CN105892460A - Protection method and apparatus for falling of wall-climbing robot - Google Patents
Protection method and apparatus for falling of wall-climbing robot Download PDFInfo
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- CN105892460A CN105892460A CN201610242567.9A CN201610242567A CN105892460A CN 105892460 A CN105892460 A CN 105892460A CN 201610242567 A CN201610242567 A CN 201610242567A CN 105892460 A CN105892460 A CN 105892460A
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 230000001133 acceleration Effects 0.000 claims abstract description 93
- 230000004044 response Effects 0.000 claims abstract description 6
- 238000003745 diagnosis Methods 0.000 claims abstract description 5
- 230000009194 climbing Effects 0.000 claims description 152
- 239000003990 capacitor Substances 0.000 claims description 33
- 238000001514 detection method Methods 0.000 claims description 17
- 230000007246 mechanism Effects 0.000 claims description 16
- 238000012545 processing Methods 0.000 claims description 11
- 230000002045 lasting effect Effects 0.000 claims description 3
- 235000013399 edible fruits Nutrition 0.000 claims 1
- 230000008569 process Effects 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 230000007423 decrease Effects 0.000 description 4
- 230000005484 gravity Effects 0.000 description 4
- 230000001960 triggered effect Effects 0.000 description 4
- 238000004458 analytical method Methods 0.000 description 3
- 238000011176 pooling Methods 0.000 description 3
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- 238000006243 chemical reaction Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
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- 238000012360 testing method Methods 0.000 description 2
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- 239000008187 granular material Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000004899 motility Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
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Abstract
The invention provides a protection method and apparatus for falling of a wall-climbing robot. The protection method comprises the steps: detecting the acceleration of a wall-climbing robot at the current time; comparing the direction of the acceleration with the moving direction of the wall-climbing robot, and generating the falling diagnosis information according to the comparison result; giving a response to the falling diagnosis information, and judging whether the absolute value of the acceleration achieves a preset threshold; and when the absolute value of the acceleration achieves the preset threshold, triggering falling protection measures. The protection method and apparatus for falling of a wall-climbing robot can automatically trigger the protection measures for the wall-climbing robot when the wall-climbing robot falls.
Description
Technical field
The application relates to automatic control technology field, the means of defence fallen particularly to a kind of Climbing Robot and device.
Background technology
Along with automatic control technology and the development of intellectual technology, increasing robot enters in daily life.Machine
People, according to the difference of its function, can be divided into sweeping robot, speech robot people, Climbing Robot etc..Wherein, sweeping robot can be the most clear
Managing ground dust and tiny granule, speech robot people then can carry out corresponding voice feedback to the voice message of input, and Climbing Robot then may be used
To creep on the metope the biggest at angle of inclination, to carry out combating a natural disaster the work such as search and rescue, observation on duty.
Owing to the development cost of robot is the most sufficiently expensive, therefore cause its cost sold also above other home appliance.Therefore, for robot
Care and maintenance be then particularly important.At present, Climbing Robot, due to its best working environment, can occur to fall from metope often
Situation.And once Climbing Robot is from falling from high altitude, if not taking safeguard procedures, the damage of equipment can be caused, thus cause serious economy
Loss.
In the prior art, the safeguard procedures taking Climbing Robot are the most fairly simple, such as, can arrange safety rope in Climbing Robot, and
Eminence is fixed in one end of safety rope, will not drop on ground so that Climbing Robot can be held by safety rope when falling.
But, in prior art, to the safeguard procedures of Climbing Robot, there are the following problems:
Before using Climbing Robot, needing safety rope is hung on high-altitude, this makes the use of Climbing Robot become to be inconvenient for.It addition, peace
Quan Shenghui increases heavy burden to Climbing Robot, and Climbing Robot may be caused obstacle, can reduce the motility of Climbing Robot work.
It should be noted that introduction to technical background above is intended merely to the convenient technical scheme to the application and carries out clear, complete explanation, and convenient this
The understanding of skilled person and illustrate.Can not be merely because these schemes be set forth at the background section of the application and think above-mentioned technology
Scheme is known to those skilled in the art.
Summary of the invention
The purpose of the embodiment of the present application is means of defence and the device providing a kind of Climbing Robot to fall, and falls in Climbing Robot
Time, automatically trigger the safeguard procedures to Climbing Robot.
Means of defence and device that a kind of Climbing Robot that the embodiment of the present application provides is fallen are achieved in that
The means of defence that a kind of Climbing Robot is fallen, including: the acceleration of detection Climbing Robot current time；By the direction of described acceleration with
The traffic direction of described Climbing Robot contrasts, and falls diagnostic message according to comparing result generation；When described diagnostic message of falling meets default
During condition, it is judged that whether the absolute value of described acceleration reaches predetermined threshold value；When the absolute value of described acceleration reaches described predetermined threshold value, trigger
Fall protection measure.
The preventer that a kind of Climbing Robot is fallen, described preventer includes the acceleration of the acceleration for detecting Climbing Robot current time
Testing agency, central processing unit, air bag, the extractor parachute being arranged in order according to preset order and the combination of parachute, wherein, described acceleration
Testing agency, air bag and extractor parachute are all connected with described central processing unit with the combination of parachute, and described central processing unit includes: contrast is single
Unit, for being contrasted with the traffic direction of described Climbing Robot in the direction of described acceleration, and falls diagnostic message according to comparing result generation；
Judging unit, for when described fall diagnostic message meet pre-conditioned time, it is judged that whether the absolute value of described acceleration reaches predetermined threshold value；Protection
Measure trigger element, for when the absolute value of described acceleration reaches described predetermined threshold value, triggers fall protection measure.
The means of defence that falls of a kind of Climbing Robot that the embodiment of the present application provides and device, by the side by the acceleration of Climbing Robot current time
Contrast to the traffic direction with described Climbing Robot, such that it is able to judge that Climbing Robot is presently at ascent stage or decline stage, when
Judge that Climbing Robot is in the decline stage, and when acceleration when declining is excessive, it is possible to determine that Climbing Robot is currently at falls state, thus
Can automatically trigger the safeguard procedures being arranged in Climbing Robot, Climbing Robot is protected.As can be seen here, the one of the embodiment of the present application offer
Plant means of defence and device that Climbing Robot is fallen, not only the kinestate that Climbing Robot is current can be carried out Accurate Analysis, additionally it is possible to automatically trigger
Safeguard procedures, will not bring impact to the normal work of Climbing Robot.
With reference to explanation hereinafter and accompanying drawing, disclose in detail the particular implementation of the application, the principle specifying the application can be in adopted mode.
It should be understood that presently filed embodiment is not so limited in scope.In the range of the spirit and terms of claims, the application
Embodiment include many changes, revise and be equal to.
The feature described for a kind of embodiment and/or illustrate can use in one or more other embodiment in same or similar mode,
Combined with the feature in other embodiment, or substitute the feature in other embodiment.
It should be emphasized that term " includes/comprise " existence referring to feature, one integral piece, step or assembly herein when using, but it is not precluded from one or more
The existence or additional of individual further feature, one integral piece, step or assembly.
Accompanying drawing explanation
Included accompanying drawing is used for providing being further understood from the embodiment of the present application, which constitutes a part for description, is used for illustrating the application
Embodiment, and with word describe come together explain the application principle.It should be evident that the accompanying drawing in describing below is only the one of the application
A little embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtain it according to these accompanying drawings
His accompanying drawing.In the accompanying drawings:
The flow chart of the means of defence that Fig. 1 falls for a kind of Climbing Robot that the application embodiment provides；
Fig. 2 is the structural representation of acceleration detection mechanism in the application embodiment；
The functional block diagram of the preventer that Fig. 3 falls for a kind of Climbing Robot that the application embodiment provides.
Detailed description of the invention
For the technical scheme making those skilled in the art be more fully understood that in the application, below in conjunction with the accompanying drawing in the embodiment of the present application, to this
Technical scheme in application embodiment is clearly and completely described, it is clear that described embodiment is only some embodiments of the present application, and
It is not all, of embodiment.Based on the embodiment in the application, those of ordinary skill in the art are obtained under not making creative work premise
All other embodiments, all should belong to the scope of the application protection.
The flow chart of the means of defence that Fig. 1 falls for a kind of Climbing Robot that the application embodiment provides.Although flow process being described below include with spy
Multiple operations that definite sequence occurs, but it should be clearly understood that these processes can include more or less of operation, these operations can sequentially be held
Row or executed in parallel (such as using parallel processor or multi-thread environment).As it is shown in figure 1, described method can include following step.
Step S1: the acceleration of detection Climbing Robot current time.
In the present embodiment, described Climbing Robot, when normally working, often crawls along metope in multiple directions.Climbing Robot
When normally working, owing to being pulled the impact of power, often produce acceleration.The acceleration produced can be a vector, and it can be by side
Determine to size.When Climbing Robot is fallen, owing to it is affected by gravity, falling process also can produce acceleration.?
In present embodiment, Climbing Robot current time can be may thereby determine that by the acceleration of Climbing Robot current time is detected
Kinestate.Specifically, in the present embodiment, acceleration detection mechanism, described acceleration detection machine can be set in the inside of Climbing Robot
Parts in structure can be pulled the impact of power and be subjected to displacement, and detect that Climbing Robot is current by the method that displacement is converted to the signal of telecommunication
The acceleration in moment.
Refer to Fig. 2.Fig. 2 is the structural representation of acceleration detection mechanism in the application embodiment.As in figure 2 it is shown, described acceleration detection
Mechanism includes the first capacitor board 1 being parallel to each other and the second capacitor board 2 and between described first capacitor board 1 and described second capacitor board 2
Balancing point 3, wherein, described first capacitor board 1 and the second capacitor board 2 can be charged, so, at the first capacitor board 1 by administration of power supply 4
And between balancing point 3, just can form the first voltage, the second voltage can also be formed between the second capacitor board 2 and balancing point 3.When described wall-climbing machine device
People is in when traveling at the uniform speed state, and the distance between described balancing point 3 with the first capacitor board 1 and the second capacitor board 2 is equal, such first voltage and
The absolute value of two voltages is identical, and both can cancel out each other.When described Climbing Robot be in non-travel at the uniform speed state time, balancing point is due to inertia meeting
Offset to the first capacitor board 1 or the second capacitor board 2, thus produce range difference between described first distance and described second distance.Due to
First distance is unequal with second distance, then the first voltage and second voltage of formation will not wait, such that it is able to generate relative with described range difference
The voltage difference answered.This voltage extent may indicate that the size of current time acceleration, such that it is able to predetermined between voltage difference and acceleration
Conversion rule, such that it is able to according to default conversion rule, be converted to the acceleration of described Climbing Robot current time by the value of described voltage difference.
The positive and negative direction that can represent described acceleration of described voltage difference, the absolute value of described voltage difference can be directly proportional to the absolute value of described acceleration.
So, by the acceleration detection mechanism that Climbing Robot is built-in, just can determine that the acceleration of current time Climbing Robot.
Step S2: the traffic direction in the direction of described acceleration with described Climbing Robot is contrasted, and fall diagnosis according to comparing result generation
Information.
In the present embodiment, when properly functioning, acceleration can also be produced due to Climbing Robot, it is therefore desirable to the direction to acceleration further
It is analyzed with the traffic direction of Climbing Robot, may thereby determine that Climbing Robot is in normal operating conditions and still falls state.Climbing wall
Robot is in when falling state, and Climbing Robot suffers from the impact of gravity, and the direction of the acceleration of its correspondence is downwards, and now climbs wall
The direction that robot runs is the most downward.It is to say, when Climbing Robot acceleration direction and the direction run with described Climbing Robot all to
Time lower, described Climbing Robot is then likely to be at falls state, now should generate and fall diagnostic message.Described diagnostic message of falling can be in real time
It is monitored by the central processing unit in Climbing Robot, such that it is able in time make safeguard procedures to being in the Climbing Robot falling in state.
Step S3: fall diagnostic message in response to described, it is judged that whether the absolute value of described acceleration reaches predetermined threshold value.
In the present embodiment, when the direction judging described acceleration is all downward with the direction that described Climbing Robot is run, described wall-climbing machine device
People is the most not necessarily in and falls state.Reason is, Climbing Robot can be accelerated to creep downwards, and now, the acceleration direction of Climbing Robot is
Downward, and the traffic direction of Climbing Robot is also downward, in this case, Climbing Robot is in normal duty, no
The safeguard procedures to it should be triggered.Therefore, in the present embodiment, when described fall diagnostic message generate after, diagnosis can be fallen in response to this
Information, judges further to the absolute value of acceleration.Due to when Climbing Robot is in and falls state, faint except by with air
Frictional force, it is the most affected by gravity, and the absolute value of the most downward acceleration is the biggest.And Climbing Robot is in normal fortune downwards
During row, in order to ensure traveling comfort, the acceleration of its correspondence tends not to excessive.Therefore, in the present embodiment, can be by acceleration
The absolute value of degree judges, so that it is determined that Climbing Robot is in normal running status downwards still falls state.
Step S4: when the absolute value of described acceleration reaches described predetermined threshold value, triggers fall protection measure.
In the present embodiment, described predetermined threshold value can determine according to Climbing Robot absolute value of the peak acceleration of correspondence in real work.
Such as, the absolute value of the peak acceleration that Climbing Robot sets in real work is as 2m/s2, and the absolute value of the acceleration fallen can reach 8
m/s2, then described predetermined threshold value just could be arranged to 5m/s2。
In the present embodiment, after determining described predetermined threshold value, just can be by the absolute value of the acceleration of Climbing Robot current time with described
Predetermined threshold value compares, when the absolute value of described acceleration reaches described predetermined threshold value, just it is believed that now Climbing Robot be in and fall shape
State, such that it is able to trigger fall protection measure.
In the present embodiment, described fall protection measure can include the multiple mechanisms with pooling feature being arranged within Climbing Robot, example
If the described mechanism with pooling feature can be air bag.The position of described air bag can be carried out according to the center of gravity of described Climbing Robot
Determine.Such as, described Climbing Robot is in dropping process, and owing to the weight ratio at its back is relatively big, back lands the most often, in this feelings
Under condition, air bag can be arranged at the back of Climbing Robot, and by compressed air, it can be triggered.Described compressed air can
To be contained in a confined space, described confined space can arrange movable saddle with the contact position of described air bag.When described acceleration
Absolute value when reaching described predetermined threshold value, the central processing unit within Climbing Robot can be with saddle movable described in khaki, then can will compress
Air discharges from described confined space, such that it is able to ejected by described air bag, with the position protecting Climbing Robot to land.
In the present embodiment, the mechanism described in pooling feature can also be for parachute.Described parachute can support the use with extractor parachute, and
And be combined according to default order, the most described extractor parachute may be located at the outside of described parachute, permissible needs eject parachute when
Preferentially eject extractor parachute, by extractor parachute can preliminarily slow down Climbing Robot fall speed and can be parachute ejection provide power.
Specifically, the combination of described extractor parachute and parachute again may be by compressed air and triggers.Absolute value at described acceleration reaches described pre-
If during threshold value, it is possible to use compressed air will be arranged at the extractor parachute within described Climbing Robot and parachute ejection successively according to prefixed time interval.
Described prefixed time interval can be such as 1 second, say, that after extractor parachute ejects 1 second, can eject parachute, climb wall such that it is able to slow down
The falling speed of robot.
In the present embodiment, in order to prevent above-mentioned air bag or parachute from breaking down when ejecting, it is also possible to pre-in Climbing Robot
If position arranges rubber balloon.Described predeterminated position can be the external position of Climbing Robot, and described predeterminated position can climb wall according to described
The history of robot is fallen record and is determined.Such as, in the record that described Climbing Robot is fallen, the back of this Climbing Robot and the joint creeped
The most fragile, then just can be wound around rubber balloon in these the most flimsy parts, such that it is able to the feelings all lost efficacy at air bag or parachute
Necessary guarantee is provided, to reduce the extent of damage of Climbing Robot under condition.
In one embodiment of the application, it is contemplated that Climbing Robot operationally, sometimes because reasons such as metope skiddings, causes of short duration cunning
Fall, but Climbing Robot is without departing from metope, and Climbing Robot is still able to be fixed on metope after of short duration landing, then this
In the case of, if once occur that landing just triggers safeguard procedures, then bring unnecessary puzzlement can to normal work.Based on this, excellent in the application one
Select in embodiment, when the absolute value of described acceleration reaches described predetermined threshold value, it is also possible to judge that the absolute value of described acceleration is big further
In or equal to the lasting duration of described predetermined threshold value.It is to say, the duration of Climbing Robot dropping process can be recorded.So when described acceleration
When the absolute value of degree reaches described predetermined threshold value and described lasting duration more than or equal to preset duration, fall protection measure can be triggered.Institute
State preset duration and could be arranged to 1 second, say, that when the time that Climbing Robot falls reaches 1 second, it is possible to determine that Climbing Robot is not short
Temporary landing, but depart from from metope and aloft fall, the most just can trigger fall protection measure, so that it to be protected.
Therefore, the means of defence that a kind of Climbing Robot that the embodiment of the present application provides is fallen, by the acceleration by Climbing Robot current time
The direction of degree contrasts with the traffic direction of described Climbing Robot, such that it is able to judge that Climbing Robot is presently at ascent stage and still declines
Stage, when judging that Climbing Robot is in the decline stage, and when acceleration when declining is excessive, it is possible to determine that Climbing Robot is currently to be fallen
State, such that it is able to automatically trigger the safeguard procedures being arranged in Climbing Robot, protects Climbing Robot.As can be seen here, the application is real
Execute the means of defence that falls of a kind of Climbing Robot and device that example provides, not only the kinestate that Climbing Robot is current can be carried out Accurate Analysis,
Safeguard procedures can also be automatically triggered, the normal work of Climbing Robot impact will not be brought.
The embodiment of the present application also provides for the preventer that a kind of Climbing Robot is fallen.A kind of Climbing Robot that Fig. 3 provides for the embodiment of the present application is fallen
The functional block diagram of the preventer fallen.As it is shown on figure 3, described preventer includes adding of the acceleration for detecting Climbing Robot current time
Speed detecting mechanism 10, central processing unit 20, air bag 30, the extractor parachute 40 being arranged in order according to preset order and the combination of parachute 50,
Wherein, the combination of described acceleration detection mechanism 10, air bag 30 and extractor parachute 40 and parachute 50 all with described central processing unit 20 phase
Even, described central processing unit 20 includes:
Contrast unit 201 is for contrasting the direction of described acceleration with the traffic direction of described Climbing Robot and raw according to comparing result
Become to fall diagnostic message；
Judging unit 202, for falling diagnostic message in response to described, it is judged that whether the absolute value of described acceleration reaches predetermined threshold value；
Safeguard procedures trigger element 203, for when the absolute value of described acceleration reaches described predetermined threshold value, triggers fall protection measure.
As in figure 2 it is shown, described acceleration detection mechanism 10 can include the first capacitor board 1 being parallel to each other and the second capacitor board 2, be positioned at described
Balancing point 3 between one capacitor board 1 and described second capacitor board 2 and the confession being charged for described first capacitor board 1 and described second capacitor board 2
Motor structure 4, described balancing point 3 is respectively the first distance and second distance to the distance of described first capacitor board 1 and described second capacitor board 2；Wherein,
When described Climbing Robot is in and travels at the uniform speed state, described first distance and described second distance are equal；When described Climbing Robot is in non-even
During speed running status, described first distance produces range difference with described second distance.
In the application one preferred embodiment, described device be additionally included in described Climbing Robot predetermined position arrange rubber balloon, wherein,
Described predeterminated position falls record according to the history of described Climbing Robot and determines.
It should be noted that the specific implementation of each functional module in above-mentioned preventer is all consistent with the description in step S1 to S4, this
In just repeat no more.
Therefore, the means of defence that falls of a kind of Climbing Robot that the embodiment of the present application provides and device, by by Climbing Robot current time
The direction of acceleration contrasts with the traffic direction of described Climbing Robot, such that it is able to judge Climbing Robot be presently at ascent stage still under
Depression of order section, when judging that Climbing Robot is in the decline stage, and when acceleration when declining is excessive, it is possible to determine that Climbing Robot is currently to be fallen
State, such that it is able to automatically trigger the safeguard procedures being arranged in Climbing Robot, protects Climbing Robot.As can be seen here, the application implements
The means of defence that falls of a kind of Climbing Robot that example provides and device, not only can carry out Accurate Analysis to the kinestate that Climbing Robot is current, moreover it is possible to
Enough automatically trigger safeguard procedures, the normal work of Climbing Robot will not be brought impact.
In this manual, such as first and second such adjectives can be only used for another element or action, one element or action are carried out district
Point, without this relation or the order that require or imply any reality.In the case of environment allows, with reference to element or parts or step (s)
Should not be interpreted as limited in only element, parts or step, and can be one or more etc. in element, parts or step.
Above the describing of various embodiments of the application is supplied to those skilled in the art with the purpose described.It is not intended to exhaustive or
It is not intended to limit the invention to single disclosed embodiment.As it has been described above, the various replacements of the application and change are for above-mentioned technology art
Will be apparent from for technical staff.Therefore, although specifically discuss the embodiment of some alternatives, but other embodiment will be
It will be apparent that or those skilled in the art relatively easily draw.The application be intended to be included in this present invention discussed all replacements,
Amendment and change, and other embodiment in the spirit and scope of above-mentioned application that falls.
Each embodiment in this specification all uses the mode gone forward one by one to describe, and between each embodiment, identical similar part sees mutually, each
What embodiment stressed is all the difference with other embodiments.For device embodiment, implement owing to it is substantially similar to method
Example, so describe is fairly simple, relevant part sees the part of embodiment of the method and illustrates.
Although depicting the application by embodiment, it will be appreciated by the skilled addressee that the application has many deformation and change without deviating from the application
Spirit, it is desirable to appended claim include these deformation and change without deviating from spirit herein.
Claims (10)
1. the means of defence that a Climbing Robot is fallen, it is characterised in that including:
The acceleration of detection Climbing Robot current time；
The traffic direction in the direction of described acceleration with described Climbing Robot is contrasted, and falls diagnosis according to comparing result generation
Information；
Diagnostic message is fallen, it is judged that whether the absolute value of described acceleration reaches predetermined threshold value in response to described；
When the absolute value of described acceleration reaches described predetermined threshold value, trigger fall protection measure.
The means of defence that Climbing Robot the most according to claim 1 is fallen, it is characterised in that described detection Climbing Robot is worked as
The acceleration in front moment specifically includes:
Arranging acceleration detection mechanism in Climbing Robot, described acceleration detection mechanism includes the first capacitor board and being parallel to each other
Two capacitor boards and the balancing point between described first capacitor board and described second capacitor board, described balancing point is to described first electric capacity
The distance of plate and described second capacitor board is respectively the first distance and second distance, when described Climbing Robot is in the shape that travels at the uniform speed
During state, described first distance and described second distance are equal；
When described Climbing Robot be in non-travel at the uniform speed state time, described first distance and described second distance between produce range difference,
And generate the voltage difference corresponding with described range difference；
According to preset rules, the value of described voltage difference is converted to the acceleration of described Climbing Robot current time.
The means of defence that Climbing Robot the most according to claim 1 is fallen, it is characterised in that by the direction of described acceleration with
The traffic direction of described Climbing Robot contrasts, and generates according to comparing result and fall diagnostic message and specifically include:
When the direction of described acceleration is all downward with the direction that described Climbing Robot is run, generates and fall diagnostic message.
The means of defence that Climbing Robot the most according to claim 1 is fallen, it is characterised in that judging the exhausted of described acceleration
After whether value is reached predetermined threshold value, described method also includes:
When the absolute value of described acceleration reaches described predetermined threshold value, it is judged that the absolute value of described acceleration is more than or equal to described pre-
If the duration of threshold duration；
Correspondingly,
When the absolute value of described acceleration reaches described predetermined threshold value, trigger fall protection measure and specifically include:
When the absolute value of described acceleration reaches described predetermined threshold value and described lasting duration more than or equal to preset duration, touch
Send out fall protection measure.
The means of defence that Climbing Robot the most according to claim 1 is fallen, it is characterised in that when the absolute value of described acceleration
When reaching described predetermined threshold value, trigger fall protection measure and specifically include:
When the absolute value of described acceleration reaches described predetermined threshold value, compressed air is utilized to be arranged within described Climbing Robot
Air bag ejects.
The means of defence that Climbing Robot the most according to claim 1 is fallen, it is characterised in that when the absolute value of described acceleration
When reaching described predetermined threshold value, trigger fall protection measure and specifically include:
When the absolute value of described acceleration reaches described predetermined threshold value, utilize compressed air will be arranged at successively according to prefixed time interval
Extractor parachute and parachute within described Climbing Robot eject.
The means of defence that Climbing Robot the most according to claim 1 is fallen, it is characterised in that described method also includes:
Predetermined position in described Climbing Robot arranges rubber balloon, and described predeterminated position falls according to the history of described Climbing Robot
The record that falls determines.
8. the preventer that a Climbing Robot is fallen, it is characterised in that described preventer include for detect Climbing Robot work as
The acceleration detection mechanism of the acceleration in front moment, central processing unit, air bag, the guiding that is arranged in order according to preset order
Umbrella and the combination of parachute, wherein, the combination of described acceleration detection mechanism, air bag and extractor parachute and parachute all with
Described central processing unit is connected, and described central processing unit includes:
Contrast unit, for contrasting the direction of described acceleration with the traffic direction of described Climbing Robot, and according to contrast knot
Fruit generates and falls diagnostic message；
Judging unit, for falling diagnostic message in response to described, it is judged that whether the absolute value of described acceleration reaches predetermined threshold value；
Safeguard procedures trigger element, for when the absolute value of described acceleration reaches described predetermined threshold value, triggers fall protection measure.
The preventer that Climbing Robot the most according to claim 8 is fallen, it is characterised in that described acceleration detection mechanism wraps
Include the first capacitor board being parallel to each other and the second capacitor board, balancing point between described first capacitor board and described second capacitor board
And the administration of power supply being charged for described first capacitor board and described second capacitor board, described balancing point is to described first capacitor board
It is respectively the first distance and second distance with the distance of described second capacitor board；Wherein, at the uniform velocity transport when described Climbing Robot is in
During row state, described first distance and described second distance are equal；When described Climbing Robot be in non-travel at the uniform speed state time,
Described first distance produces range difference with described second distance.
The preventer that Climbing Robot the most according to claim 8 is fallen, it is characterised in that described device is additionally included in described
The rubber balloon that the predetermined position of Climbing Robot is arranged, wherein, described predeterminated position is according to the history of described Climbing Robot
Fall record to determine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610242567.9A CN105892460A (en) | 2016-04-19 | 2016-04-19 | Protection method and apparatus for falling of wall-climbing robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107481489A (en) * | 2017-08-29 | 2017-12-15 | 歌尔股份有限公司 | A kind of shatter-resistant wears display device and its shatter-resistant method |
| CN109866219A (en) * | 2017-12-01 | 2019-06-11 | 深圳市优必选科技有限公司 | A kind of shatter-resistant method, robot and the terminal device of robot |
| CN113146621A (en) * | 2021-03-17 | 2021-07-23 | 深圳市优必选科技股份有限公司 | Robot control method, device, robot and computer readable storage medium |
| CN113208506A (en) * | 2021-04-30 | 2021-08-06 | 深圳市无限动力发展有限公司 | Floor sweeping robot |
| CN113443313A (en) * | 2021-07-13 | 2021-09-28 | 深圳市海柔创新科技有限公司 | Robot falling processing method and device, server and storage medium |
| CN114750182A (en) * | 2022-04-21 | 2022-07-15 | 灵起科技(深圳)有限公司 | Drop detection method and drop protection method for foot type desktop pet robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107481489A (en) * | 2017-08-29 | 2017-12-15 | 歌尔股份有限公司 | A kind of shatter-resistant wears display device and its shatter-resistant method |
| WO2019041624A1 (en) * | 2017-08-29 | 2019-03-07 | 歌尔股份有限公司 | Falling-prevention head-mounted display device and falling prevention method thereof |
| CN109866219A (en) * | 2017-12-01 | 2019-06-11 | 深圳市优必选科技有限公司 | A kind of shatter-resistant method, robot and the terminal device of robot |
| CN113146621A (en) * | 2021-03-17 | 2021-07-23 | 深圳市优必选科技股份有限公司 | Robot control method, device, robot and computer readable storage medium |
| CN113146621B (en) * | 2021-03-17 | 2022-07-15 | 深圳市优必选科技股份有限公司 | Robot control method, device, robot and computer readable storage medium |
| CN113208506A (en) * | 2021-04-30 | 2021-08-06 | 深圳市无限动力发展有限公司 | Floor sweeping robot |
| CN113443313A (en) * | 2021-07-13 | 2021-09-28 | 深圳市海柔创新科技有限公司 | Robot falling processing method and device, server and storage medium |
| CN114750182A (en) * | 2022-04-21 | 2022-07-15 | 灵起科技(深圳)有限公司 | Drop detection method and drop protection method for foot type desktop pet robot |
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