Mobile Robot and Safety Control System

A mobile robot, comprising:

• a main body;
• at least one mobile device, arranged at a bottom or a top of the main body and configured to drive the mobile robot to move in a horizontal direction or a gravity direction;
• and
• a safety control system, comprising:
• a first monitoring circuit, configured to monitor a movement state of each of the at least one mobile device, for monitoring movement data of the mobile robot;
• a second monitoring circuit, arranged on an outer wall of the mobile robot, and configured to generate a collision signal in response to the mobile robot colliding with an obstacle;
• a third monitoring circuit, configured to monitor whether an obstacle exists within a preset range of the mobile robot and to generate an alarm signal in response to the obstacle being monitored to exist;
• a safety control circuit, connected to the first monitoring circuit, the second monitoring circuit, the third monitoring circuit, and a safety input device of the mobile robot, and configured to generate a first safety instruction based on the movement data, a second safety instruction based on the collision signal, a third safety instruction based on the alarm signal, and a fourth safety instruction based on state information of the safety input device;
• a servo circuit, connected to the safety control circuit, and configured to receive and execute the first safety instruction, the second safety instruction, the third safety instruction, or the fourth safety instruction output by the safety control circuit;
• and
• a main control board, connected to the servo circuit, and configured to output a drive control signal to the servo circuit, for causing the servo circuit to control a motor of the mobile robot based on the drive control signal.

A robot, comprising:

• a carrying body;
• a main body, arranged on the carrying body for performing a movement control cooperating with the carrying body;
• and
• a safety control system, comprising:
• a first monitoring circuit, configured to monitor a movement state of the main body, for monitoring motion data of the main body;
• a second monitoring circuit, arranged on an outer wall of the main body, and configured to generate a collision signal in response to the main body colliding with an obstacle;
• a third monitoring circuit, configured to monitor whether an obstacle exists within a preset range of the main body and to generate an alarm signal in response to the obstacle being monitored to exist;
• a safety control circuit, connected to the first monitoring circuit, the second monitoring circuit, the third monitoring circuit, and a safety input device of the robot, and configured to generate a first safety instruction based on the motion data, a second safety instruction based on the collision signal, a third safety instruction based on the alarm signal, and a fourth safety instruction based on state information of the safety input device;
• a servo circuit, connected to the safety control circuit, and configured to receive and execute the first safety instruction, the second safety instruction, the third safety instruction, or the fourth safety instruction output by the safety control circuit;
• and
• a main control board, connected to the servo circuit, and configured to output a drive control signal to the servo circuit, for causing the servo circuit to control a motor of the robot based on the drive control signal.