, disposed on the motor, for collecting the first operating parameter, the first encoder being connected to the driving device; The second encoder is arranged on the motor and is used for collecting the second operating parameter. The second encoder is connected to the encoder module.

3. The monitoring system according to claim 2, characterized in that: The first encoder and the second encoder are encoders using different working principles.

4. The monitoring system according to claim 1 or 2, characterized in that: Also includes: A control switch connected to the controller, wherein the control switch is arranged on the driving device; The controller is used for controlling the control switch to operate so that the driving device stops driving the motor to operate when the difference between the first speed and the second speed is greater than a preset value.

5. The monitoring system according to claim 1 or 2, characterized in that: Also includes: A brake device connected to the controller, wherein the brake device is arranged on the motor; The controller is used for controlling the brake device to operate so as to stop the rotation of the rotating shaft of the motor when the difference between the first speed and the second speed is greater than a preset value.

6. The monitoring system according to claim 1 or 2, characterized in that: The encoder component and the driving device, and the driving device and the controller are connected by a controller area network bus.

7. An autonomous mobile device, characterized in that: include: A monitoring system as claimed in any one of claims 1 to 6.

8. The autonomous mobile device according to claim 7, characterized in that: Also includes: Motor; A driving device is connected to the motor and is used to control the operation of the motor.

9. The autonomous mobile device according to claim 7, characterized in that: The driving device comprises: a driver connected to the motor and used to drive the motor to operate, the driver being further used to generate the first speed according to the first operating parameter; A control chip is connected to the driver and is used to control the operation of the driver.

10. The autonomous mobile device according to any one of claims 7 to 9, characterized in that: The autonomous mobile device includes an autonomous mobile robot or an automatic guided vehicle.

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