CN114397124B - Interactive detection method and detection device for all mechanisms in building dismantling machine - Google Patents
Interactive detection method and detection device for all mechanisms in building dismantling machine Download PDFInfo
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Abstract
The invention provides an interaction detection method and a detection device for each mechanism in a building dismantling machine, wherein the interaction detection method comprises the following steps: acquiring working states of a telescopic mechanism, a moving mechanism, a breakage mechanism and a recovery mechanism in the building dismantling machine; limiting the execution sequence of the telescopic mechanism, the moving mechanism, the breakage mechanism and the recovery mechanism along the directional logic; forming closed loop detection between two adjacent mechanisms based on the orientation logic; acquiring a closed loop detection result, and traversing abnormal factors based on the closed loop detection result; if the abnormal factor traversal is unsuccessful, triggering the orientation logic to be sequentially carried out; if the abnormal factor is successfully traversed, determining abnormal behaviors corresponding to the abnormal factor, and implementing supplementary behaviors.
Description
Technical Field
The invention relates to the technical field of interaction detection of mechanisms, in particular to an interaction detection method and device for each mechanism in a building dismantling machine.
Background
Along with the development of science and technology, the building disassembly machine is applied to the building industry and is cooperated with a plurality of mechanisms, wherein each mechanism in the building disassembly machine works under a single command, and the working condition of each mechanism in the building disassembly machine is easy to fail, so that the working completion rate of each mechanism in the building disassembly machine is lower.
Disclosure of Invention
The invention aims to provide an interaction detection method and device for each mechanism in a building dismantling machine.
In order to solve the technical problems, the invention adopts the following technical scheme:
according to one aspect of the invention, the invention provides an interaction detection method for each mechanism in a building dismantling machine, which comprises the following steps: acquiring working states of a telescopic mechanism, a moving mechanism, a breakage mechanism and a recovery mechanism in the building dismantling machine; limiting the execution sequence of the telescopic mechanism, the moving mechanism, the breakage mechanism and the recovery mechanism along the directional logic; forming closed loop detection between two adjacent mechanisms based on the orientation logic; acquiring a closed loop detection result, and traversing abnormal factors based on the closed loop detection result; if the abnormal factor traversal is unsuccessful, triggering the orientation logic to be sequentially carried out; if the abnormal factor is successfully traversed, determining abnormal behaviors corresponding to the abnormal factor, and implementing supplementary behaviors.
According to an aspect of the present disclosure, there is provided an interaction detection apparatus for each mechanism in a building removing machine, including: the first acquisition module is used for acquiring working states of a telescopic mechanism, a moving mechanism, a breakage mechanism and a recovery mechanism in the building dismantling machine; the limiting module is used for limiting the execution sequence of the telescopic mechanism, the moving mechanism, the breakage mechanism and the recovery mechanism along the directional logic; the construction module is used for constructing closed loop detection between two adjacent mechanisms based on the orientation logic; the second acquisition module is used for acquiring a closed loop detection result and traversing abnormal factors based on the closed loop detection result; the traversing module is used for triggering the orientation logic to be sequentially carried out if the abnormal factor traversing is unsuccessful; if the abnormal factor is successfully traversed, determining abnormal behaviors corresponding to the abnormal factor, and implementing supplementary behaviors.
According to an aspect of the present disclosure, there is provided a computer readable storage medium storing computer program instructions which, when executed by a computer, cause the computer to perform a method according to the above.
According to an aspect of the present disclosure, there is provided an electronic apparatus including: a processor; and a memory having stored thereon computer readable instructions which, when executed by the processor, implement the method described above.
As can be seen from the technical scheme, the embodiment of the invention has at least the following advantages and positive effects:
in the interactive detection method of each mechanism in the building dismantling machine, the working states of the telescopic mechanism, the moving mechanism, the breakage mechanism and the recovery mechanism in the building dismantling machine are obtained; limiting the execution sequence of the telescopic mechanism, the moving mechanism, the breakage mechanism and the recovery mechanism along the directional logic; forming closed loop detection between two adjacent mechanisms based on the orientation logic; acquiring a closed loop detection result, and traversing abnormal factors based on the closed loop detection result; if the abnormal factor traversal is unsuccessful, triggering the orientation logic to be sequentially carried out; if the abnormal factor traversing is successful, determining abnormal behaviors corresponding to the abnormal factor, and implementing supplementary behaviors, wherein closed loop detection between two adjacent mechanisms can timely detect and regulate the working conditions of the telescopic mechanism, the moving mechanism, the damaged mechanism and the recovery mechanism, and implementing the supplementary behaviors without stopping and trimming the working, so that the self-working perfection of the telescopic mechanism, the moving mechanism, the damaged mechanism and the recovery mechanism can be realized, and the action completion rate and the accuracy of each mechanism in the building dismantling machine are improved.
Drawings
Fig. 1 is a flowchart corresponding to an interaction detection method of each mechanism in the building splitting machine according to an exemplary embodiment.
FIG. 2 is a block diagram illustrating an interaction detection device for each mechanism in a building extractor, according to an exemplary embodiment.
Fig. 3 is a hardware diagram of an electronic device, according to an example embodiment.
Fig. 4 is a computer readable storage medium showing a method of interaction detection for each mechanism in a floor extractor, according to an exemplary embodiment.
Detailed Description
Exemplary embodiments that embody features and advantages of the present invention will be described in detail in the following description. It will be understood that the invention is capable of various modifications in various embodiments, all without departing from the scope of the invention, and that the description and illustrations herein are intended to be by way of illustration only and not to be construed as limiting the invention.
Along with the development of science and technology, the building disassembly machine is applied to the building industry and is cooperated with a plurality of mechanisms, wherein each mechanism in the building disassembly machine works under a single command, and the working condition of each mechanism in the building disassembly machine is easy to fail, so that the working completion rate of each mechanism in the building disassembly machine is lower.
According to an embodiment of the present disclosure, there is provided an interaction detection method for each mechanism in a building dismantling machine, as shown in fig. 1, including:
step S110, acquiring working states of a telescopic mechanism, a moving mechanism, a breakage mechanism and a recovery mechanism in the building dismantling machine;
step S120, limiting the execution sequence of the telescopic mechanism, the moving mechanism, the breakage mechanism and the recovery mechanism along the orientation logic;
step S130, forming closed loop detection between two adjacent mechanisms based on the orientation logic;
step S140, acquiring a closed loop detection result, and traversing abnormal factors based on the closed loop detection result;
step S150, triggering the orientation logic to be sequentially carried out if the abnormal factor traversal is unsuccessful; if the abnormal factor is successfully traversed, determining abnormal behaviors corresponding to the abnormal factor, and implementing supplementary behaviors.
In the interactive detection method of each mechanism in the building dismantling machine, the working states of the telescopic mechanism, the moving mechanism, the breakage mechanism and the recovery mechanism in the building dismantling machine are obtained; limiting the execution sequence of the telescopic mechanism, the moving mechanism, the breakage mechanism and the recovery mechanism along the directional logic; forming closed loop detection between two adjacent mechanisms based on the orientation logic; acquiring a closed loop detection result, and traversing abnormal factors based on the closed loop detection result; if the abnormal factor traversal is unsuccessful, triggering the orientation logic to be sequentially carried out; if the abnormal factor traversing is successful, determining abnormal behaviors corresponding to the abnormal factor, and implementing supplementary behaviors, wherein closed loop detection between two adjacent mechanisms can timely detect and regulate the working conditions of the telescopic mechanism, the moving mechanism, the damaged mechanism and the recovery mechanism, and implementing the supplementary behaviors without stopping and trimming the working, so that the self-working perfection of the telescopic mechanism, the moving mechanism, the damaged mechanism and the recovery mechanism can be realized, and the action completion rate and the accuracy of each mechanism in the building dismantling machine are improved.
These steps are described in detail below.
In step S110, working states of a telescopic mechanism, a moving mechanism, a breakage mechanism and a recovery mechanism in the building dismantling machine are obtained;
the method comprises the following specific steps of: acquiring each power source and the position of the building dismantling machine; determining a mechanism based on an action track corresponding to the power source position, and fixing the expansion mechanism, the moving mechanism, the breakage mechanism and the recovery mechanism; monitoring the running state of the power source, and collecting the operation tracks of the telescopic mechanism, the moving mechanism, the damage mechanism and the recovery mechanism; and limiting corresponding working states based on the operation tracks of the telescopic mechanism, the moving mechanism, the breakage mechanism and the recovery mechanism.
The function of the mechanism is autonomously determined according to the corresponding action track of the power source position, the working path of the mechanism is defined, so that actions of the mechanisms are recorded on the whole, corresponding working states are defined based on the operation tracks of the telescopic mechanism, the moving mechanism, the breakage mechanism and the recovery mechanism, manual recording is not needed, and the working states can be responded in time based on the operation tracks.
In step S120, the execution sequence of the retracting mechanism, the moving mechanism, the breakage mechanism, and the recovery mechanism is limited along the orientation logic.
The method comprises the following specific steps of: constructing a first closed-loop logic among the telescopic mechanism, the moving mechanism, the breakage mechanism and the recovery mechanism; forming a directional control direction based on closed loop logic among the telescopic mechanism, the moving mechanism, the breakage mechanism and the recovery mechanism; gradually controlling the telescopic mechanism, the moving mechanism, the breakage mechanism and the recovery mechanism along the orientation control direction, and forming the orientation logic; the order of execution of the retracting mechanism, the moving mechanism, the breaking mechanism, and the retrieving mechanism is limited along orientation logic.
The telescopic mechanism, the moving mechanism, the breakage mechanism and the recovery mechanism are controlled step by step along the directional control direction, the action conditions of the telescopic mechanism, the moving mechanism, the breakage mechanism and the recovery mechanism are sequentially determined, when the action conditions confirm that no errors exist, the directional logic is formed, and the execution sequence of the telescopic mechanism, the moving mechanism, the breakage mechanism and the recovery mechanism is limited along the directional logic, so that the working smoothness of the telescopic mechanism, the moving mechanism, the breakage mechanism and the recovery mechanism is ensured.
In step S130, closed loop detection between two adjacent mechanisms is constituted based on the orientation logic.
The method comprises the following specific steps of: operating on the first closed loop logic based on the orientation logic; along the feedback effect among the mechanisms in the first closed-loop logic, the butting relation among the mechanisms is formed; forming closed loop detection between two adjacent mechanisms based on the abutting relationship; performing a second closed loop detection under the feedback effect of the first closed loop logic; if the closed loop detection meets the result of the first closed loop logic, then further mechanism operation is allowed.
And the corresponding relation of the first closed-loop logic forms closed-loop detection between two adjacent mechanisms along the feedback effect among the mechanisms in the first closed-loop logic, so that the closed-loop detection is ensured to be controlled on the whole of the first closed-loop logic, and the secondary closed-loop detection is carried out under the feedback effect of the first closed-loop logic.
In step S140, a closed loop detection result is obtained, and abnormal factor traversal is performed based on the closed loop detection result.
The method comprises the following specific steps of: acquiring a closed loop detection result, and comparing the closed loop detection result with the first closed loop logic result; if the closed loop detection result does not accord with the first closed loop logic result, the closed loop detection result is considered to be an abnormal result; traversing abnormal factors based on the closed loop detection result; detecting one by one along the closed loop logic, and recording abnormal base numbers of all mechanisms; cross-converting each abnormal base number to determine an abnormal result of each mechanism; and sorting the priority based on the abnormal results of the institutions, and determining the abnormal factors of the institutions.
Detecting one by one along the closed loop logic, and recording abnormal base numbers of all mechanisms; cross-converting each abnormal base number to determine an abnormal result of each mechanism; and sorting the priority based on the abnormal results of the institutions, and determining the abnormal factors of the institutions.
In step S150, if the anomaly traversal is unsuccessful, triggering the orientation logic to proceed sequentially; if the abnormal factor is successfully traversed, determining abnormal behaviors corresponding to the abnormal factor, and implementing supplementary behaviors.
The method comprises the following specific steps of: if the abnormal factor traversal is unsuccessful, triggering the orientation logic to be sequentially carried out; controlling the operation of the mechanisms along the orientation logic and working in sequence; if the abnormal factor is successfully traversed, determining an abnormal behavior corresponding to the abnormal factor, and implementing a supplementary behavior; the telescopic mechanism, the moving mechanism, the breakage mechanism and the recovery mechanism are used for integrally controlling abnormal behaviors, supplementing the workload of the abnormal behaviors and controlling under the cooperation of the telescopic mechanism, the moving mechanism, the breakage mechanism and the recovery mechanism.
As can be seen from the technical scheme, the embodiment of the invention has at least the following advantages and positive effects:
in the interactive detection method of each mechanism in the building dismantling machine, the working states of the telescopic mechanism, the moving mechanism, the breakage mechanism and the recovery mechanism in the building dismantling machine are obtained; limiting the execution sequence of the telescopic mechanism, the moving mechanism, the breakage mechanism and the recovery mechanism along the directional logic; forming closed loop detection between two adjacent mechanisms based on the orientation logic; acquiring a closed loop detection result, and traversing abnormal factors based on the closed loop detection result; if the abnormal factor traversal is unsuccessful, triggering the orientation logic to be sequentially carried out; if the abnormal factor traversing is successful, determining abnormal behaviors corresponding to the abnormal factor, and implementing supplementary behaviors, wherein closed loop detection between two adjacent mechanisms can timely detect and regulate the working conditions of the telescopic mechanism, the moving mechanism, the damaged mechanism and the recovery mechanism, and implementing the supplementary behaviors without stopping and trimming the working, so that the self-working perfection of the telescopic mechanism, the moving mechanism, the damaged mechanism and the recovery mechanism can be realized, and the action completion rate and the accuracy of each mechanism in the building dismantling machine are improved.
The foregoing detailed description is directed to embodiments of the invention which are not intended to limit the scope of the invention, but rather to cover all modifications and variations within the scope of the invention.
As shown in fig. 2, in one embodiment, the interaction detection device 200 of each mechanism in the building removing machine further includes:
a first obtaining module 210, configured to obtain working states of the telescopic mechanism, the moving mechanism, the breakage mechanism, and the recovery mechanism in the building dismantling machine;
a limiting module 220 for limiting the execution sequence of the telescopic mechanism, the moving mechanism, the breakage mechanism, and the recovery mechanism along the orientation logic;
a construction module 230 for constructing closed loop detection between two adjacent mechanisms based on the orientation logic;
a second obtaining module 240, configured to obtain a closed loop detection result, and perform abnormal factor traversal based on the closed loop detection result;
a first traversing module 250, configured to trigger the orientation logic to proceed sequentially if the anomaly traversing is unsuccessful; if the abnormal factor is successfully traversed, determining abnormal behaviors corresponding to the abnormal factor, and implementing supplementary behaviors.
An electronic device 40 according to this embodiment of the invention is described below with reference to fig. 3. The electronic device 40 shown in fig. 3 is merely an example and should not be construed as limiting the functionality and scope of use of embodiments of the present invention.
As shown in fig. 3, the electronic device 40 is in the form of a general purpose computing device. Components of electronic device 40 may include, but are not limited to: the at least one processing unit 41, the at least one memory unit 42, a bus 43 connecting the different system components, including the memory unit 42 and the processing unit 41.
Wherein the storage unit stores program code that is executable by the processing unit 41 such that the processing unit 41 performs the steps according to various exemplary embodiments of the present invention described in the above-described "example methods" section of the present specification.
The memory unit 42 may include readable media in the form of volatile memory units, such as Random Access Memory (RAM) 421 and/or cache memory 422, and may further include Read Only Memory (ROM) 423.
The storage unit 42 may also include a program/utility 424 having a set (at least one) of program modules 425, such program modules 425 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment.
The bus 43 may be one or more of several types of bus structures including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.
From the above description of embodiments, those skilled in the art will readily appreciate that the example embodiments described herein may be implemented in software, or may be implemented in software in combination with the necessary hardware. Thus, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (may be a CD-ROM, a U-disk, a mobile hard disk, etc.) or on a network, including several instructions to cause a computing device (may be a personal computer, a server, a terminal device, or a network device, etc.) to perform the method according to the embodiments of the present disclosure.
According to an embodiment of the present disclosure, there is also provided a computer-readable storage medium having stored thereon a program product capable of implementing the method described above in the present specification. In some possible embodiments, the various aspects of the invention may also be implemented in the form of a program product comprising program code for causing a terminal device to carry out the steps according to the various exemplary embodiments of the invention as described in the "exemplary methods" section of this specification, when said program product is run on the terminal device.
Referring to fig. 4, a program product 50 for implementing the above-described method according to an embodiment of the present invention is described, which may employ a portable compact disc read only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto, and in this document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The computer readable signal medium may include a data signal propagated in baseband or as part of a carrier wave with readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A readable signal medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server. In the case of remote computing devices, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., connected via the Internet using an Internet service provider).
Furthermore, the above-described drawings are only schematic illustrations of processes included in the method according to the exemplary embodiment of the present invention, and are not intended to be limiting. It will be readily appreciated that the processes shown in the above figures do not indicate or limit the temporal order of these processes. In addition, it is also readily understood that these processes may be performed synchronously or asynchronously, for example, among a plurality of modules.
It is to be understood that the invention is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the invention is limited only by the appended claims.
Claims (7)
1. The interactive detection method for each mechanism in the building dismantling machine is characterized by comprising the following steps:
acquiring working states of a telescopic mechanism, a moving mechanism, a breakage mechanism and a recovery mechanism in the building dismantling machine;
limiting the execution sequence of the telescopic mechanism, the moving mechanism, the breakage mechanism and the recovery mechanism along the directional logic;
forming closed loop detection between two adjacent mechanisms based on the orientation logic;
acquiring a closed loop detection result, and performing abnormal factor traversal based on the closed loop detection result, wherein the method comprises the following steps:
acquiring a closed loop detection result, and comparing the closed loop detection result with a first closed loop logic result;
if the closed loop detection result does not accord with the first closed loop logic result, the closed loop detection result is considered to be an abnormal result;
traversing abnormal factors based on the closed loop detection result;
detecting one by one along the closed loop logic, and recording abnormal base numbers of all mechanisms;
cross-converting each abnormal base number to determine an abnormal result of each mechanism;
sorting the priority based on the abnormal results of the mechanisms, and determining the abnormal factors of the mechanisms;
if the abnormal factor traversal is unsuccessful, triggering the orientation logic to be sequentially carried out; if the traversing of the abnormal factors is successful, determining the abnormal behavior corresponding to the abnormal factors, and implementing the supplementary behavior, including:
if the abnormal factor traversal is unsuccessful, triggering the orientation logic to be sequentially carried out;
controlling the operation of the mechanisms along the orientation logic and working in sequence;
if the abnormal factor is successfully traversed, determining an abnormal behavior corresponding to the abnormal factor, and implementing a supplementary behavior; the telescopic mechanism, the moving mechanism, the breakage mechanism and the recovery mechanism are used for integrally controlling abnormal behaviors, supplementing the workload of the abnormal behaviors and controlling under the cooperation of the telescopic mechanism, the moving mechanism, the breakage mechanism and the recovery mechanism.
2. The interactive detection method for each mechanism in a building dismantling machine according to claim 1, wherein the step of obtaining the working states of the telescopic mechanism, the moving mechanism, the breakage mechanism and the recovery mechanism in the building dismantling machine comprises the following steps:
acquiring each power source and the position of the building dismantling machine;
determining a mechanism based on an action track corresponding to the power source position, and fixing the expansion mechanism, the moving mechanism, the breakage mechanism and the recovery mechanism;
monitoring the running state of the power source, and collecting the operation tracks of the telescopic mechanism, the moving mechanism, the damage mechanism and the recovery mechanism;
and limiting corresponding working states based on the operation tracks of the telescopic mechanism, the moving mechanism, the breakage mechanism and the recovery mechanism.
3. The method for detecting interaction between mechanisms in a building extractor according to claim 2, wherein the logic for limiting the execution sequence of the telescopic mechanism, the moving mechanism, the breakage mechanism, and the recovery mechanism along the orientation comprises:
constructing a first closed-loop logic among the telescopic mechanism, the moving mechanism, the breakage mechanism and the recovery mechanism;
forming a directional control direction based on closed loop logic among the telescopic mechanism, the moving mechanism, the breakage mechanism and the recovery mechanism;
gradually controlling the telescopic mechanism, the moving mechanism, the breakage mechanism and the recovery mechanism along the orientation control direction, and forming the orientation logic;
the order of execution of the retracting mechanism, the moving mechanism, the breaking mechanism, and the retrieving mechanism is limited along orientation logic.
4. A method for interactive detection of mechanisms in a building stripping machine according to claim 3, wherein the forming of closed loop detection between two adjacent mechanisms based on the orientation logic comprises:
operating on the first closed loop logic based on the orientation logic;
along the feedback effect among the mechanisms in the first closed-loop logic, the butting relation among the mechanisms is formed;
forming closed loop detection between two adjacent mechanisms based on the abutting relationship;
performing a second closed loop detection under the feedback effect of the first closed loop logic;
if the closed loop detection meets the result of the first closed loop logic, then further mechanism operation is allowed.
5. The utility model provides an interaction detection device of each mechanism in tear building machine open which characterized in that includes:
the first acquisition module is used for acquiring working states of a telescopic mechanism, a moving mechanism, a breakage mechanism and a recovery mechanism in the building dismantling machine;
the limiting module is used for limiting the execution sequence of the telescopic mechanism, the moving mechanism, the breakage mechanism and the recovery mechanism along the directional logic;
the construction module is used for constructing closed loop detection between two adjacent mechanisms based on the orientation logic;
the second obtaining module is configured to obtain a closed loop detection result, and perform abnormal factor traversal based on the closed loop detection result, and includes:
acquiring a closed loop detection result, and comparing the closed loop detection result with a first closed loop logic result; if the closed loop detection result does not accord with the first closed loop logic result, the closed loop detection result is considered to be an abnormal result; traversing abnormal factors based on the closed loop detection result; detecting one by one along the closed loop logic, and recording abnormal base numbers of all mechanisms; cross-converting each abnormal base number to determine an abnormal result of each mechanism; sorting the priority based on the abnormal results of the mechanisms, and determining the abnormal factors of the mechanisms;
the first traversing module is used for triggering the orientation logic to be sequentially carried out if the abnormal factor is not successfully traversed; if the traversing of the abnormal factors is successful, determining the abnormal behavior corresponding to the abnormal factors, and implementing the supplementary behavior, including:
if the abnormal factor traversal is unsuccessful, triggering the orientation logic to be sequentially carried out; controlling the operation of the mechanisms along the orientation logic and working in sequence; if the abnormal factor is successfully traversed, determining an abnormal behavior corresponding to the abnormal factor, and implementing a supplementary behavior; the telescopic mechanism, the moving mechanism, the breakage mechanism and the recovery mechanism are used for integrally controlling abnormal behaviors, supplementing the workload of the abnormal behaviors and controlling under the cooperation of the telescopic mechanism, the moving mechanism, the breakage mechanism and the recovery mechanism.
6. A computer readable storage medium, characterized in that it stores computer program instructions, which when executed by a computer, cause the computer to perform the method according to any one of claims 1 to 4.
7. An electronic device, comprising:
a processor;
a memory having stored thereon computer readable instructions which, when executed by the processor, implement the method of any of claims 1 to 4.
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| US8872911B1 (en) * | 2010-01-05 | 2014-10-28 | Cognex Corporation | Line scan calibration method and apparatus |
| CN104196262B (en) * | 2014-09-24 | 2016-04-13 | 樊硕 | The large rise buildings of interior climbing type removes machine |
| US10703476B2 (en) * | 2017-08-17 | 2020-07-07 | Here Global B.V. | Method and apparatus for intelligent inspection and interaction between a vehicle and a drone |
| CN109736592A (en) * | 2019-01-15 | 2019-05-10 | 湖南厚德重工机械有限公司 | One kind tearing building machine open |
| CN111694687A (en) * | 2020-06-05 | 2020-09-22 | 中国第一汽车股份有限公司 | Vehicle software fault detection method, device, equipment and storage medium |
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