CN109109019A - Electrification control method, device, storage medium and the electronic device of robot - Google Patents

Electrification control method, device, storage medium and the electronic device of robot Download PDF

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Publication number
CN109109019A
CN109109019A CN201811082313.0A CN201811082313A CN109109019A CN 109109019 A CN109109019 A CN 109109019A CN 201811082313 A CN201811082313 A CN 201811082313A CN 109109019 A CN109109019 A CN 109109019A
Authority
CN
China
Prior art keywords
torque
robot
servo motor
target site
tenesmus
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201811082313.0A
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Chinese (zh)
Inventor
黄侠
高小云
杨裕才
钟文涛
张志波
李丽仪
曹磊
李水飞
胡思源
王林冰
徐晓应
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Gree Electric Appliances Inc of Zhuhai
Zhuhai Gree Intelligent Equipment Co Ltd
Original Assignee
Gree Electric Appliances Inc of Zhuhai
Zhuhai Gree Intelligent Equipment Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Gree Electric Appliances Inc of Zhuhai, Zhuhai Gree Intelligent Equipment Co Ltd filed Critical Gree Electric Appliances Inc of Zhuhai
Priority to CN201811082313.0A priority Critical patent/CN109109019A/en
Publication of CN109109019A publication Critical patent/CN109109019A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P5/00Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H02P5/46Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another

Abstract

The present invention provides a kind of electrification control method of robot, device, storage medium and electronic devices.This method comprises: in the case where being powered on for the first time to robot, read the tenesmus information of the first torque of target servo motor output and the target site of robot, wherein, target servo motor is used to export electromagnetic force for target site, and tenesmus information is used to indicate the tenesmus that target site is generated when powering on;The second torque is determined according to the first torque and tenesmus information, wherein the second torque is the torque that target site can be made not generate tenesmus information when powering on to robot;In the case where robot powers on again, powered on again according to the second moment of torsion control robot.Through the invention, it solves the problems, such as that safety is lower when robot powers in the related technology, and then has reached the lower effect of safety when robot powers in the related technology.

Description

Electrification control method, device, storage medium and the electronic device of robot
Technical field
The present invention relates to electricity fields, are situated between in particular to a kind of electrification control method of robot, device, storage Matter and electronic device.
Background technique
It is normal in robot in use, motor internal contracting brake is opened when upper enabled, it may appear that the arm of robot can drop one The phenomenon that point point, a weight being connect like manpower, hand can also drop a little, this power is stepped up when powering on every time, Robot field is commonly called as if things go on like this causing accident for phenomenon of nodding.
For above-mentioned problem, currently no effective solution has been proposed.
Summary of the invention
The embodiment of the invention provides a kind of electrification control method of robot, device, storage medium and electronic device, with At least solve the problems, such as that safety is lower when robot powers in the related technology.
According to one embodiment of present invention, a kind of electrification control method of robot is provided, comprising: for the first time to machine In the case that device people powers on, the target site of the first torque and the robot that target servo motor exports is read Drop information, wherein the target servo motor is used to export electromagnetic force for the target site, and the tenesmus information is for referring to Show the tenesmus that the target site is generated when powering on;The second torque is determined according to first torque and the tenesmus information, Wherein, second torque is that the target site can be made not generate the tenesmus letter when powering on to the robot The torque of breath;In the case where the robot powers on again, carried out again according to robot described in second moment of torsion control It powers on.
Optionally, the target servo motor includes multiple servo motors, and the target site includes multiple positions, described Multiple servo motors and the multiple position correspond, wherein read the first torque and the institute of the output of target servo motor The tenesmus information for stating the target site of robot includes: to read each servo motor output included by the target servo motor The first torque and the target site included by each position tenesmus information;Determining has the first of corresponding relationship to turn round Square and tenesmus information.
Optionally, determine that the second torque includes: to close according to corresponding according to first torque and the tenesmus information First torque of system and the information that drops determine corresponding second torque of each servo motor included by the target servo motor; Determine each servo motor and the second torque with corresponding relationship.
Optionally, it includes: to close according to corresponding that the robot according to second moment of torsion control is powered on again The each servo motor and the second torque of system, control each position included by the target site and are powered on.
Optionally, it includes: to obtain the robot that the robot according to second moment of torsion control is powered on again Current load;Determine third torque according to second torque and the current load, wherein the third torque be The target site can be made not generate the tenesmus letter when powering on to the robot with the current load The torque of breath;The target servo motor output third torque is controlled to power on the robot.
According to another embodiment of the invention, a kind of upper controller for electric consumption of robot is provided, comprising: read mould Block reads the first torque of target servo motor output and described in the case where powering on for the first time to robot The tenesmus information of the target site of robot, wherein the target servo motor is used to export electromagnetic force for the target site, The tenesmus information is used to indicate the tenesmus that the target site is generated when powering on;Determining module, for according to described first Torque and the tenesmus information determine the second torque, wherein second torque is the energy when powering on to the robot The target site is enough set not generate the torque of the tenesmus information;Control module, for what is powered on again in the robot In the case of, it is powered on again according to robot described in second moment of torsion control.
Optionally, the target servo motor includes multiple servo motors, and the target site includes multiple positions, described Multiple servo motors and the multiple target site correspond, wherein the read module includes: reading unit, for reading It takes included by the first torque and the target site of each servo motor output included by the target servo motor The tenesmus information at each position;First determination unit, for determining first torque with corresponding relationship and tenesmus information.
Optionally, the control module includes: acquiring unit, for obtaining the current load of the robot;4th really Order member, for determining third torque according to second torque and the current load, wherein the third torque be The target site can be made not generate the tenesmus letter when powering on to the robot with the current load The torque of breath;First control unit, for control the target servo motor export the third torque to the robot into Row powers on.
According to still another embodiment of the invention, a kind of storage medium is additionally provided, meter is stored in the storage medium Calculation machine program, wherein the computer program is arranged to execute the step in any of the above-described embodiment of the method when operation.
According to still another embodiment of the invention, a kind of electronic device, including memory and processor are additionally provided, it is described Computer program is stored in memory, the processor is arranged to run the computer program to execute any of the above-described Step in embodiment of the method.
Through the invention, according to the first torque of the target servo motor read when being powered on for the first time to robot Be determined to make target site not generate the second torque of tenesmus information with the tenesmus information of target site, robot again on It is powered on when electric according to the second moment of torsion control robot, so that the target site of the robot powered on again will not generate down Therefore pendant, can solve safe when robot powers in the related technology so that the power up of robot is more safe and reliable Property lower problem, reached the security impact improved when robot powers on.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is a kind of hardware block diagram of the mobile terminal of the electrification control method of robot of the embodiment of the present invention;
Fig. 2 is the flow chart of the electrification control method of robot according to an embodiment of the present invention;
Fig. 3 is the structural block diagram of the upper controller for electric consumption of robot according to an embodiment of the present invention;
Fig. 4 is the flow chart of the electrification control method of the robot of alternative embodiment according to the present invention.
Specific embodiment
Hereinafter, the present invention will be described in detail with reference to the accompanying drawings and in combination with Examples.It should be noted that not conflicting In the case of, the features in the embodiments and the embodiments of the present application can be combined with each other.
It should be noted that description and claims of this specification and term " first " in above-mentioned attached drawing, " Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.
Embodiment of the method provided by the embodiment of the present application one can be in mobile terminal, terminal or similar fortune It calculates and is executed in device.For running on mobile terminals, Fig. 1 is that a kind of robot of the embodiment of the present invention powers on controlling party The hardware block diagram of the mobile terminal of method.As shown in Figure 1, mobile terminal 10 may include one or more (only shows in Fig. 1 One) (processor 102 can include but is not limited to the place of Micro-processor MCV or programmable logic device FPGA etc. to processor 102 Manage device) and memory 104 for storing data, optionally, above-mentioned mobile terminal can also include for communication function Transmission device 106 and input-output equipment 108.It will appreciated by the skilled person that structure shown in FIG. 1 is only to show Meaning, does not cause to limit to the structure of above-mentioned mobile terminal.For example, mobile terminal 10 may also include it is more than shown in Fig. 1 Perhaps less component or with the configuration different from shown in Fig. 1.
Memory 104 can be used for storing computer program, for example, the software program and module of application software, such as this hair The corresponding computer program of the electrification control method of robot in bright embodiment, processor 102 are stored in storage by operation Computer program in device 104 realizes above-mentioned method thereby executing various function application and data processing.Memory 104 may include high speed random access memory, may also include nonvolatile memory, and such as one or more magnetic storage device dodges It deposits or other non-volatile solid state memories.In some instances, memory 104 can further comprise relative to processor 102 remotely located memories, these remote memories can pass through network connection to mobile terminal 10.The example of above-mentioned network Including but not limited to internet, intranet, local area network, mobile radio communication and combinations thereof.
Transmitting device 106 is used to that data to be received or sent via a network.Above-mentioned network specific example may include The wireless network that the communication providers of mobile terminal 10 provide.In an example, transmitting device 106 includes a Network adaptation Device (Network Interface Controller, referred to as NIC), can be connected by base station with other network equipments to It can be communicated with internet.In an example, transmitting device 106 can for radio frequency (Radio Frequency, referred to as RF) module is used to wirelessly be communicated with internet.
A kind of electrification control method of robot is provided in the present embodiment, and Fig. 2 is machine according to an embodiment of the present invention The flow chart of the electrification control method of device people, as shown in Fig. 2, the process includes the following steps:
Step S202, in the case where powering on for the first time to robot, read the output of target servo motor first is turned round The tenesmus information of the target site of square and robot, wherein target servo motor is used to export electromagnetic force for target site, under Pendant information is used to indicate the tenesmus that target site is generated when powering on;
Step S204 determines the second torque according to the first torque and tenesmus information, wherein the second torque is to robot Target site can be made not generate the torque of tenesmus information when being powered on;
Step S206 is carried out in the case where robot powers on again according to robot described in second moment of torsion control It powers on again.
Through the above steps, it is turned round according to the first of the target servo motor read when being powered on for the first time to robot The tenesmus information of square and target site is determined to make target site not generate the second torque of tenesmus information, robot again It is powered on when powering on according to the second moment of torsion control robot, so that the target site of the robot powered on again will not generate down Therefore pendant, can solve safe when robot powers in the related technology so that the power up of robot is more safe and reliable Property lower problem, reached the security impact improved when robot powers on.
Optionally, target servo motor can be, but not limited to include multiple servo motors, and target site can be, but not limited to Including multiple positions, multiple servo motors and multiple positions are corresponded, and each servo motor provides electromagnetic force for a position, When the system is first powered on, the first torque and tenesmus information of each servo motor are read, it will be able to control machine according to these information People will not generate falling phenomenon at each position when powering on each time later.Such as: in above-mentioned steps S202, read mesh It marks under each position included by the first torque and target site of each servo motor output included by servo motor Information is fallen, and determines first torque with corresponding relationship and tenesmus information.
Optionally, determine that each servo motor and second is turned round according to the first different torque of each position and tenesmus information Corresponding relationship between square, so as to carry out different control to each servo motor according to the corresponding relationship.Such as: upper State in step S204, according to corresponding relationship the first torque and tenesmus information each of determine included by target servo motor Corresponding second torque of servo motor, and determine each servo motor and the second torque with corresponding relationship.
Optionally, in above-mentioned steps S206, according to each servo motor and the second torque with corresponding relationship, control Each position included by target site is powered on.
Optionally, power on operation each time, robot may be applied different loads, different load meetings pair Robot generates different power, determines third torque according to the current load of the second torque and robot, thus applying not Each position of robot is enabled to not generate falling phenomenon when powering in the case where with load.For example, in above-mentioned step In rapid S206, the current load of robot is obtained, determines third torque further according to the second torque and current load, wherein the Three torques are the torsion that target site can be made not generate tenesmus information when powering on to the robot with current load Square, and control target servo motor output third torque and robot is powered on.
Through the above description of the embodiments, those skilled in the art can be understood that according to above-mentioned implementation The method of example can be realized by means of software and necessary general hardware platform, naturally it is also possible to by hardware, but it is very much In the case of the former be more preferably embodiment.Based on this understanding, technical solution of the present invention is substantially in other words to existing The part that technology contributes can be embodied in the form of software products, which is stored in a storage In medium (such as ROM/RAM, magnetic disk, CD), including some instructions are used so that a terminal device (can be mobile phone, calculate Machine, server or network equipment etc.) execute method described in each embodiment of the present invention.
A kind of upper controller for electric consumption of robot is additionally provided in the present embodiment, and the device is for realizing above-described embodiment And preferred embodiment, the descriptions that have already been made will not be repeated.As used below, term " module " may be implemented to make a reservation for The combination of the software and/or hardware of function.It is hard although device described in following embodiment is preferably realized with software The realization of the combination of part or software and hardware is also that may and be contemplated.
Fig. 3 is the structural block diagram of the upper controller for electric consumption of robot according to an embodiment of the present invention, as shown in figure 3, the dress It sets and includes:
Read module 32, in the case where powering on for the first time to robot, reading the output of target servo motor The tenesmus information of the target site of first torque and robot, wherein target servo motor is used for as target site output electricity Magnetic force, tenesmus information are used to indicate the tenesmus that target site is generated when powering on;
Determining module 34, for determining the second torque according to the first torque and tenesmus information, wherein the second torque is right Robot can make when being powered on target site do not generate tenesmus information torque;
Control module 36, for being carried out again according to the second moment of torsion control robot in the case where robot powers on again It is secondary to power on.
Through the above steps, it is turned round according to the first of the target servo motor read when being powered on for the first time to robot The tenesmus information of square and target site is determined to make target site not generate the second torque of tenesmus information, robot again It is powered on when powering on according to the second moment of torsion control robot, so that the target site of the robot powered on again will not generate down Therefore pendant, can solve safe when robot powers in the related technology so that the power up of robot is more safe and reliable Property lower problem, reached the security impact improved when robot powers on.
Optionally, target servo motor includes multiple servo motors, and target site includes multiple positions, multiple servo motors It is corresponded with multiple target sites, wherein read module includes: reading unit, for reading included by target servo motor Each servo motor output the first torque and target site included by each position tenesmus information;First determines list Member, for determining first torque with corresponding relationship and tenesmus information.
Optionally, each servo motor provides electromagnetic force for a position, when the system is first powered on, reads each servo motor The first torque and tenesmus information, it will be able to according to these information control robot at each position when powering on each time later Falling phenomenon will not all be generated.
Optionally it is determined that module includes: the second determination unit, for according to first torque and tenesmus with corresponding relationship Information determines corresponding second torque of each servo motor included by target servo motor;Third determination unit, for determining Each servo motor and the second torque with corresponding relationship.
Optionally, determine that each servo motor and second is turned round according to the first different torque of each position and tenesmus information Corresponding relationship between square, so as to carry out different control to each servo motor according to the corresponding relationship.
Optionally, control module includes: the second control unit, for according to have corresponding relationship each servo motor and Second torque controls each position included by target site and is powered on.
Optionally, control module includes: acquiring unit, for obtaining the current load of robot;4th determination unit is used In determining third torque according to the second torque and current load, wherein third torque is to the machine with current load Device people can make when powering on target site do not generate tenesmus information torque;First control unit is watched for controlling target Motor output third torque is taken to power on robot.
Optionally, power on operation each time, robot may be applied different loads, different load meetings pair Robot generates different power, determines third torque according to the current load of the second torque and robot, thus applying not Each position of robot is enabled to not generate falling phenomenon when powering in the case where with load.
It should be noted that above-mentioned modules can be realized by software or hardware, for the latter, Ke Yitong Following manner realization is crossed, but not limited to this: above-mentioned module is respectively positioned in same processor;Alternatively, above-mentioned modules are with any Combined form is located in different processors.
It is described in detail below with reference to alternative embodiment of the present invention.
Alternative embodiment of the present invention provides a kind of electrification control method of robot, in this method, enables in robot Band-type brake can be held, and to electricity main on motor, the electromagnetic force of output is slowly provided, and be initially that how many torque do not known, turned round using to motor Square shifts to an earlier date the mode for reading and monitoring in real time, reads the torque of motor output, records in advance.It is subsequent when powering on again, it is write Enter and provide this torque in related spool in advance, the phenomenon of nodding that drops would not occur in robot when powering on again.Such machine After powering on, it would not drop automatically, with accident prevention.Robot servo key message can also be read out, effective monitoring.
Fig. 4 is the flow chart of the electrification control method of the robot of alternative embodiment according to the present invention, as shown in figure 4, should Process includes the following steps:
Step 1, when starting to power on robot for the first time, robot powers on enabled.
Step 2, controller reads servo torque in real time.
Step 3, break after enabling, by torque value writing servo at this time.
Step 4, torque value can be optimal value when upper enabled again.
Step 5, torque is executed to prevent nodding.
The embodiments of the present invention also provide a kind of storage medium, computer program is stored in the storage medium, wherein The computer program is arranged to execute the step in any of the above-described embodiment of the method when operation.
Optionally, in the present embodiment, above-mentioned storage medium can be set to store by executing based on following steps Calculation machine program:
S1, in the case where being powered on for the first time to robot, read target servo motor output the first torque and The tenesmus information of the target site of robot, wherein target servo motor is used to export electromagnetic force for target site, and drop information It is used to indicate the tenesmus that target site is generated when powering on;
S2 determines the second torque according to the first torque and tenesmus information, wherein the second torque is to carry out to robot Target site can be made not generate the torque of tenesmus information when electric;
S3 is powered in the case where robot powers on again according to the second moment of torsion control robot again.
Optionally, in the present embodiment, above-mentioned storage medium can include but is not limited to: USB flash disk, read-only memory (Read- Only Memory, referred to as ROM), it is random access memory (Random Access Memory, referred to as RAM), mobile hard The various media that can store computer program such as disk, magnetic or disk.
The embodiments of the present invention also provide a kind of electronic device, including memory and processor, stored in the memory There is computer program, which is arranged to run computer program to execute the step in any of the above-described embodiment of the method Suddenly.
Optionally, above-mentioned electronic device can also include transmission device and input-output equipment, wherein the transmission device It is connected with above-mentioned processor, which connects with above-mentioned processor.
Optionally, in the present embodiment, above-mentioned processor can be set to execute following steps by computer program:
S1, in the case where being powered on for the first time to robot, read target servo motor output the first torque and The tenesmus information of the target site of robot, wherein target servo motor is used to export electromagnetic force for target site, and drop information It is used to indicate the tenesmus that target site is generated when powering on;
S2 determines the second torque according to the first torque and tenesmus information, wherein the second torque is to carry out to robot Target site can be made not generate the torque of tenesmus information when electric;
S3 is powered in the case where robot powers on again according to the second moment of torsion control robot again.
Optionally, the specific example in the present embodiment can be with reference to described in above-described embodiment and optional embodiment Example, details are not described herein for the present embodiment.
Obviously, those skilled in the art should be understood that each module of the above invention or each step can be with general Computing device realize that they can be concentrated on a single computing device, or be distributed in multiple computing devices and formed Network on, optionally, they can be realized with the program code that computing device can perform, it is thus possible to which they are stored It is performed by computing device in the storage device, and in some cases, it can be to be different from shown in sequence execution herein Out or description the step of, perhaps they are fabricated to each integrated circuit modules or by them multiple modules or Step is fabricated to single integrated circuit module to realize.In this way, the present invention is not limited to any specific hardware and softwares to combine.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field For art personnel, the invention may be variously modified and varied.It is all within principle of the invention, it is made it is any modification, etc. With replacement, improvement etc., should all be included in the protection scope of the present invention.

Claims (10)

1. a kind of electrification control method of robot characterized by comprising
In the case where powering on for the first time to robot, the first torque and the machine of the output of target servo motor are read The tenesmus information of the target site of people, wherein the target servo motor is used to export electromagnetic force for the target site, described Tenesmus information is used to indicate the tenesmus that the target site is generated when powering on;
The second torque is determined according to first torque and the tenesmus information, wherein second torque is to the machine Device people can make when powering on the target site do not generate it is described tenesmus information torque;
In the case where the robot powers on again, powered on again according to robot described in second moment of torsion control.
2. the method according to claim 1, wherein the target servo motor includes multiple servo motors, institute Stating target site includes multiple positions, and the multiple servo motor and the multiple position correspond, wherein read target and watch The tenesmus information of target site of the first torque and the robot that take motor output includes:
Read the first torque of each servo motor output and target site institute included by the target servo motor Including each position tenesmus information;
Determining has the first torque of corresponding relationship and tenesmus information.
3. according to the method described in claim 2, it is characterized in that, determining according to first torque and the tenesmus information Two torques include:
Each servo included by the target servo motor is determined according to the first torque with corresponding relationship and the information that drops Corresponding second torque of motor;
Determine each servo motor and the second torque with corresponding relationship.
4. according to the method described in claim 3, it is characterized in that, the robot according to second moment of torsion control carries out again Secondary power on include:
According to each servo motor and the second torque with corresponding relationship, each position included by the target site is controlled It is powered on.
5. method according to claim 1 to 4, which is characterized in that according to second moment of torsion control Robot is powered on again
Obtain the current load of the robot;
Third torque is determined according to second torque and the current load, wherein the third torque is to having The robot of the current load can make when being powered on the target site do not generate it is described tenesmus information torsion Square;
The target servo motor output third torque is controlled to power on the robot.
6. a kind of upper controller for electric consumption of robot characterized by comprising
Read module, first in the case where powering on for the first time to robot, reading the output of target servo motor turns round The tenesmus information of the target site of square and the robot, wherein the target servo motor is used to be the target site Electromagnetic force is exported, the tenesmus information is used to indicate the tenesmus that the target site is generated when powering on;
Determining module, for determining the second torque according to first torque and the tenesmus information, wherein second torque For the target site can be made not generate the torque of the tenesmus information when powering on to the robot;
Control module, in the case where the robot powers on again, according to robot described in second moment of torsion control It is powered on again.
7. device according to claim 6, which is characterized in that the target servo motor includes multiple servo motors, institute Stating target site includes multiple positions, and the multiple servo motor and the multiple target site correspond, wherein the reading Modulus block includes:
Reading unit, for reading the first torque of each servo motor output and institute included by the target servo motor State the tenesmus information at each position included by target site;
First determination unit, for determining first torque with corresponding relationship and tenesmus information.
8. device according to claim 6 or 7, which is characterized in that the control module includes:
Acquiring unit, for obtaining the current load of the robot;
4th determination unit, for determining third torque according to second torque and the current load, wherein described Three torques are that the target site can be made not generate when powering on to the robot with the current load The torque of the tenesmus information;
First control unit carries out the robot for controlling the target servo motor output third torque Electricity.
9. a kind of storage medium, which is characterized in that be stored with computer program in the storage medium, wherein the computer Program is arranged to execute method described in any one of claim 1 to 5 when operation.
10. a kind of electronic device, including memory and processor, which is characterized in that be stored with computer journey in the memory Sequence, the processor are arranged to run the computer program to execute side described in any one of claim 1 to 5 Method.
CN201811082313.0A 2018-09-17 2018-09-17 Electrification control method, device, storage medium and the electronic device of robot Pending CN109109019A (en)

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