CN114189023A - Pressure management method and mobile robot - Google Patents

Pressure management method and mobile robot Download PDF

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Publication number
CN114189023A
CN114189023A CN202111546764.7A CN202111546764A CN114189023A CN 114189023 A CN114189023 A CN 114189023A CN 202111546764 A CN202111546764 A CN 202111546764A CN 114189023 A CN114189023 A CN 114189023A
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China
Prior art keywords
robot
output torque
charging device
pressure
charging
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CN202111546764.7A
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Chinese (zh)
Inventor
叶毅麒
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Jiangsu Mumeng Intelligent Technology Co ltd
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Jiangsu Mumeng Intelligent Technology Co ltd
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Priority to CN202111546764.7A priority Critical patent/CN114189023A/en
Publication of CN114189023A publication Critical patent/CN114189023A/en
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
    • H01R13/62—Means for facilitating engagement or disengagement of coupling parts or for holding them in engagement
    • H01R13/629—Additional means for facilitating engagement or disengagement of coupling parts, e.g. aligning or guiding means, levers, gas pressure electrical locking indicators, manufacturing tolerances
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
    • H01R13/62—Means for facilitating engagement or disengagement of coupling parts or for holding them in engagement
    • H01R13/639—Additional means for holding or locking coupling parts together, after engagement, e.g. separate keylock, retainer strap
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention provides a pressure management method and a mobile robot, comprising the following steps: during the alignment process or the charging process with the charging device, the robot detects the output torque of the driving motor; stopping increasing the output torque when the output torque reaches a first torque threshold. The invention ensures that the robot is safer and has higher charging efficiency when being charged by detecting and controlling the output torque of the driving motor of the robot, and has certain self-recovery capability when the robot is accidentally separated from the charging device.

Description

Pressure management method and mobile robot
Technical Field
The invention relates to the technical field of pressure management, in particular to a pressure management method and a mobile robot.
Background
Mobile robots have found widespread use in various industries. At present, most robots take rechargeable batteries as power sources. Because the electric quantity that rechargeable battery stored is limited, consequently, when the electric quantity is less than certain threshold value, the robot need to go to the charging area and carry out automatic recharging through filling electric pile or charging seat.
Generally set up the head that charges on the robot, fill electric pile and openly set up shell fragment or bullet piece that charges. When needing to return to fill automatically, the robot removes to the front of filling electric pile, makes the head that charges and the shell fragment butt that charges and reach certain pressure, and this process is called the robot and fills the counterpoint of electric pile. After the alignment is detected by the charging pile, the robot is charged by the charging pile, and the robot is informed of entering a charging state and stopping moving forwards.
However, according to the scheme, when the communication between the robot and the charging pile is abnormal or the alignment between the robot and the charging pile is abnormal, the robot can continue to advance to crash the charging pile or the charging pile.
Disclosure of Invention
One of the objectives of the present invention is to provide a pressure management method and a robot to overcome the disadvantages of the prior art.
The technical scheme provided by the invention is as follows:
a method of stress management, comprising: during the alignment process or the charging process with the charging device, the robot detects the output torque of the driving motor; stopping increasing the output torque when the output torque reaches a first torque threshold.
In some embodiments, further comprising: in the charging process, the robot detects a pressure value between the robot and the charging device, and controls the pressure value to be within a preset range by adjusting the output torque of the driving motor.
In some embodiments, the robot detects a pressure value between the robot and the charging device, and controls the pressure value to be within a preset range by adjusting the output torque of the driving motor, including: the robot calculates a pressure value between the robot and the charging device according to the output torque of the driving motor; when the pressure value is lower than a first pressure threshold value, the output torque of the driving motor is increased.
In some embodiments, further comprising: when the pressure value is higher than a second pressure threshold value, the output torque of the driving motor is reduced.
In some embodiments, further comprising: if the robot is accidentally disconnected from the charging device during charging, the robot moves to the charging device and controls the output torque of the driving motor not to exceed a first torque threshold value.
In some embodiments, said controlling the output torque of the drive motor to not exceed the first torque threshold comprises: and maintaining the output torque of the driving motor unchanged.
The present invention also provides a mobile robot comprising: the robot comprises a pressure management module, a control module and a control module, wherein the pressure management module is used for detecting the output torque of a driving motor in the aligning process or the charging process with a charging device; stopping increasing the output torque when the output torque reaches a first torque threshold.
In some embodiments, the pressure management module is further configured to, during a charging process, detect a pressure value between the robot and a charging device, and control the pressure value to be within a preset range by adjusting the output torque of the driving motor.
In some embodiments, the pressure management module is further configured to calculate a pressure value between the driving motor and the charging device according to the output torque of the driving motor; when the pressure value is lower than a first pressure threshold value, the output torque of the driving motor is increased.
In some embodiments, the pressure management module is further configured to move the robot to the charging device and control the output torque of the driving motor not to exceed the first torque threshold if the robot is accidentally disengaged from the charging device during charging.
The pressure management method and the mobile robot provided by the invention can at least bring the following beneficial effects:
1. the invention ensures that the robot is safer during charging by detecting and controlling the output torque of the driving motor, and the charging device or the robot can not be damaged because of overlarge robot output even if the communication with the charging device is abnormal or the robot is not aligned with the charging device.
2. According to the invention, by monitoring the pressure value between the robot and the charging device during charging, the pressure between the robot and the charging device is always in a reasonable range during charging, and the charging efficiency is improved.
3. If the robot is disturbed during charging, the robot moves to the charging device under the condition of controlling the output torque, and a certain charging recovery capability is achieved without a complex flow.
Drawings
The above features, technical features, advantages and implementations of a pressure management method and a mobile robot will be further described in the following detailed description of preferred embodiments with reference to the accompanying drawings.
FIG. 1 is a flow diagram of one embodiment of a pressure management method of the present invention;
FIG. 2 is a flow chart of another embodiment of a method of pressure management of the present invention;
FIG. 3 is a flow chart of another embodiment of a method of pressure management of the present invention;
fig. 4 is a schematic structural diagram of one embodiment of a mobile robot of the present invention.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will be made with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.
For the sake of simplicity, the drawings only schematically show the parts relevant to the present invention, and they do not represent the actual structure as a product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically depicted, or only one of them is labeled. In this document, "one" means not only "only one" but also a case of "more than one".
One embodiment of the present invention, as shown in fig. 1, is a pressure management method, including:
step S110, in the alignment process or the charging process with the charging device, the robot detects the output torque of the driving motor;
step S120 stops increasing the output torque when the output torque reaches the first torque threshold.
Specifically, the robot here refers to a mobile robot that needs to perform automatic recharging, that is, when the electric quantity is insufficient, the robot needs to move to a charging device by itself for charging. The charging device comprises a charging pile, a charging seat and the like.
The automatic recharging process of the robot and the charging device can be roughly divided into three stages: in the first stage, the robot moves to a charging device; the second stage, the robot and the charging device are aligned, so that a charging head of the robot is abutted against a charging elastic sheet of the charging device and reaches a certain pressure; and in the third stage, after the robot and the charging device are aligned, the charging device charges the robot. Only in the second and third phases the robot comes into contact with the charging device, with a certain pressure between each other. If the robot emits too much pressure in these two phases, this may cause damage to the charging device or to the robot itself. The invention manages the pressure between the robot and the charging device.
When the robot moves forward, the output torque T generated by the driving motor of the robot is mainly converted into the thrust of the forward movement of the robot. However, when the robot comes into contact with the charging post, the output torque T is mainly converted into a pressure between the robot and the charging device. It is possible to manage the pressure between the robot and the charging device by controlling the output torque of the driving motor.
The output torque T generated by the drive motor of the robot is 9550 × the power of the drive motor/the rotation speed of the drive motor.
For example, when the robot contacts the charging device at a low speed, the spring of the charging device exerts a reaction force F (i.e., a pressure between the robot and the charging device) on the robot. The F-bullet is only associated with the compression set of the spring.
Thrust P generated by output torque T wheel radius R-FResistance device-FBullet；
Wherein FResistance deviceFor friction, for in-wheel motors, FResistance deviceVery small and negligible. Therefore, when the thrust P is 0, the robot is stressed in a balanced manner and keeps stable on the charging device.
When F is presentBulletThe maximum output torque Tmax F can be obtained when the maximum pressure can be borne by the robot and the charging deviceBulletWheel radius R.
The first torque threshold may be set based on the maximum output torque, such as by subtracting a safe range value from Tmax. The maximum output torque may be determined based on the maximum pressure that the robot and charging device can withstand.
The output torque of the drive motor is monitored and when the output torque reaches a first torque threshold, the increase in output torque is stopped. Therefore, in the alignment or charging process with the charging device, the pressure between the robot and the charging device can be controlled by controlling the output torque of the driving motor not to exceed the first torque threshold value, and the robot or the charging device is prevented from being damaged. Even if the communication between the robot and the charging device is abnormal or the robot and the charging device are not aligned successfully, the robot can control the output torque to avoid the excessive force application.
According to the embodiment, on the basis of not adding any new equipment, the pressure between the robot and the charging device can be controlled by monitoring the output torque of the driving motor of the robot, the problem that the charging device or the robot is damaged due to overlarge force applied by the robot in the automatic recharging process is avoided, and the charging is safer.
Another embodiment of the present invention, as shown in fig. 2, is a pressure management method, including:
step S200, in the charging process, the robot detects a pressure value between the robot and the charging device, and controls the pressure value to be within a preset range by adjusting the output torque of the driving motor.
Specifically, when the charging head of the robot abuts against the charging spring of the charging device and reaches a certain pressure, the charging device starts charging the robot. However, during the charging process, good pressure cannot be always kept between the robot and the charging device, and the robot cannot be charged due to low pressure. It is necessary to monitor this pressure value so that a good pressure is always maintained between the robot and the charging device.
Step S200 specifically includes:
step S210, in the charging process, the robot calculates a pressure value between the robot and a charging device according to the output torque of the driving motor;
step S220 increases the output torque of the drive motor when the pressure value is lower than the first pressure threshold.
Step S230 reduces the output torque of the drive motor when the pressure value is higher than the second pressure threshold.
Specifically, the output torque T generated by the drive motor of the robot is 9550 × the power of the drive motor/the rotation speed of the drive motor.
During charging, the robot and the charging device are in a balanced state, for example, a pressure value F between the robot and the charging device is a wheel type robotBulletWheel radius R-FResistance device，FResistance deviceVery small and negligible.
The first pressure threshold is set according to a trigger torque of a charging elastic sheet on the charging device. If FBulletLess than the first pressure threshold, the robot will not be able to charge up. So when the pressure value F isBulletBelow the first pressure threshold, the output torque of the drive motor needs to be increased to increase the pressure between the robot and the charging device.
The second pressure threshold is set according to a damage torque of the charging device. If FBulletAbove the second pressure threshold, the charging device will be damaged. So when the pressure value F isBulletAbove the second pressure threshold, the output torque of the drive motor needs to be reduced to reduce the pressure between the robot and the charging device.
When the pressure value F isBulletBetween the first pressure threshold and the second pressure threshold, the output torque of the drive motor may not be changed.
In the embodiment, the pressure value between the robot and the charging device is monitored, and the output torque of the driving motor is controlled, so that the pressure value is always in a proper range during charging, and the charging efficiency is improved.
Another embodiment of the present invention, as shown in fig. 3, is a pressure management method, including:
wherein step S200 is the same as the previous embodiment and will not be repeated.
If the robot is accidentally disengaged from the charging device during charging in the step S300, the robot moves to the charging device and controls the output torque of the driving motor not to exceed the first torque threshold value.
Specifically, during charging, the robot may be detached from the charging device due to impact by an external force. If the robot is separated from the charging device, the existing processing method is that the robot is not moved in the original place and waits for manual processing; or the robot restarts the alignment, and the charging is restarted after the alignment is successful again, which is equivalent to restarting an automatic recharging process, so the processing flow is more complicated.
In the embodiment, after the robot is detached from the charging device, the robot can move to the charging device according to the output torque which does not exceed the first torque threshold, and the robot can recover charging, for example, the robot deviates in a small range, so that a complex alignment process can be omitted, and the charging can be recovered more quickly; if the deviation range is large, the charging may not be resumed, and the robot and the charging device need to be aligned again. Since the output torque does not exceed the first torque threshold, the forward movement of the robot does not cause damage to the charging device.
Optionally, step S300 includes:
if the robot is unexpectedly separated from the charging device during charging in step S310, the robot moves to the charging device and maintains the output torque of the driving motor.
Specifically, since the robot always controls the output torque of the driving motor to be within a proper range during the charging in step S200, the robot can move forward at a preset output torque and maintain the output torque unchanged when the robot is disconnected from the charging device. If the robot can recover the charging, the charging is recovered; if the recovery cannot be carried out, the alignment needs to be carried out again.
Since the pressure generated by the preset output torque is in a proper range, the robot moves forward according to the preset output torque without causing damage to the charging device.
According to the embodiment, after the robot is disturbed and accidentally disconnected from the charging device during charging, the robot moves to the charging device according to the appropriate output torque, so that the robot can quickly recover charging without performing a complex alignment process.
One embodiment of the present invention, as shown in fig. 4, is a mobile robot 100 including:
a pressure management module 110, configured to detect an output torque of the driving motor by the robot during a registration process with the charging device or a charging process; when the output torque reaches the first torque threshold, the increase of the output torque is stopped.
Specifically, the robot here refers to a mobile robot that needs to perform automatic recharging, that is, when the electric quantity is insufficient, the robot needs to move to a charging device by itself for charging. The charging device comprises a charging pile, a charging seat and the like.
The automatic recharging process of the robot and the charging device can be roughly divided into three stages: in the first stage, the robot moves to a charging device; the second stage, the robot and the charging device are aligned, so that a charging head of the robot is abutted against a charging elastic sheet of the charging device and reaches a certain pressure; and in the third stage, after the robot and the charging device are aligned, the charging device charges the robot. Only in the second and third phases the robot comes into contact with the charging device, with a certain pressure between each other. If the robot emits too much pressure in these two phases, this may cause damage to the charging device or to the robot itself. The invention manages the pressure between the robot and the charging device.
When the robot moves forward, the output torque T generated by the driving motor of the robot is mainly converted into the thrust of the forward movement of the robot. However, when the robot comes into contact with the charging post, the output torque T is mainly converted into a pressure between the robot and the charging device. It is possible to manage the pressure between the robot and the charging device by controlling the output torque of the driving motor.
The output torque T generated by the drive motor of the robot is 9550 × the power of the drive motor/the rotation speed of the drive motor.
For example, when the robot contacts the charging device at a low speed, the spring of the charging device exerts a reaction force F (i.e., a pressure between the robot and the charging device) on the robot. The F-bullet is only associated with the compression set of the spring.
Thrust P generated by output torque T wheel radius R-FResistance device-FBullet；
Wherein FResistance deviceFor friction, for in-wheel motors, FResistance deviceVery small and negligible. Therefore, when the thrust P is 0, the robot is stressed in a balanced manner and keeps stable on the charging device.
When F is presentBulletThe maximum output torque Tmax F can be obtained when the maximum pressure can be borne by the robot and the charging deviceBulletWheel radius R.
The first torque threshold may be set based on the maximum output torque, such as by subtracting a safe range value from Tmax. The maximum output torque may be determined based on the maximum pressure that the robot and charging device can withstand.
The output torque of the drive motor is monitored and when the output torque reaches a first torque threshold, the increase in output torque is stopped. Therefore, in the alignment or charging process with the charging device, the pressure between the robot and the charging device can be controlled by controlling the output torque of the driving motor not to exceed the first torque threshold value, and the robot or the charging device is prevented from being damaged. Even if the communication between the robot and the charging device is abnormal or the robot and the charging device are not aligned successfully, the robot can control the output torque to avoid the excessive force application.
According to the embodiment, on the basis of not adding any new equipment, the pressure between the robot and the charging device can be controlled by monitoring the output torque of the driving motor of the robot, and the problem that the charging device or the robot is damaged due to overlarge force applied by the robot in the automatic recharging process is solved.
Another embodiment of the present invention, as shown in fig. 4, is a mobile robot 100 including:
and the pressure management module 100 is used for detecting a pressure value between the robot and the charging device in the charging process, and controlling the pressure value to be within a preset range by adjusting the output torque of the driving motor.
Specifically, when the charging head of the robot abuts against the charging spring of the charging device and reaches a certain pressure, the charging device starts charging the robot. However, during the charging process, good pressure cannot be always kept between the robot and the charging device, and the robot cannot be charged due to low pressure. It is necessary to monitor this pressure value so that a good pressure is always maintained between the robot and the charging device.
The pressure management module 110 is further used for calculating a pressure value between the robot and the charging device according to the output torque of the driving motor in the charging process; calculating a pressure value between the driving motor and the charging device according to the output torque of the driving motor; when the pressure value is lower than a first pressure threshold value, increasing the output torque of the driving motor; when the pressure value is higher than the second pressure threshold, the output torque of the drive motor is reduced.
Specifically, the output torque T generated by the drive motor of the robot is 9550 × the power of the drive motor/the rotation speed of the drive motor.
During charging, the robot and the charging device are in a balanced state, for example, a pressure value F between the robot and the charging device is a wheel type robotBulletWheel radius R-FResistance device，FResistance deviceVery small and negligible.
The first pressure threshold is set according to a trigger torque of a charging elastic sheet on the charging device. If FBulletLess than the first pressure threshold, the robot will not be able to charge up. So when the pressure value F isBulletBelow the first pressure threshold, the output torque of the drive motor needs to be increased to increase the pressure between the robot and the charging device.
The second pressure threshold is set according to a damage torque of the charging device. If FBulletAbove the second pressure threshold, the charging device will be damaged. So when the pressure value F isBulletAbove the second pressure threshold, the output torque of the drive motor needs to be reduced to reduce the pressure between the robot and the charging device.
When the pressure value F isBulletBetween the first pressure threshold and the second pressure threshold, the output torque of the drive motor may not be changed.
In the embodiment, the pressure value between the robot and the charging device is monitored, and the output torque of the driving motor is controlled, so that the pressure value is always in a proper range during charging, and the charging efficiency is improved.
One embodiment of the present invention, as shown in fig. 4, is a mobile robot 100 including:
the pressure management module 110 is used for detecting a pressure value between the robot and the charging device in the charging process, and controlling the pressure value to be in a preset range by adjusting the output torque of the driving motor; if the robot is accidentally disconnected from the charging device during charging, the robot moves towards the charging device and controls the output torque of the driving motor not to exceed the first torque threshold value.
Specifically, during charging, the robot may be detached from the charging device due to impact by an external force. If the robot is separated from the charging device, the existing processing method is that the robot is not moved in the original place and waits for manual processing; or the robot restarts the alignment, and the charging is restarted after the alignment is successful again, which is equivalent to restarting an automatic recharging process, so the processing flow is more complicated.
The embodiment provides that after the robot is disengaged from the charging device, the robot can move to the charging device according to the output torque which does not exceed the first torque threshold, and the robot can recover charging, for example, small-range deviation is caused, so that a complex alignment process can be omitted; or the charging device may not be able to be recovered, the robot and the charging device need to be aligned again. Since the output torque does not exceed the first torque threshold, the forward movement of the robot does not cause damage to the charging device.
Optionally, the pressure management module 110 is further configured to move the robot to the charging device and maintain the output torque of the driving motor constant if the robot is accidentally disengaged from the charging device during charging.
Specifically, since the robot always controls the output torque of the driving motor to be within a proper range during charging, when the robot is disconnected from the charging device, the robot can move forward at a preset output torque and maintain the output torque constant. If the robot can recover the charging, the charging is recovered; if the recovery cannot be carried out, the alignment needs to be carried out again.
Since the pressure generated by the preset output torque is in a proper range, the robot moves forward according to the preset output torque without causing damage to the charging device.
According to the embodiment, after the robot is disturbed and accidentally disconnected from the charging device during charging, the robot moves to the charging device according to the appropriate output torque, so that the robot can quickly recover charging without performing a complex alignment process.
It should be noted that the above embodiments can be freely combined as necessary. The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims (10)

1. A method of pressure management, comprising:
during the alignment process or the charging process with the charging device, the robot detects the output torque of the driving motor;
stopping increasing the output torque when the output torque reaches a first torque threshold.
2. The pressure management method according to claim 1, further comprising:
in the charging process, the robot detects a pressure value between the robot and the charging device, and controls the pressure value to be within a preset range by adjusting the output torque of the driving motor.
3. The pressure management method according to claim 2, wherein the robot detects a pressure value between the robot and a charging device, and controls the pressure value to be within a preset range by adjusting an output torque of the driving motor, including:
the robot calculates a pressure value between the robot and the charging device according to the output torque of the driving motor;
when the pressure value is lower than a first pressure threshold value, the output torque of the driving motor is increased.
4. The pressure management method according to claim 3, further comprising:
when the pressure value is higher than a second pressure threshold value, the output torque of the driving motor is reduced.
5. The pressure management method according to claim 2, further comprising:
if the robot is accidentally disconnected from the charging device during charging, the robot moves to the charging device and controls the output torque of the driving motor not to exceed a first torque threshold value.
6. The pressure management method of claim 5, wherein said controlling the output torque of the drive motor to not exceed a first torque threshold comprises:
and maintaining the output torque of the driving motor unchanged.
7. A mobile robot, comprising:
the robot comprises a pressure management module, a control module and a control module, wherein the pressure management module is used for detecting the output torque of a driving motor in the aligning process or the charging process with a charging device; stopping increasing the output torque when the output torque reaches a first torque threshold.
8. The pressure management method according to claim 7, wherein:
the pressure management module is also used for detecting a pressure value between the robot and the charging device in the charging process, and controlling the pressure value to be within a preset range by adjusting the output torque of the driving motor.
9. The pressure management method according to claim 8, wherein:
the pressure management module is also used for calculating a pressure value between the driving motor and the charging device according to the output torque of the driving motor; when the pressure value is lower than a first pressure threshold value, the output torque of the driving motor is increased.
10. The pressure management method according to claim 8, wherein:
the pressure management module is further used for moving the robot to the charging device and controlling the output torque of the driving motor not to exceed a first torque threshold value if the robot is accidentally disconnected from the charging device during charging.
CN202111546764.7A 2021-12-16 2021-12-16 Pressure management method and mobile robot Pending CN114189023A (en)

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