CN114784757A - Battery power-off control method applied to robot - Google Patents
Battery power-off control method applied to robot Download PDFInfo
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- CN114784757A CN114784757A CN202210228065.6A CN202210228065A CN114784757A CN 114784757 A CN114784757 A CN 114784757A CN 202210228065 A CN202210228065 A CN 202210228065A CN 114784757 A CN114784757 A CN 114784757A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
Abstract
The embodiment of the invention discloses a battery power-off control method applied to a robot, relates to the technical field of robots, and is used for solving the problem that the robot is further damaged because the jamming condition of the robot cannot be intelligently and timely found in the conventional robot emergency stop method. The method comprises the following steps: detecting whether a working motor/steering engine of the robot has a fault risk or not; and if the working motor/steering engine of the robot has fault danger, performing power-off control on a battery in the robot. The invention can intelligently control the power failure of the battery in the robot when the working motor/steering engine has fault danger, thereby preventing the robot from being damaged and stopping the damage in time.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a battery power-off control method applied to a robot.
Background
With the progress of artificial intelligence and robot technology, the robot has more and more comprehensive functions and more powerful capacity, can effectively help people to improve the working efficiency, and is widely applied. Robots are currently mainly directed to various fields, providing mechanical means of specific functions, such as: a household robot, an industrial robot, an entertainment robot and the like are machine devices with a plurality of joints, which are composed of a plurality of motors (including working motors and moving/steering motors) and steering engines (including working steering engines and moving/steering engines), can receive human commands, and can also operate according to the preset program logic.
In the working process of the robot, except for the work that a working motor and a working steering engine need to hoist and mount loads, other motors and steering engines are used for providing the robot with steering and moving functions, and once torque obstruction (such as foreign matters entering joints) occurs in the steering and moving processes of the robot, the robot can be stopped in rotation and moving, and the motors and the steering engines are burnt out or mechanical arms are broken under severe conditions.
At present, the robot emergency stop method still depends on manpower, and when a worker finds that the rotation and the movement of the robot are blocked, the robot is immediately stopped by a power-off mode. The method very tests the experience of the workers, people with abundant experience need to find the blockage situation in time, and once the blockage situation is not found in time, great economic loss and even personal injury and other accidents of the workers can occur; meanwhile, the working personnel also need to observe the running condition of the robot in real time, and the time and the labor are very consumed.
Disclosure of Invention
In view of this, the embodiment of the present invention provides a battery power-off control method applied to a robot, which is used to solve the problem that the robot is further damaged due to the fact that the robot is not intelligently and timely found to be stuck by the existing robot emergency stop method. The invention can intelligently control the power failure of the battery in the robot when the working motor/steering engine has fault danger, thereby preventing the robot from being damaged and stopping the damage in time.
The embodiment of the invention provides a battery power-off control method applied to a robot, which comprises the following steps:
detecting whether a working motor/steering engine of the robot has a fault risk or not;
and if the working motor/steering engine of the robot has fault danger, performing power-off control on a battery in the robot.
In an optional embodiment, the detecting whether there is a risk of failure in a working motor/steering engine of the robot includes:
detecting whether a first type of motor/steering engine which is started currently has a fault risk or not; the first type of motor/steering engine is a motor/steering engine for controlling the robot to turn or move;
and if the first type of motor/steering engine which is started currently has fault danger, directly determining that the working motor/steering engine of the robot has fault danger.
In an optional embodiment, the detecting whether there is a danger of failure in a working motor/steering engine of the robot further includes:
if the first type of motor/steering engine which is started currently has no fault danger, collecting hoisting parameters of the robot during hoisting load work through the second type of motor/steering engine in at least one sampling period according to a preset sampling period; the second type of motor/steering engine is a motor/steering engine for realizing the hoisting of the load of the robot;
and determining whether a working motor/steering engine of the robot has a fault risk or not according to the hoisting parameters.
In an optional embodiment, the detecting whether there is a risk of failure in the currently-turned-on first-type motor/steering engine includes:
acquiring input power of the robot at the current moment and the starting state of each first type motor/steering engine of the robot;
calculating fault output values of the first type motors/steering engines which are started at the current moment based on a first formula according to the input power of the robot at the current moment and the starting state of each first type motor/steering engine of the robot;
judging whether the fault output value of the first type motor/steering engine started at the current moment is equal to 1 or not;
if the fault output value of the first-class motor/steering engine started at the current moment is equal to 1, determining that the first-class motor/steering engine started at the current moment has fault danger, and otherwise, determining that the first-class motor/steering engine started at the current moment has no fault danger;
wherein the first formula is:
wherein t represents the current time; c (t) is a fault output value of the first type of motor/steering engine which is started at the current moment; p (t) represents the input power to the robot at the current moment; d (i _ t) represents the opening state of the ith first-class motor/steering engine of the robot at the current momentThe identification value, namely, when the ith first-class motor/steering engine is in an on state at the current moment, the corresponding D (i _ t) takes a first preset value, and when the ith first-class motor/steering engine is in an off state at the current moment, the corresponding D (i _ t) takes a second preset value; p0(i) The nominal working power of the ith first-type motor/steering engine is represented; i-1, 2, …, n; n represents the total number of first type motors/steering engines of the robot.
In an optional embodiment, the first preset value is 1, and the second preset value is 0.
In an optional embodiment, the method further comprises: recording the input power change value of the robot when each second type motor/steering engine of the robot is started;
the hoisting parameters comprise: the rotating speed of each started second motor/steering engine, the radius of a driven rotating shaft, the included angle between the direction of force applied to the load article through the rotating shaft and the vertical direction, and the mass and the rising speed of the load article;
according to the hoist and mount parameter, confirm whether there is the trouble danger in the work motor/steering wheel of robot, include:
calculating the lifting driving force of the robot based on a second formula according to the change value of input power to the robot when each second motor/steering engine of the robot is started, the rotating speed of each started second motor/steering engine, the radius of a driven rotating shaft and the included angle between the direction of force applied to a load object through the rotating shaft and the vertical direction;
calculating a fault danger identification value based on a third formula according to the mass of the load-bearing article, the lifting speed and the lifting driving force of the robot;
judging whether the currently calculated fault danger identification value is equal to 1, if so, determining that the working motor/steering engine of the robot has fault danger, otherwise, determining that the working motor/steering engine of the robot has no fault danger;
wherein the second formula is:
in the first formula, F represents the lifting driving force of the robot; Δ p (a) represents an input power change value of the robot when the a second type motor/steering engine of the robot is started; n (a) indicates the rotating speed of the a second type motor/steering engine of the started robot; r (a) represents the radius of a rotating shaft driven by the a second type motor/steering engine of the started robot; theta (a) represents an included angle between the direction of the force applied to the load article by the first second type motor/steering engine of the started robot through the rotating shaft and the vertical direction; a represents the total number of second type motors/steering gears of the started robot;
the third formula is:
Q(t1) T representing the end of the current sampling period1A fault risk identification value at a time; m represents the mass of the weight-bearing article of the robot in the current sampling period; v (t)1) Represents t1The ascending speed of the load article at the moment; v (t)1-T) represents T1-the speed of ascent of the weight-bearing article at time T; t represents the predetermined sampling period; delta [ 2 ]]Represents a non-zero test function, with a value of 1 when the value in the parenthesis is other than 0 and 0 otherwise.
In an optional embodiment, if there is a danger of failure in the working motor/steering engine of the robot, performing power-off control on a battery in the robot includes:
if the working motor/steering engine of the robot has a fault risk, reducing the input power to the robot and controlling the working motor/steering engine of the robot to stop a first working instruction; the first working instruction is a working instruction which is executed by the robot when the working motor/steering engine of the robot is detected to have a fault danger;
and when the preset time period expires, controlling a battery in the robot to be powered off.
The battery power-off control method applied to the robot provided by the invention is used for detecting whether a working motor/steering engine of the robot has a fault risk or not, and carrying out power-off control on a battery in the robot when the working motor/steering engine of the robot has the fault risk. The intelligent power-off control system can intelligently control the power-off of the battery in the robot when the working motor/steering engine has fault danger, thereby preventing the robot from being damaged and stopping the damage in time.
Drawings
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, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flowchart illustrating an exemplary method for controlling a power outage of a battery in a robot according to an embodiment of the present invention;
FIG. 2 is a flowchart of an embodiment of a method for controlling a power outage of a battery applied to a robot according to the present invention;
fig. 3 is a flowchart of an implementation method of S201;
fig. 4 is a flowchart of an implementation method of S204.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
It should be understood that the described embodiments are only some embodiments of the invention, and 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 invention.
Fig. 1 is a flowchart illustrating an embodiment of a method for controlling power failure of a battery applied to a robot according to an embodiment of the present invention. Referring to fig. 1, the method includes the following steps S101-S102:
s101: and (4) detecting whether a working motor/steering engine of the robot has a fault risk, if so, executing S102.
In this embodiment, the motor/steering engine on the robot mainly includes two types: the first type of motor/steering engine is a motor/steering engine for controlling the robot to turn or move, such as a turning and moving motor and a turning and moving steering engine; the second motor/steering engine is used for realizing the hoisting load of the robot. The working motor/steering engine comprises a first type motor/steering engine and a second type motor/steering engine which are in an opening working state in the current robot. In order to reduce the influence of faults on the motor/steering engine and prevent the robot from being further damaged, the invention can detect whether the working motor/steering engine of the robot has fault danger or not, thereby facilitating the subsequent power-off treatment of the fault robot, effectively reducing economic loss and avoiding personal safety events.
S102: and performing power-off control on a battery in the robot.
In this embodiment, when the robot has a fault, the robot is stopped as soon as possible by processing in a power-off mode, so that the robot is effectively prevented from being further damaged.
The battery power-off control method applied to the robot provided by the embodiment of the invention is used for detecting whether a working motor/steering engine which is started at present of the robot has a fault risk or not, and carrying out power-off control on a battery in the robot when the working motor/steering engine of the robot has the fault risk. The intelligent power-off control system can intelligently control the power-off of the battery in the robot when the working motor/steering engine has fault danger, thereby preventing the robot from being damaged and stopping the damage in time.
Fig. 2 is a flowchart illustrating an embodiment of a method for controlling power off of a battery applied to a robot according to the present invention. Referring to fig. 2, the method includes the following steps S201 to S205:
s201: detecting whether a first type of motor/steering engine which is started currently has a fault risk or not; if yes, S202 is executed, otherwise S203 is executed.
The first type of motor/steering engine is used for controlling the robot to turn or move.
In this embodiment, because the operating condition of the robot is that the motor or the steering engine for controlling steering or moving is started first, and then the working motor and the working steering engine are started for hoisting and loading, in the working process of the robot, whether the currently started motor/steering engine for steering or moving has a fault risk or not is detected first, and it is found that once the motors have torque resistance, the rotation and the movement of the robot are blocked, the motors and the steering engine are burned out or the mechanical arm is broken off in a severe case, so that in order to avoid the resistance condition from damaging the robot, power-off processing can be adopted. The fault danger of the robot can be timely found, and emergency measures can be timely adopted, so that the secondary damage of the robot is effectively avoided.
S202: and determining that the working motor/steering engine of the robot has a fault risk, and executing S205.
S203: and collecting hoisting parameters of the robot during hoisting load work through a second type of motor/steering engine in at least one sampling period according to a preset sampling period.
The second motor/steering engine is used for realizing the hoisting load of the robot.
In this embodiment, when the hoisting parameters of the second-type motors/steering engines during hoisting and loading work are collected, the input power change values of the robot when each second-type motor/steering engine of the robot is started are also required to be recorded, so that whether the hoisting and loading work motors/steering engines have fault risks or not is judged subsequently according to the input power change values.
S204: and determining whether a working motor/steering engine of the robot has a fault risk or not according to the hoisting parameters, and if so, executing the step S205.
S205: and performing power-off control on a battery in the robot.
As an alternative embodiment, the step S205 may include:
s2051: reducing the input power to the robot, and controlling a working motor/steering engine of the robot to stop a first working instruction;
the first working instruction is a working instruction which is executed by the robot when the working motor/steering engine of the robot is detected to have a fault danger.
In this embodiment, in order to prevent sudden power failure, make the driver can't in time make the shutoff instruction to the motor band-type brake in motion, thereby cause the terminal strong shake that takes place of robot, bring the potential safety hazard of equipment collision then. Therefore, before the power failure of the battery, the motor in motion is firstly stopped and then powered off after the motor is stopped, so that the occurrence of mutual collision among equipment is effectively avoided.
S2052: and when the preset time period expires, controlling a battery in the robot to be powered off.
In this embodiment, the preset time period may be determined according to a time interval of the robot responding to the operation stop instruction, where the specific time is the robot motor/steering engine operation stop time-the time when the robot sends the operation stop instruction to the motor/steering engine, for example, 50ms, so that all the motors/steering engines can be guaranteed to be normally stopped, and an event that the devices collide with each other due to shaking can be avoided.
As an alternative embodiment, as shown in fig. 3, step S201 may include steps S301-S305:
s301: and acquiring the input power of the robot at the current moment and the opening state of each first-class motor/steering engine of the robot.
In the embodiment, when the robot works, each motor/steering engine which turns to or moves does not move, some motors/steering engines are not in an open state, only identification information of the motors/steering engines in the open state is acquired, and therefore fault risk judgment can be conveniently carried out subsequently, and judgment accuracy is improved.
S302: and calculating the fault output value of the first type of motor/steering engine which is started at the current moment based on a first formula according to the input power of the robot at the current moment and the starting state of each first type of motor/steering engine of the robot.
Preferably, the first formula is:
wherein t represents the current time; c (t) is a fault output value of the first type motor/steering engine which is started at the current moment; p (t) represents the input power to the robot at the current moment; d (i _ t) represents an identification value of an opening state of the ith first type motor/steering engine of the robot at the current moment, the corresponding D (i _ t) value is a first preset value when the ith first type motor/steering engine is in an opening state at the current moment, the first preset value is 1, and the corresponding D (i _ t) value is a second preset value when the ith first type motor/steering engine is in a closing state at the current moment, and the second preset value is 0; p0(i) The nominal working power of the ith first-type motor/steering engine is represented; i-1, 2, …, n; n represents the total number of first type motors/steering engines of the robot.
In this embodiment, the robot calculates and identifies the individual working power of each motor and steering engine for controlling steering and movement before leaving the factory, and once the motor or steering engine for controlling steering or movement is turned on in the working process of the robot, the difference between the increased power and the actual individual working power is large, that is, if the input power of the robot is greater than 1.2 times of the total nominal working power of the motor or steering engine for controlling steering or movement, the motor and steering engine for controlling steering or movement are considered to have a fault risk.
Through the first formula, the fault output value of the currently started motor or steering engine controlling steering or moving is obtained according to the power change condition when the motor or steering engine controlling steering or moving is started in the working process of the robot, and then whether the motor or steering engine controlling steering or moving is subjected to moment obstruction or not is judged through the input power, so that fault reporting can be timely carried out when moment obstruction is found, and the reliability of the device is guaranteed.
S303: judging whether the fault output value of the first type motor/steering engine started at the current moment is equal to 1 or not; if yes, S304 is performed, otherwise S305 is performed.
In this embodiment, if c (t) is 1, it indicates that there is a risk of failure in the motor or steering engine that controls steering or movement that is turned on at the present time; if c (t) is 0, it indicates that there is no risk of failure in the motor or steering engine that controls steering or movement that is turned on at the present time. The method for judging whether the motor or the steering engine for controlling steering or movement has fault danger or not has the advantages of simplicity and accuracy in judgment.
S304: and determining that the first type of motor/steering engine which is switched on currently has a fault risk.
S305: and determining that the first type of motor/steering engine which is currently started does not have fault danger.
As an optional embodiment, the hoisting parameters include: the rotating speed of each started second motor/steering engine, the radius of a driven rotating shaft, the included angle between the direction of force applied to the load article through the rotating shaft and the vertical direction, and the mass and the rising speed of the load article. In this embodiment, as shown in fig. 4, the step S204 may include the following steps S401 to S405:
s401: and calculating the hoisting driving force of the robot based on a second formula according to the change value of the input power to the robot when each second motor/steering engine of the robot is started, the rotating speed of each started second motor/steering engine, the radius of a driven rotating shaft, and the included angle between the direction of the force applied to the load article through the rotating shaft and the vertical direction.
Preferably, the second formula is:
in the second formula, F represents the hoisting driving force of the robot; Δ p (a) represents an input power change value to the robot when the a second type motor/steering engine of the robot is started; n (a) indicates the rotating speed of the a second type motor/steering engine of the started robot; r (a) represents the radius of a rotating shaft driven by the a second motor/steering engine of the started robot; theta (a) represents an included angle between the direction of a force applied to a load article by a first class motor/steering engine of the started robot through a rotating shaft and the vertical direction, wherein n (a) and R (a), and theta (a) is a rotating speed, a rotating shaft radius and an included angle value collected at the current moment or in the current sampling period; a indicates the total number of motors/steering engines of the second type of the robot that are switched on.
In this embodiment, according to when the work motor and the work steering engine hoist and mount heavy burden work, the input power of the robot around through bearing a burden changes and obtains the current hoist and mount drive power size that the robot applyed to the heavy burden article, and then obtains the operating condition of work motor and work steering engine lays accurate judgement condition for follow-up control battery outage.
S402: and calculating a fault danger identification value based on a third formula according to the mass of the load-bearing article, the lifting speed and the lifting driving force of the robot.
Preferably, the third formula is:
wherein, Q (t)1) T representing the end of the current sampling period1A fault risk identification value at a time; m represents the mass of the weight-bearing article of the robot in the current sampling period; v (t)1) Represents t1The ascending speed of the load article at the moment; v (t)1-T) represents T1-the speed of ascent of the weight-bearing article at time T; t represents the predetermined sampling period; delta [ 2 ]]Representing a non-zero test function, with a value of 1 when the value in the parenthesis is other than 0 and vice versa 0.
In the embodiment, according to the weight of the load-bearing article, the movement speed of the load-bearing article and the lifting driving force of the robot, the fault danger identification value of the currently-started working motor or steering engine is obtained, then whether the working motor/steering engine of the robot has fault danger or not is judged conveniently according to the fault danger identification value, and then whether a battery in the robot needs to be powered off or not is controlled, so that the robot is prevented from being damaged or stopped in time.
S403: and judging whether the currently calculated fault danger identification value is equal to 1, if so, executing S404, and otherwise, executing S405.
In this embodiment, if q (t) is 1, it indicates that there is a risk of failure in the working motor/steering engine of the robot at the current time, and it is necessary to control the battery in the robot to cut off the power supply; if Q (t) is 0, the working motor/steering engine of the robot does not have a fault risk at the current moment, and the battery in the robot needs to be controlled not to be powered off, so that the method for judging whether the working motor/steering engine has a fault or not has the advantages of simplicity and accuracy in judgment.
S404: and determining that the working motor/steering engine of the robot has fault danger.
S405: and determining that no fault danger exists in a working motor/steering engine of the robot.
According to the battery power-off control method applied to the robot, provided by the embodiment of the invention, the difference between the increased power and the actual single working power when the motor or the steering engine for controlling the steering or the movement is started in the working process of the robot can be obtained, so that whether the motor or the steering engine for steering or the movement has a fault risk or not can be accurately judged, and meanwhile, according to the driving force applied to a load-bearing article by the working motor and the steering engine, the weight of the load-bearing article and the movement speed of the load-bearing article, whether the working motor and the steering engine have the fault risk or not can be accurately judged. The invention can intelligently judge whether the motor/steering engine of the robot has fault danger or not, and automatically carry out power-off control on the battery in the robot when the fault danger exists, thereby preventing the robot from being damaged and stopping the damage in time.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations. The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (7)
1. A battery power-off control method applied to a robot is characterized by comprising the following steps:
detecting whether a working motor/steering engine of the robot has a fault risk or not;
and if the working motor/steering engine of the robot has fault danger, performing power-off control on a battery in the robot.
2. The method for controlling the power failure of the battery applied to the robot according to claim 1, wherein the step of detecting whether the working motor/steering engine of the robot has a fault risk comprises the following steps:
detecting whether a first type of motor/steering engine which is started currently has a fault risk or not; the first type of motor/steering engine is a motor/steering engine for controlling the robot to turn or move;
and if the first type of motor/steering engine which is started currently has fault danger, directly determining that the working motor/steering engine of the robot has fault danger.
3. The method for controlling battery power failure in a robot according to claim 2, wherein the step of detecting whether a working motor/steering engine of the robot has a risk of failure further comprises the steps of:
if the first type of motor/steering engine which is started currently does not have fault danger, collecting hoisting parameters of the robot during the hoisting load work through the second type of motor/steering engine in at least one sampling period according to a preset sampling period; the second type of motor/steering engine is a motor/steering engine for realizing the hoisting of the load of the robot;
and determining whether a working motor/steering engine of the robot has a fault risk or not according to the hoisting parameters.
4. The method for controlling the power failure of the battery applied to the robot according to claim 3, wherein the step of detecting whether the first type of motor/steering engine which is currently started has a fault risk comprises the following steps:
acquiring input power of the robot at the current moment and the starting state of each first type motor/steering engine of the robot;
calculating fault output values of the first type motors/steering engines which are started at the current moment based on a first formula according to the input power of the robot at the current moment and the starting state of each first type motor/steering engine of the robot;
judging whether the fault output value of the first type motor/steering engine started at the current moment is equal to 1 or not;
if the fault output value of the first type of motor/steering engine which is started at the current moment is equal to 1, determining that the first type of motor/steering engine which is started at the current moment has fault danger, otherwise, determining that the first type of motor/steering engine which is started at the current moment does not have fault danger;
wherein the first formula is:
wherein t represents the current time; c (t) is a fault output value of the first type motor/steering engine which is started at the current moment; p (t) represents the input power to the robot at the current moment; d (i _ t) represents an opening state identification value of the ith first type motor/steering engine of the robot at the current moment, when the ith first type motor/steering engine is in an opening state at the current moment, the corresponding D (i _ t) value is a first preset value, and when the ith first type motor/steering engine is in a closing state at the current moment, the corresponding D (i _ t) value is a second preset value; p is0(i) The nominal working power of the ith first-type motor/steering engine is represented; 1,2, n; n represents the total number of first type motors/steering engines of the robot.
5. The method of claim 4, wherein the first predetermined value is 1 and the second predetermined value is 0.
6. The method for controlling power-off of a battery applied to a robot according to claim 4, further comprising: recording the input power change value of the robot when each second type motor/steering engine of the robot is started;
the hoisting parameters comprise: the rotating speed of each started second motor/steering engine, the radius of a driven rotating shaft, the included angle between the direction of force applied to the load-bearing article through the rotating shaft and the vertical direction, and the mass and the rising speed of the load-bearing article;
according to the hoist and mount parameter, confirm whether there is the trouble danger in the work motor/steering wheel of robot, include:
calculating the lifting driving force of the robot based on a second formula according to the change value of input power to the robot when each second motor/steering engine of the robot is started, the rotating speed of each started second motor/steering engine, the radius of a driven rotating shaft and the included angle between the direction of force applied to a load object through the rotating shaft and the vertical direction;
calculating a fault danger identification value based on a third formula according to the mass of the load-bearing article, the lifting speed and the lifting driving force of the robot;
judging whether the currently calculated fault danger identification value is equal to 1, if so, determining that the working motor/steering engine of the robot has fault danger, otherwise, determining that the working motor/steering engine of the robot does not have fault danger;
wherein the second formula is:
in the second formula, F represents the hoisting driving force of the robot; Δ p (a) represents an input power change value to the robot when the a second type motor/steering engine of the robot is started; n (a) indicates the rotating speed of the a second type motor/steering engine of the started robot; r (a) represents the radius of a rotating shaft driven by the a second motor/steering engine of the started robot; theta (a) represents an included angle between the direction of the force applied to the load article by the first second type motor/steering engine of the started robot through the rotating shaft and the vertical direction; a represents the total number of second type motors/steering gears of the started robot;
the third formula is:
Q(t1) T representing the end of the current sampling period1Risk of failure at a timeAn identification value; m represents the mass of the weight-bearing article of the robot in the current sampling period; v (t)1) Denotes t1The ascending speed of the load article at the moment; v (t)1-T) represents T1-the speed of ascent of the weight-bearing article at time T; t represents the predetermined sampling period; delta 2]Represents a non-zero test function, with a value of 1 when the value in the parenthesis is other than 0 and 0 otherwise.
7. The method for controlling the power failure of the battery applied to the robot according to any one of claims 1 to 6, wherein if the working motor/steering engine of the robot has a fault risk, the power failure control of the battery in the robot comprises the following steps:
if the working motor/steering engine of the robot has a fault risk, reducing the input power to the robot and controlling the working motor/steering engine of the robot to stop a first working instruction; the first working instruction is a working instruction which is executed by the robot when the working motor/steering engine of the robot is detected to have fault danger;
and when the preset time period expires, controlling a battery in the robot to be powered off.
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