CN111596663A

CN111596663A - Conveying robot control system and control method

Info

Publication number: CN111596663A
Application number: CN202010463223.7A
Authority: CN
Inventors: 许哲涛; 姚秀军
Original assignee: Beijing Haiyi Tongzhan Information Technology Co Ltd
Current assignee: Beijing Haiyi Tongzhan Information Technology Co Ltd
Priority date: 2020-05-27
Filing date: 2020-05-27
Publication date: 2020-08-28

Abstract

The application relates to a conveying robot control system and a control method, wherein the system comprises: the safety relay, the safety control module used for acquiring the running state of the sensing device and the motor driver used for driving the motor are arranged on the safety relay; the safety relay includes: a motor power supply line; the safety control module is electrically connected with the safety relay; the safety relay is electrically connected with the motor driver through the motor power supply circuit. The device can acquire the current running state information of the sensing device in real time, and accordingly judges whether the motor power supply circuit needs to be disconnected or not so as to stop power supply of the motor driver. And then can in time have a power failure to whole device when sensing device breaks down, prevent to cause the condition of causing the damage to device or pedestrian because the obstacle that keeps away that can't discern the barrier and lead to, can effectively improve the security.

Description

Conveying robot control system and control method

Technical Field

The application relates to the technical field of intelligent control, in particular to a conveying robot control system and a control method.

Background

Indoor distribution robots are used in large indoor scenes such as hospitals, malls, airports and the like, and distribution robots generally require a high level of security due to the involvement of human interaction. The current safe obstacle avoidance system of delivery robot adopts laser radar and ultrasonic sensor cooperation usually to laser radar surveys as leading, and the ultrasonic wave supplements the blind area.

In the process of implementing the invention, the inventor finds that the current robot obstacle avoidance system mainly has the following defects: the method is characterized in that the obstacle avoidance is carried out in a mode of matching the laser radar and the ultrasonic wave, the obstacle avoidance is established under the condition that the laser radar and the ultrasonic wave work normally, the obstacle avoidance fails when the laser or the ultrasonic wave for navigation breaks down, a program leaks, and a hardware circuit breaks down, the laser radar and the ultrasonic wave for navigation do not have self-checking capability, and the fault information cannot be reported when the laser or the ultrasonic wave for navigation breaks down. In addition, the current obstacle avoidance system has low safety level and cannot meet the requirement of high safety level in a human interaction scene.

In view of the technical problems in the related art, no effective solution is provided at present.

Disclosure of Invention

In order to solve the above technical problems or at least partially solve the above technical problems, the present application provides a transfer robot control system and a control method.

In a first aspect, an embodiment of the present application provides a transfer robot control system, including: the safety relay, the safety control module used for acquiring the running state of the sensing device and the motor driver used for driving the motor are arranged on the safety relay; the safety relay includes: a motor power supply line;

the safety control module is electrically connected with the safety relay and the sensing device respectively;

the safety relay is electrically connected with the motor driver through the motor power supply circuit.

Optionally, as in the foregoing control system, the method further includes: main control unit and automatically controlled switch, safety relay still includes: a normally closed monitoring contact and an emergency braking circuit;

the two terminals of the normally closed monitoring contact are connected through the electric control switch;

the electric control switch is also electrically connected with the safety control module;

the main controller is electrically connected with the safety control module and the motor driver respectively;

the emergency brake line is electrically connected with the main controller.

Optionally, the safety operation control system as described above further includes: the emergency stop module is used for receiving a trigger signal;

the emergency stop module is connected between two terminals of the normally closed monitoring contact in series.

Optionally, as in the foregoing control system, the method further includes: the encoder is used for acquiring the rotation state information of the motor;

the encoder is respectively electrically connected with the motor driver and a motor driven by the motor driver.

In a second aspect, an embodiment of the present application further provides a transfer robot control method applied to the safe operation control system according to any one of the foregoing items, including:

receiving current self running state information of the sensing device uploaded by the sensing device;

when the sensing device is judged to be abnormal according to the running state information, generating a disconnection instruction for controlling the disconnection of a motor power supply line; the safety relay comprises the motor power supply circuit;

and issuing the disconnection instruction to the safety relay so that the safety relay performs disconnection operation on the motor power supply line according to the disconnection instruction to stop supplying power to the motor driver.

Optionally, as in the foregoing control method, before issuing the disconnection command to the safety relay, the method further includes:

receiving environment detection information of the current environment, which is acquired by the sensing device;

and generating the disconnection instruction when the environment detection information is judged to meet a first preset condition.

Optionally, as the foregoing control method, the method further includes:

when the environment detection information is judged to meet a second preset condition, generating running state change information corresponding to the second preset condition;

and generating a corresponding operation state adjusting instruction according to the operation state changing information, and sending the operation state adjusting instruction to the motor driver so that the motor driver drives the motor to change the operation state according to the operation state adjusting instruction.

Optionally, as the foregoing control method:

when judging according to running state information that sensing device is unusual, generate the disconnection instruction that is used for managing and controlling the disconnection of motor power supply line, include:

when the sensing device is judged to be abnormal according to the running state information, generating a disconnection instruction for controlling the disconnection of the electric control switch so as to disconnect the connection between the two terminals of the normally closed monitoring contact;

the safety relay executes disconnection operation on the motor power supply line according to the disconnection instruction, and the disconnection operation comprises the following steps:

and after detecting that the two terminals of the normally closed monitoring contact are disconnected, the safety relay performs disconnection operation on a power supply line of the motor.

In a third aspect, an embodiment of the present application provides an electronic device, including: the system comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus;

the memory is used for storing a computer program;

the processor is configured to implement the control method according to any one of the preceding claims when executing the computer program.

In a fourth aspect, the present application provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions cause the computer to execute the control method according to any one of the foregoing claims.

The embodiment of the application provides a conveying robot control system and a control method, wherein the system comprises: the safety relay, the safety control module used for acquiring the running state of the sensing device and the motor driver used for driving the motor are arranged on the safety relay; the safety relay includes: a motor power supply line; the safety control module is electrically connected with the safety relay; the safety relay is electrically connected with the motor driver through the motor power supply circuit. The device can acquire the current running state information of the device through the sensing device and upload the information to the safety control module; the safety control module generates a disconnection instruction for controlling the disconnection of a motor power supply line when judging that the sensing device is abnormal according to the running state information; and the safety relay performs disconnection operation on the motor power supply line according to the disconnection instruction so as to stop supplying power to the motor driver. And then can in time have a power failure to whole device when sensing device breaks down, prevent to cause the condition of causing the damage to device or pedestrian because the obstacle that keeps away that can't discern the barrier and lead to, can effectively improve the security.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.

Fig. 1 is a block diagram of a motion robot control system according to an embodiment of the present disclosure;

fig. 2 is a schematic diagram of region division according to an embodiment of the present application;

fig. 3 is a front view of a mobile robot according to an embodiment of the present disclosure;

fig. 4 is a flowchart of a control method of a safe operation control system according to an embodiment of the present application;

fig. 5 is a flowchart of a control method of a safe operation control system according to another embodiment of the present application;

fig. 6 is a flowchart of a control method of a safe operation control system according to another embodiment of the present application;

fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Fig. 1 is a control system for a transfer robot according to an embodiment of the present application, including: the safety control system comprises a safety relay 1, a safety control module 2 for acquiring the running state of a sensing device 4 and a motor driver 3 for driving a motor 6; the safety relay 1 includes: a motor power supply line 12;

the safety control module 2 is electrically connected with the safety relay 1;

the safety relay 1 is electrically connected with the motor driver 3 through a motor power supply line 12.

Specifically, as shown in fig. 3, one application method of this embodiment is that when the method is applied to a moving robot, the sensing device 4 may be a camera, a laser radar, or another device that can acquire map information of an operation scene. In order to facilitate the collection of depth image information, a laser radar is generally adopted to collect map information; the selectable laser radars can be arranged in two numbers and are respectively arranged at the front end and the rear end of the conveying robot, and in addition, more laser radars can be arranged according to the detection range of each actual laser radar so as to acquire information of more directions and angles. Preferably, a safety laser radar can be adopted, wherein the safety laser radar is a Programmable Logic Device (PLD) with the safety performance level larger than or equal to the PLD, can detect program faults, rotating motor faults and optical path device faults, and can report fault signals when any fault occurs. Furthermore, in order to facilitate charging, a charging interface can be arranged right behind the robot, and a contact type charging interface can be adopted to facilitate connection and disconnection; above the bracket of robot, can also set up supporter 14, supporter 14 can be equipped with one deck or multilayer, and the height of each layer of supporter can be set for according to particular case. The two sides of the head of the conveying robot can also be provided with power amplification modules 10 such as a sound device and the like so as to play the execution condition of the task and send an avoidance notice and the like to pedestrians on the running line of the conveying robot. Generally, a traveling wheel is disposed at the bottom of the transfer robot, and the traveling wheel is connected to the motor 6 and is driven by the motor 6 to rotate so as to drive the transfer robot to travel.

The safety control module 2 is a safety programmable system (PLC), which is a programmable system that can still correctly respond and timely cut off output when a fault occurs in itself or in a peripheral component or an execution mechanism. In this embodiment, after the sensing device 4 has a fault, the safety control module 2 may receive fault information reported by the sensing device 4, and further control the on/off of the input end of the safety relay 1, so as to indirectly control the on/off of the power supply line in the safety relay 1.

The sensing device 4 can be connected with the input end of the safety control module 2 through a normally closed contact of the sensing device, so that the rapidity and the reliability of input signals are improved.

The safety relay 1 is generally composed of a plurality of relays and circuits, so as to complement each other's abnormal defects, achieve the complete function of the relay with correct and low malfunction, and make the lower the fault and failure value, the higher the safety factor, therefore, it is necessary to design a plurality of safety relays to protect machines of different grades, and the main objective is to protect the machine operators exposed to dangers of different grades.

Since the safety relay 1 is a device for indirectly supplying power to the energy consuming device, the motor power supply line 12 may be an interface for supplying power to the motor driver 3.

In conclusion, the device in this embodiment can be when sensing device breaks down, through the input management and control of safety control module 2 to safety relay 1, and then can in time have a power failure to whole device, prevents to cause the condition of damage to device or pedestrian because the obstacle avoidance failure that leads to can't discern the barrier, can effectively improve the security.

As shown in fig. 1, in some embodiments, the safe operation control system as described above further includes: main control unit 5 and automatically controlled switch 8, safety relay 1 still includes: a normally closed monitoring contact 11 and an emergency braking line 13;

two terminals of the normally closed monitoring contact 11 are connected through an electric control switch 8;

the electric control switch 8 is also electrically connected with the safety control module 2;

the main controller 5 is respectively electrically connected with the safety control module 2 and the motor driver 3;

the emergency brake line 13 is electrically connected to the main controller 5.

Specifically, the normally closed monitoring contact 11 is an input terminal of the safety relay 1, and generally has two terminals to adjust power supply and power off of a power supply object by the on-off state of the normally closed monitoring contact 11. And in a normal operation state, both terminals of the normally closed monitoring contact 11 are in a communication state.

Two terminals of the normally closed monitoring contact 11 are connected through an electric control switch 8; the electric control switch 8 is also electrically connected with the safety control module 2; and then the safety control module 2 can control the on-off between the two terminals of the normally closed monitoring contact 11 through the control of the electric control switch 8.

The main controller 5 is respectively electrically connected with the safety control module 2 and the motor driver 3; therefore, in a normal operation state, the main controller 5 can receive the map information forwarded by the safety control module 2 and detected by the sensing device 4, generate a corresponding regulation and control instruction, and send the regulation and control instruction to the motor driver 3 to adjust the operation state of the motor 6, for example: when an obstacle exists in the front 3 meters, the main controller 5 generates a deceleration operation instruction, so that the motor driver 3 adjusts the operation state of the motor according to the instruction to achieve the purpose of deceleration.

The emergency brake circuit 13 is electrically connected with the main controller 5, so that the safety control module 2 can be disconnected from the motor power supply circuit 12 for controlling the safety relay 1 and stop supplying power to the motor driver 3, or after the motor power supply circuit 12 is disconnected due to other reasons; the emergency brake line 13 is connected, so that the main controller 5 receives the electric signal transmitted through the emergency brake line 13, and the main controller 5 can receive and obtain the information about the emergency brake of the device.

Optionally, the terminals a1 and a2 in the safety relay 1 are power supply terminals for connecting a power supply, the terminals S11 and S12 are normally closed monitoring contacts 11, the terminals S13 and S23 are normally open safety contacts (i.e. motor power supply lines 12), the terminal S41 is an auxiliary contact (i.e. emergency brake lines 13), when the terminals a1 and a2 input 24V power, the safety relay enters an operating state, when the terminals S11 and S12 are closed, the contacts S13 and S23, K11, K12, K21 and K22 of the safety contacts are closed, the terminals S13 and S23 are turned on, and the terminals K31 and K32 of the terminal S41 are turned off; when S11 and S12 are open, the K11, K12, K21 and K22 contacts of S13 and S23 of the safety contacts are open, S13 and S23 are not conductive, K31 and K32 of S41 are closed, and S41 is conductive.

As shown in fig. 1, in some embodiments, the safe operation control system as described above further includes: an emergency stop module 9 for receiving a trigger signal;

the scram module 9 is connected in series between two terminals of a normally closed monitoring contact 11.

Specifically, the scram module 9 may be a manually triggered switch, and the scram module 9 is connected in series between two terminals of the normally closed monitoring contact 11. The emergency stop module 9 can be integrated with the electric control switch 8, and can also be connected with the electric control switch 8 in series. And the purpose of enabling the safety relay 1 to cut off the motor power supply line 12 can be achieved through the on-off of the two terminals of the normally closed monitoring contact 11. Preferably, as shown in fig. 3, the scram module 9 may include a scram button 91, and the scram button 91 may be provided on a surface of the transfer robot, such as a side of a head of the transfer robot shown in the figure, so as to be accessed and trigger a corresponding switch; further, in order to prevent the emergency stop button from being touched by mistake, the emergency stop button may be provided in a recess formed in a surface of the carrier robot.

Through the method of the embodiment, when an emergency situation occurs, the emergency stop module 9 can disconnect the normally closed monitoring contact 11 by pressing the emergency stop button, so that power supply to the motor driver 1 is stopped, finally, the motor 6 stops rotating, and the robot performs emergency braking. And further, the power supply to the motor 6 can be quickly cut off in the event of an emergency failure.

As shown in fig. 1, in an alternative implementation manner, the emergency stop button Estop is a normally closed emergency stop button, and when an emergency situation is met, the emergency stop button can be pressed, the emergency stop button is opened, that is, the normally closed monitoring contacts S11 and S12 are opened, the normally closed monitoring contacts S11, K12, K21 and K22 of S13 and S23 are opened, the motor driver stops supplying power, the motor 6 stops rotating, and the relevant action mechanism performs emergency braking. At the same time, the disconnection of K31 and K32 of the S41 auxiliary contacts reports the emergency stop information to the main controller 5.

As shown in fig. 1, in some embodiments, the safe operation control system as described above further includes: an encoder 7 for acquiring information on the rotation state of the motor 6;

the encoder 7 is electrically connected to the motor driver 3 and the motor 6 driven by the motor driver 3, respectively.

Specifically, the running state information (such as the rotating speed and the like) of the motor 6 can be obtained in real time by arranging the encoder 7, and the encoder 7 can report the running state information to the motor driver 3, so that the motor driver 3 can judge whether the motor runs according to the driving condition of the motor in real time, and finally, closed-loop control can be realized.

As shown in fig. 4, according to an embodiment of another aspect of the present application, the present application further provides a control method of the safe operation control system, including the following steps T1 to T3:

and T1, receiving the current self running state information of the sensing device uploaded by the sensing device and uploading the information to the safety control module.

Specifically, the operation state information may be information for representing whether the sensing device can operate normally; generally, communication connection between the sensing device and the safety control module needs to be established in advance, so that the sensing device can upload the running state information to the safety control module after acquiring the running state information of the sensing device.

The step T2, when the sensing device is judged to be abnormal according to the running state information, generating a disconnection instruction for controlling the disconnection of a motor power supply line; the safety relay comprises a motor power supply circuit.

Specifically, the safety control module may judge the operation state information by means of keyword query or information matching, and the disconnection instruction may be pre-stored in the safety control module, and when the safety control module identifies that the operation state information represents that the sensing device is abnormal, the disconnection instruction is automatically called from the memory; or preset codes are put into the safety control module so as to generate a disconnection instruction according to the running state information; or an electric signal generated according to the operation state information; therefore, the disconnection command may be one of a digital signal, an analog signal, and an electrical signal as long as the receiving end can perform a corresponding operation according to the disconnection command.

And T3, issuing a disconnection command to the safety relay so that the safety relay performs disconnection operation on a power supply line of the motor according to the disconnection command to stop supplying power to the motor driver.

Specifically, the safety relay may perform a disconnection operation on the motor power supply line directly according to the disconnection instruction, or may perform a disconnection operation on the motor power supply line by another device according to an operation result of the disconnection instruction.

In summary, according to the scheme in the embodiment, when the sensing device fails, the safety relay can timely perform power failure on the whole device through the disconnection instruction generated by the safety control module, so that the situation that damage is caused to the device or pedestrians due to failure in obstacle avoidance caused by incapability of recognizing obstacles is prevented, and the safety can be effectively improved.

As shown in fig. 5, in some embodiments, before issuing the opening command to the safety relay, the control method further includes the following steps a1 and a 2:

a1, receiving environment detection information of the current environment collected by the sensing device, and transmitting the environment detection information to the safety control module.

And A2, generating a disconnection instruction when the environment detection information is judged to meet the first preset condition.

Specifically, the sensing device is mainly used for carrying out environment detection and obtaining environment detection information under normal conditions except for detecting whether the sensing device can normally operate; therefore, after it detects the environment detection information and transmits the environment detection information to the security control module, the security control module may determine whether the segment environment detection information satisfies the first preset condition.

Wherein the environment detection information may be obstacle information, and the obstacle information may include: obstacle size information, obstacle distance information, and the like; the first preset condition may be a minimum barrier distance threshold, where the minimum barrier distance threshold may be adjusted according to a movement speed of the action mechanism, and when the movement speed is high, the minimum barrier distance threshold needs to be increased, otherwise, when the movement speed is low, the minimum barrier distance threshold may be decreased; when the condition that an obstacle exists in a threshold value set by a first preset condition is obtained according to the environment monitoring information, emergency braking is needed to prevent collision; therefore, a turn-off command is generated so that the power supply to the motor can be stopped subsequently according to the turn-off command.

Further, the method for obtaining the minimum distance threshold of the obstacle can be obtained according to the following algorithm; the minimum distance threshold of the obstacle is recorded as a distance d1 from the chassis of the robot, and the distance can be calculated according to the standard GB/T18849 and 2011:

where v is the traveling speed, the maximum traveling speed of the dispensing robot of the present invention is 1.18m/s, and d1 is equal to 0.22 m.

Therefore, by adopting the scheme in the embodiment, the action mechanism provided with the device can brake when the detected environment detection information meets the first preset condition, so that collision is prevented, and the safety is further improved.

As shown in fig. 6, in some embodiments, the control method further includes steps A3 to a5 as follows:

a3, receiving environment detection information of the current environment collected by the sensing device, and transmitting the environment detection information to the safety control module;

step A4, when the environment detection information is judged to meet a second preset condition, generating running state change information corresponding to the second preset condition, and sending the running state change information to the main controller;

and step A5, generating a corresponding operation state adjusting instruction according to the operation state changing information, and sending the operation state adjusting instruction to the motor driver so that the motor driver drives the motor to change the operation state according to the operation state adjusting instruction.

Wherein the environment detection information may be obstacle information, and the obstacle information may include: obstacle size information, obstacle distance information, and the like.

When the obstacle is away from the device by a certain distance, collision can be avoided even if the device continues to walk, however, the obstacle is not necessarily a static obstacle or a moving obstacle, and uncertainty exists in speed and moving direction, so that in order to guarantee safety, although the device does not stop, the device needs to be decelerated to guarantee safety.

The second preset condition may be an obstacle distance interval value (for example, between 2m and 3 m) that needs to perform deceleration operation, where the obstacle distance interval value may be adjusted according to the movement speed of the action mechanism, when the speed is fast, the lower limit value of the obstacle distance interval value needs to be increased, and when the speed is slow, the lower limit value of the obstacle distance interval value may be decreased.

When the safety control module obtains that the obstacle exists in the range set by the second preset condition according to the environment monitoring information, the safety control module can generate running state change information corresponding to the second preset condition and send the running state change information to the main controller; the running state change information is information for informing that the master controller needs to manage the running state change of the motor such as deceleration.

After the main controller receives the running state change information, the main controller generates a corresponding running state adjusting instruction according to the running state change information, generally, the running state adjusting instruction may be a pulse signal, and after the motor driver receives the pulse signal, the motor driver drives the motor to move at a fixed rotating speed according to the pulse signal, so as to achieve the purpose of changing the running state of the motor.

Further, when the re-acquired environment detection information represents that the distance between the obstacles does not meet a second preset condition, operation state change information for recovering normal speed or accelerating operation can be generated again, and the operation state change information is sent to the main controller; the main controller generates a corresponding running state adjusting instruction according to the running state changing information, and sends the running state adjusting instruction to the motor driver, so that the motor driver drives the motor to change the running state according to the running state adjusting instruction, and further the running speed of the motor is increased.

By the method in the embodiment, the motor can be controlled to stop running, and the motor can be controlled to decelerate. The application can be applied to different application scenes, continuous motion can be guaranteed on the basis of avoiding collision, and operation efficiency is improved.

In some embodiments, the control method as previously described:

when judging that the sensing device is abnormal according to the running state information in the step T2, a disconnection instruction for controlling the disconnection of a motor power supply line is generated, and the method comprises the following steps:

and when the safety control module judges that the sensing device is abnormal according to the running state information, a disconnection instruction for controlling the disconnection of the electric control switch is generated so as to disconnect the connection between the two terminals of the normally closed monitoring contact.

In the step T3, the safety relay performs a disconnection operation on the power supply line of the motor according to the disconnection instruction, including:

and the safety relay performs disconnection operation on a motor power supply line after detecting that the two terminals of the normally closed monitoring contact are disconnected.

That is to say, the safety control module is through the switching-on and switching-off of control electrical control switch and then reach the purpose of managing and controlling the connection and the disconnection between the two terminals of normally closed monitoring contact.

Meanwhile, the safety relay performs corresponding on-off operation on a power supply circuit of the motor according to the on-off state between the two terminals of the normally closed monitoring contact.

In some embodiments, the control method as described above, further comprising steps B1 and B2 as follows:

b1, after the emergency stop module is triggered, disconnecting two terminals of the normally closed monitoring contact;

and B2, after the safety relay detects that the two terminals of the normally closed monitoring contact are disconnected, the safety relay performs disconnection operation on a motor power supply line so as to stop supplying power to a motor driver.

Specifically, the scram module may be manually triggered since the scram module may be a manual switch, and the scram module may be connected in series between two terminals of the normally closed monitoring contact. And then the connection between the two terminals of the normally closed monitoring contact can be disconnected after the triggering of the safety relay, and the safety relay performs corresponding on-off operation on a power supply circuit of the motor according to the on-off state between the two terminals of the normally closed monitoring contact.

Through the method of the embodiment, when an emergency situation occurs, the emergency stop module can break the normally closed monitoring contact by knocking down the emergency stop button (the emergency stop module comprises the emergency stop button), so that the motor is stopped from being powered on, and finally the motor stops rotating the robot to perform emergency braking. And then can be when breaking down promptly, can cut off the power supply to the motor fast.

In some embodiments, the control method as described above, further comprising steps P1 and P2 as follows:

step P1, acquiring rotation state information of a motor driven by a motor driver through an encoder, and sending the rotation state information to the motor driver;

and P2, the motor driver generates a driving instruction for driving the motor according to the rotation state information and sends the driving instruction to the motor.

Specifically, the encoder is arranged to acquire the rotation state information (such as the rotation direction, the rotation speed and the like) of the motor in real time, report the rotation state information to the motor driver so that the motor driver can judge whether the motor operates according to the driving condition of the motor in real time, and generate a driving instruction when the rotation state information does not accord with the preset driving result of the motor driver so as to adjust the rotation state of the motor, thereby finally realizing closed-loop control.

Application example:

as shown in FIG. 2, the device and the method are applied to a robot, the coverage areas of a safety laser radar A and a safety laser radar B are respectively calibrated (namely, the distance range d1 from a distribution chassis is a braking area, and the range d2 from the braking area is a deceleration area), and a program is solidified into a safety control module, so that when the safety laser radar detects that obstacles exist in the braking area and the deceleration area, the safety control module has a fixed output signal (when obstacles exist in the deceleration area, the safety control module reports deceleration information to a main controller of the robot, and when obstacles exist in the braking area, the safety control module controls IO (namely, an electric control switch) to control the disconnection of S11 and S12 of a safety relay).

When the robot moves forward according to the driving direction I and an obstacle enters a deceleration area of a coverage area of a safety laser radar A, a safety control module sends deceleration information to a main controller, the main controller sends a deceleration instruction to a driver after receiving the reported information, and the motor driver drives a motor to decelerate; when an obstacle enters a braking area of a safety laser radar A coverage area, a safety control module cuts off normally closed monitoring contacts of safety relays S11 and S12 through control IO, the safety relays cut off power supplies of S13 and S23 (namely motor power supply lines) namely motor drivers after detecting that S11 and S12 are cut off, so that the robot is braked forcibly, auxiliary contacts S41 (namely emergency braking lines) of the safety relays are closed, and emergency braking information is reported to the robot.

When the robot moves forward according to the driving direction II and an obstacle enters a deceleration area of a coverage area of the safety laser radar B, the safety control module sends deceleration information to the main controller, the main controller sends a deceleration instruction to the motor driver after receiving the reported information, and the motor driver drives the motor to decelerate; when the barrier enters a braking area of a safety laser radar B coverage area, the safety control module can cut off normally closed monitoring contacts of safety relays S11 and S12 through control IO, and the safety relays can cut off power supplies of S13 and S23, namely motor drivers, after detecting that S11 and S12 are disconnected, so that the robot can brake forcibly. And an auxiliary contact S41 of the safety relay is closed, and the information of emergency braking is reported to the robot.

According to another embodiment of the present application, there is also provided an electronic apparatus including: as shown in fig. 7, the electronic device may include: the system comprises a processor 1501, a communication interface 1502, a memory 1503 and a communication bus 1504, wherein the processor 1501, the communication interface 1502 and the memory 1503 complete communication with each other through the communication bus 1504.

A memory 1503 for storing a computer program;

the processor 1501 is configured to implement the steps of the above-described method embodiments when executing the program stored in the memory 1503.

The bus mentioned in the electronic device may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.

The communication interface is used for communication between the electronic equipment and other equipment.

The Memory may include a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.

The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components.

Embodiments of the present application also provide a non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform the steps of the above-described method embodiments.

It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The foregoing are merely exemplary embodiments of the present invention, which enable those skilled in the art to understand or practice the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A transfer robot control system, characterized by comprising: the safety control system comprises a safety relay (1), a safety control module (2) for acquiring the running state of a sensing device (4), and a motor driver (3) for driving a motor (6); the safety relay (1) comprises: a motor power supply line (12);

the safety control module (2) is electrically connected with the safety relay (1);

the safety relay (1) is electrically connected with the motor driver (3) through the motor power supply line (12).

2. The control system of claim 1, further comprising: main control unit (5) and automatically controlled switch (8), safety relay (1) still includes: a normally closed monitoring contact (11) and an emergency braking circuit (13);

two terminals of the normally closed monitoring contact (11) are connected through the electric control switch (8);

the electric control switch (8) is also electrically connected with the safety control module (2);

the main controller (5) is electrically connected with the safety control module (2) and the motor driver (3) respectively;

the emergency brake line (13) is electrically connected with the main controller (5).

3. The control system of claim 2, further comprising: an emergency stop module (9) for receiving a trigger signal;

the emergency stop module (9) is connected in series between two terminals of the normally closed monitoring contact (11).

4. The control system of claim 1, further comprising: an encoder (7) for acquiring information on the rotational state of the motor (6);

the encoder (7) is electrically connected with the motor driver (3) and a motor (6) driven by the motor driver (3) respectively.

5. A transfer robot control method applied to the safe operation control system according to any one of claims 1 to 4, characterized by comprising:

6. The control method according to claim 5, before issuing the disconnection command to the safety relay, further comprising:

7. The control method according to claim 5, characterized by further comprising:

8. The control method according to claim 5, characterized in that:

9. An electronic device, comprising: the system comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus;

the memory is used for storing a computer program;

the processor, when executing the computer program, implementing the control method of any one of claims 5-8.

10. A non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute the control method according to any one of claims 5 to 8.