A monorail hoist transportation robot driven by permanent magnet and variable frequency of an explosion-proof lithium battery, wherein the robot is moved by a suspension track, the robot comprises a main controller, a state perception system, and a cockpit, a lifting device and a plurality of driving units all suspended on the suspension track, the cockpit is configured to control the monorail hoist transportation robot by a driver, and the lifting device is configured to load cargoes, each driving unit includes a motor, and each motor has operation modes including a constant power mode and a constant torque mode;
- the state perception system detects a travelling state of the monorail hoist transportation robot, and the operation mode of the motor is adjusted by the main controller through the travelling state detected by the state perception system, wherein:
- when the state perception system detects that the monorail hoist transportation robot is in a stable travelling state, the constant power mode is maintained by the motor;
- when the state perception system detects that the monorail hoist transportation robot is in an acceleration starting state, each motor is accelerated in the constant torque mode and when the motor reaches a rated power, the operation mode of the motor is converted into the constant power mode;
- when the state perception system detects that parts of the driving units begin to climb a slope, the operation modes of the motors corresponding to the driving units not climbing the slope are operated using the constant torque mode, a resistance Fi increased by the driving units climbing the slope is evenly distributed to the each driving unit, the driving units not climbing the slope are decelerated, and a rotational speed of the corresponding motor after deceleration is Ni, wherein Ni is required to be calculated and obtained based on a stable travelling speed V of the monorail hoist transportation robot and a circumference Ci of a corresponding driving wheel, the stable travelling speed V of the monorail hoist transportation robot is calculated and obtained based on the resistance Fi;
- when all the driving units have reached the slope, the operation modes of the corresponding motors are operated using the constant power mode, when the state perception system detects that the cockpit in the monorail hoist transportation robot is leaving the slope, the operation modes of the motors corresponding to the driving units passing through the slope are operated using the constant torque mode, and then a torque value corresponding to the constant torque mode is a value before climbing;
- when the state perception system detects that parts of the driving units begin to descend the slope, the operation modes of the motors corresponding to the driving units descending the slope are operated using the constant torque mode, then a force Fj increased by the driving units descending the slope in a running direction is evenly distributed to each driving unit;
- when all the driving units have reached to the slope, the operation mode of the motor corresponding to each driving unit is converted into the constant power mode, when the state perception system detects that the cockpit in the monorail hoist transportation robot has left the slope, the operation modes of the motors corresponding to the driving units that have not left the slope is converted into the constant torque mode.