Alarming control method, device thereof, equipment and readable storage medium

The invention discloses an alarming control method which comprises the steps of alternately executing the following steps by a first time period; making an existing hub motor of a robot be energized by a second time period according to a preset energization sequence; stopping energization of the hub motor by a third preset time period so that the hub motor performs intermittent vibration, whereinthe first time period is not shorter than summation of the second preset time period and the third preset time period, and the second preset period is shorter than a preset value. The hub motor of therobot is alternately is switched between the second preset time period for energization and the third preset time period for stopping energization according to the preset energization sequence so that the hub motor performs regular intermittent vibration for genreating sound, thereby performing an alarming effect, replacing an alarming device, reducing robot cost, reducing robot size and facilitating robot popularization.