CN117961921A - Vector wall climbing robot for concrete appearance detection and control method - Google Patents
Vector wall climbing robot for concrete appearance detection and control method Download PDFInfo
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- CN117961921A CN117961921A CN202410021230.XA CN202410021230A CN117961921A CN 117961921 A CN117961921 A CN 117961921A CN 202410021230 A CN202410021230 A CN 202410021230A CN 117961921 A CN117961921 A CN 117961921A
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Abstract
The application relates to a vector wall climbing robot for concrete appearance detection and a control method, which are used for pushing out new on a mechanical structure and designing a novel duct vector propulsion mechanism and a robot travelling mechanism; in the aspect of control, the robot system acquires data of an attitude sensor and a pressure sensor in the vehicle body, analyzes whether the horizontal component of the thrust applied to the robot by the duct propulsion mechanism is enough to overcome the defect that the gravity of the robot is adsorbed on the wall surface and whether the vertical component of the thrust is enough to provide climbing power for the robot, then adjusts the direction and the thrust of the duct propulsion in real time, and finally enables the climbing robot to avoid the defects of insufficient motor driving power and poor adaptability of the adsorption robot.
Description
Technical Field
The application relates to the technical field of robot control, in particular to a vector wall climbing robot for concrete appearance detection and a control method.
Background
The high pier, column and tower structure is used as an important component of infrastructure such as traffic bridges, tunnels, hydraulic engineering and the like, and plays an important role in modern infrastructure. Because the concrete surface of the pier column tower structure is often subjected to various loads and environmental factors in the operation process, the structure of the pier column tower structure can be damaged or deformed, cracked and other problems, and the service life of the pier column tower can be shortened due to the potential problems, and even safety accidents are caused. Therefore, the health detection of the pier column tower structural change can be performed in advance for early warning and maintenance, and the condition that the structure deviates from the specified standard parameters can be found in time, so that measures such as maintenance and reinforcement are adopted in advance, and the safe and reliable operation of the structure is ensured.
The traditional method of adopting manual visual or manual measurement has the problems of inaccurate detection data, low efficiency, long time consumption, high safety risk and the like in the rough concrete health inspection, and the defects of incomplete detection data and complicated operation in the static load test and the dynamic vibration test are all caused by the fact that the sensors are arranged in the side wall. Recent developments in wall climbing robot technology have provided new solutions for detection, such as the common adsorption type wall climbing robots. However, the common adsorption type wall climbing robot has the defects in the aspect of rough concrete elevation health detection, and on one hand, due to the mobile climbing structure designed by the robot in a sucking disc or magnetic force mode, certain applicability limitation can exist when the robot is used for coping with side walls of different types, different surface states, shapes and materials; on the other hand, the adsorption type wall climbing robot has the problems of difficult positioning and navigation, complex maintenance and operation and the like.
Disclosure of Invention
In order to overcome at least one defect in the prior art, the application provides a vector wall climbing robot for concrete appearance detection and a control method.
In a first aspect, a method for controlling a vector wall climbing robot for concrete appearance detection is provided, comprising:
Acquiring attitude information of a robot, and determining a minimum value N min of forward adsorption force required by the robot according to the attitude information of the robot;
Obtaining the pressure value between each tire and the wall surface, calculating the average value of all the pressure values, and recording the average value as a pressure average value N touch;
comparing the magnitude relation between the minimum value N min of the forward adsorption force required by the robot and the pressure average value N touch, and if N touch≤Nmin, adjusting the thrust of the duct vector propulsion mechanism to ensure that the robot is stably attached to the wall surface;
and acquiring the distance between the robot and the top of the wall surface, and if the distance reaches a set threshold value, controlling the tire of the steering mechanism to steer by 90 degrees, so that the robot performs left or right transverse translational motion.
In one embodiment, determining the minimum value N min of the forward suction force required by the robot according to the pose information of the robot includes:
the attitude information of the robot is an included angle alpha between the robot and a horizontal plane;
If α=0 °, N min =0;
If it is Wherein G is the gravity of the robot, and mu is the static friction force between the tire and the wall surface;
If it is
Wherein F is the thrust provided by the ducted vector propulsion mechanism, and beta is the included angle between the propulsion direction of the ducted vector propulsion mechanism and the horizontal plane.
In one embodiment, if N touch≤Nmin, adjusting the thrust of the ducted vector propulsion mechanism includes:
If N touch≤Nmin, describing the current adsorption state and the target state of the robot by adopting quaternion solution to obtain pitch angle deviation of the robot;
according to the pitch angle deviation of the robot, the motor of the bypass vector propulsion mechanism is controlled to increase the rotating speed so as to increase the thrust of the bypass vector propulsion mechanism, and then the value of N touch is increased until N touch is larger than N min, so that the robot can be stably attached to the wall surface.
In a second aspect, there is provided a vector wall climbing robot for concrete appearance detection, comprising: the robot body is provided with a duct vector propulsion mechanism, a visual scanning mechanism, a steering mechanism and a robot main control system;
The steering mechanism is used for realizing the transverse translational motion of the robot and comprises a plurality of tires, each tire is provided with a pressure sensor, and the pressure sensors are used for detecting the pressure value between the tire and the wall surface and transmitting the pressure value to the robot main control system;
the robot comprises a robot body, a six-axis attitude sensor and an ultrasonic ranging sensor, wherein the six-axis attitude sensor is used for detecting attitude information of the robot and transmitting the attitude information to a robot main control system, and the ultrasonic ranging sensor is used for detecting the distance between the robot and the top of a wall surface and transmitting the distance to the robot main control system;
The duct vector propulsion mechanism is used for providing thrust and forward adsorption force for the robot to climb;
The visual scanning mechanism is used for acquiring image information of the wall surface and transmitting the image information to the upper computer control console;
the robot main control system is used for realizing the vector wall climbing robot control method for concrete appearance detection.
In one embodiment, the ducted vector propulsion mechanism includes a ducted fan, a motor, and a linkage control mechanism for controlling the azimuth conversion of the ducted fan, the motor for providing the driving force for the rotation of the ducted fan.
In one embodiment, the link control mechanism comprises a connecting rod, a transverse rotary joint, a longitudinal rotary joint and a fixed base, wherein the connecting rod is connected with the transverse rotary joint, and the transverse rotary joint is connected with the longitudinal rotary joint;
The fixed base is arranged on the robot body, and the connecting rod is used for connecting the ducted fan; the rotation of the transverse rotary joint can realize the rotation of the bypass fan on a transverse plane; the rotation of the longitudinal rotary joint can realize the rotation of the ducted fan in a longitudinal plane.
In a third aspect, there is provided a vector wall climbing robot system for concrete appearance detection, comprising: the device comprises a vector wall climbing robot for concrete appearance detection, an upper computer control console, a ground power supply mechanism, a wireless communication module and an optical fiber communication module;
The optical fiber communication module is used for realizing data transmission between the visual scanning mechanism and the upper computer control console;
the wireless communication module is used for realizing data transmission of the vector wall climbing robot and the upper computer control console for concrete appearance detection;
the ground power supply mechanism is used for supplying electric energy to the vector wall climbing robot for concrete appearance detection;
The upper computer control console is used for analyzing the health condition of the concrete according to the received image information of the wall surface and sending the selected robot movement mode to the robot main control system;
the vector wall climbing robot for concrete appearance detection is the vector wall climbing robot for concrete appearance detection.
Compared with the prior art, the application has the following beneficial effects:
1. Because the traditional climbing detection robot has the defects of power defect, side wall environment adaptability problem and positioning navigation, the application introduces the culvert vector propulsion control technology into the traditional pier column apparent disease detection climbing robot system, and adds various environment detection and system control sensors, thereby fundamentally solving the problems of the original climbing robot. The application provides a side wall health detection robot system integrating the technologies of duct vector propulsion, gesture analysis and positioning navigation, pier face image acquisition processing and transmission and the like, and provides a new solution for the defects of the traditional detection method.
2. The application is new in mechanical structure, and designs a novel duct vector propulsion mechanism and a novel robot advancing mechanism; in the aspect of control, the robot system acquires data of an attitude sensor and a pressure sensor in the vehicle body, analyzes whether the horizontal component of the thrust applied to the robot by the duct propulsion mechanism is enough to overcome the defect that the gravity of the robot is adsorbed on the wall surface and whether the vertical component of the thrust is enough to provide climbing power for the robot, then adjusts the direction and the thrust of the duct propulsion in real time, and finally enables the climbing robot to avoid the defects of insufficient motor driving power and poor adaptability of the adsorption robot.
Drawings
The application may be better understood by reference to the following description taken in conjunction with the accompanying drawings, which are incorporated in and form a part of this specification, together with the following detailed description. In the drawings:
FIG. 1 shows a schematic structural diagram of a vector wall climbing robot for concrete appearance detection according to an embodiment of the present application;
FIG. 2 shows a schematic structural view of a link control mechanism;
FIG. 3 shows a block flow diagram of a method of controlling a vector wall climbing robot for concrete appearance detection according to an embodiment of the application;
Fig. 4 shows α=0°, Is a robot stress analysis schematic diagram;
FIG. 5 shows Is a robot stress analysis schematic diagram;
FIG. 6 shows a schematic diagram of a force analysis of a robot in a lateral translational motion;
Fig. 7 shows a block diagram of a vector wall climbing robot system for concrete appearance detection according to an embodiment of the application.
Reference numerals:
The device comprises a 1-ducted vector propulsion mechanism, a 11-ducted fan, a 12-connecting rod control mechanism, a 2-robot body, a 21-tire, a 22-pressure sensor, a 3-connecting rod, a 4-rotary joint, a 41-transverse rotary joint, a 42-longitudinal rotary joint and a 5-fixed base.
Detailed Description
Exemplary embodiments of the present application will be described hereinafter with reference to the accompanying drawings. In the interest of clarity and conciseness, not all features of an actual embodiment are described in the specification. It will of course be appreciated that in the development of any such actual embodiment, numerous implementation-specific decisions may be made to achieve the developers' specific goals, and that these decisions may vary from one implementation to another.
It should be noted here that, in order to avoid obscuring the present application due to unnecessary details, only the device structures closely related to the solution according to the present application are shown in the drawings, and other details not greatly related to the present application are omitted.
It is to be understood that the application is not limited to the described embodiments, as a result of the following description with reference to the drawings. In this context, embodiments may be combined with each other, features replaced or borrowed between different embodiments, one or more features omitted in one embodiment, where possible.
An embodiment of the present application provides a vector wall climbing robot for concrete appearance detection, and fig. 1 shows a schematic structural diagram of the vector wall climbing robot for concrete appearance detection according to an embodiment of the present application, referring to fig. 1, including: the robot comprises a robot body 2, wherein the robot body 2 is provided with a duct vector propulsion mechanism 1, a visual scanning mechanism, a steering mechanism and a robot main control system; here, the housing of the robot body 2 may be constructed of carbon fiber to reduce the overall weight of the robot as much as possible. The specific implementation functions of each module are described in detail below.
The steering mechanism is used for realizing the transverse translational motion of the robot and comprises a plurality of tires 21, each tire 21 is provided with a pressure sensor 22, and the pressure sensors 22 are used for detecting the pressure value between the tire 21 and the wall surface and transmitting the pressure value to the robot main control system; the wall surface here is the pier column surface. Here, the steering mechanism may comprise four tires, each tire being connected to the steering engine.
The robot body 2 is internally provided with a six-axis attitude sensor and an ultrasonic ranging sensor, the six-axis attitude sensor is used for detecting attitude information of the robot and transmitting the attitude information to a robot main control system, and the ultrasonic ranging sensor is used for detecting the distance between the robot and the top of the wall surface and transmitting the distance to the robot main control system; here, six-axis attitude sensor has integrated gyroscope and acceleration sensor, through the attitude information that obtains the robot accuracy, realizes carrying out real-time supervision and accurate control to current state, ensures that the robot keeps balanced and stable at climbing the wall in-process, and the real-time response's characteristic can make the quick adjustment duct propulsive force of robot to adapt to the dynamic change and the external interference of wall. The ultrasonic ranging sensor has higher measurement accuracy, can accurately sense the distance between the robot and the side wall obstacle for adjusting the motion track, and can measure the obstacle distance in different directions at the same time, so that the robot can navigate and control more efficiently.
The duct vector propulsion mechanism 1 is used for providing thrust and forward adsorption force for climbing of the robot;
The visual scanning mechanism is used for acquiring image information of the wall surface and transmitting the image information to the upper computer control console; here, the visual scanning mechanism may be a linear array CCD camera, and the image information of the wall surface collected by the high resolution camera may be transmitted to the upper computer console through the optical fiber communication module. The optical fiber communication module has the characteristics of high bandwidth, low loss and strong interference resistance, and can transmit the processed image data to an upper computer, and more complex image processing tasks or image data storage can be performed by utilizing the computing capacity of the upper computer.
The robot main control system is used for realizing the control of the robot based on the pressure value between the tire and the wall surface, the gesture information of the robot and the distance between the robot and the top of the wall surface.
In one embodiment, the ducted vector propulsion mechanism 1 includes a ducted fan 11, a motor for providing a driving force for rotating the ducted fan 11, and a link control mechanism 12, the link control mechanism 12 for controlling the azimuth conversion of the ducted fan 11.
Specifically, fig. 2 shows a schematic structural view of the link control mechanism, referring to fig. 2, the link control mechanism 12 includes a connecting rod 3, a lateral rotation joint 41, a longitudinal rotation joint 42, and a fixed base 5, the connecting rod 3 is connected to the lateral rotation joint 41, and the lateral rotation joint 41 is connected to the longitudinal rotation joint 42; the fixed base 5 is arranged on the robot body, and the connecting rod 3 is used for connecting the ducted fan 11; the rotation of the transverse rotary joint 41 can realize the rotation of the ducted fan 11 on a transverse plane; rotation of the longitudinal rotary joint 42 enables rotation of the ducted fan 11 in a longitudinal plane.
The embodiment of the application also provides a control method of the vector wall climbing robot for concrete appearance detection, and fig. 3 shows a flow chart of the control method of the vector wall climbing robot for concrete appearance detection according to the embodiment of the application, and referring to fig. 3, the method comprises the following steps:
step S1, acquiring attitude information of a robot, and determining a minimum value N min of forward adsorption force required by the robot according to the attitude information of the robot;
specifically, the attitude information of the robot is an included angle alpha between the robot and a horizontal plane;
If α=0 °, N min =0;
If it is Wherein G is the gravity of the robot, and mu is the static friction force between the tire and the wall surface; FIG. 4 shows/>Is a schematic diagram of the robot stress analysis.
If it is
Wherein F is the thrust provided by the ducted vector propulsion mechanism, and beta is the included angle between the propulsion direction of the ducted vector propulsion mechanism and the horizontal plane. FIG. 5 showsIs a schematic diagram of the robot stress analysis.
Step S2, obtaining the pressure value between each tire and the wall surface, and calculating the average value of all the pressure values, and recording the average value as a pressure average value N touch;
Step S3, comparing the magnitude relation between the minimum value N mon of the forward adsorption force required by the robot and the pressure average value N touch, and if N touch≤Nmin, adjusting the thrust of the duct vector propulsion mechanism to enable the robot to be stably attached to the wall surface;
Specifically, if N touch＞Nmin, the robot can be stably attached to the wall surface, and the duct vector propulsion mechanism does not need to be adjusted.
If N touch≤Nmin, describing the current adsorption state and the target state of the robot by adopting quaternion solution to obtain pitch angle deviation of the robot; then, the motor of the bypass vector propulsion mechanism is controlled to increase the rotation speed according to the pitch angle deviation of the robot so as to increase the thrust of the bypass vector propulsion mechanism, and then the value of N touch is increased until N touch is larger than N min, and the robot can be stably attached to the wall surface.
And S4, acquiring the distance d between the robot and the top of the wall surface, and controlling the tire of the steering mechanism to steer by 90 degrees if the distance d reaches a set threshold value, so that the robot performs left or right transverse translational motion, and the purpose is to complete image acquisition of the other part of the wall surface after the robot completes image acquisition of the part of the wall surface after the transverse translational motion. Fig. 6 shows a schematic diagram of force analysis of a robot in a lateral translational motion.
Here, the set threshold may be 0.5m, or may be another value, which is not particularly limited herein. If the distance d is more than 0.5m, the robot continuously climbs, and when the distance d reaches 0.5m, a signal is sent to a steering engine, and the steering engine controls the tire to steer at 90 degrees.
The vector wall climbing robot control method for concrete appearance detection of the embodiment runs in the whole process of climbing of the robot, ensures that the robot can be stably attached to the wall surface, and realizes image acquisition of the whole wall surface to detect and record the position, shape, size and other information of cracks.
The embodiment of the application also provides a vector wall climbing robot system for concrete appearance detection, fig. 7 shows a structural block diagram of the vector wall climbing robot system for concrete appearance detection according to the embodiment of the application, and referring to fig. 7, the system comprises:
the device comprises a vector wall climbing robot for concrete appearance detection, an upper computer control console, a ground power supply mechanism, a wireless communication module and an optical fiber communication module;
The optical fiber communication module is used for realizing data transmission between the visual scanning mechanism and the upper computer control console;
the wireless communication module is used for realizing data transmission of the vector wall climbing robot and the upper computer control console for concrete appearance detection;
the ground power supply mechanism is used for supplying electric energy to the vector wall climbing robot for concrete appearance detection;
The upper computer control console is used for analyzing the health condition of the concrete according to the received image information of the wall surface and sending the selected robot movement mode to the robot main control system;
The vector wall climbing robot for concrete appearance detection is the vector wall climbing robot for concrete appearance detection according to the previous embodiment.
The application relates to a vector wall climbing robot system for concrete appearance detection, which comprises the following specific working processes:
(1) And placing the robot on the surface of the pier column tower to be crawled. Before placing, ensuring that the robot and the wall surface are clean and flat so as to ensure the firmness and stability of attachment;
(2) The power supply cable is connected to supply power to the robot, so that the robot is provided with power to start and operate;
(3) Starting the robot and performing a self-checking process to ensure the normal operation of each system and each sensor, including calibrating each sensor, checking line connection, running a self-checking program and the like;
(4) Acquiring gesture information of the robot by using a six-axis gesture sensor, wherein the gesture information is used for judging whether the robot is in a stable adsorption state or not and determining a reference crawling track to be followed;
(5) The contact pressure between the tire and the wall surface is detected by using a pressure sensor, the propulsion direction and the thrust of the culvert vector propulsion mechanism are adjusted by using a closed-loop control algorithm according to the measurement result, and the robot can keep a stable crawling state on the pier column tower by precisely controlling the propulsion angle and the thrust;
(6) The ultrasonic sensor detects the distance between the robot and the top of the wall in real time in the climbing process of the robot, and the robot moves along the horizontal direction on the surface of the pier column tower by controlling the transverse translational motion of the robot;
(7) In the process of robot inspection, the robot synchronously executes the detection task of the surface cracks of the pier column tower, and the high-resolution camera is utilized to collect and analyze images of the surface of the pier column tower so as to detect and record the position, shape, size and other information of the cracks;
(8) After the robot completes the task, the detection data and the result are transmitted back to the upper computer control console or displayed to an operator as required for evaluating the wall condition and making a further maintenance plan.
The above description is merely illustrative of various embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about variations or substitutions within the scope of the present application, and the application is intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (7)
1. The control method of the vector wall climbing robot for concrete appearance detection is characterized by comprising the following steps of:
Acquiring attitude information of a robot, and determining a minimum value N min of forward adsorption force required by the robot according to the attitude information of the robot;
Obtaining the pressure value between each tire and the wall surface, calculating the average value of all the pressure values, and recording the average value as a pressure average value N touch;
Comparing the magnitude relation between the minimum value N min of the forward adsorption force required by the robot and the pressure average value N touch, and if N touch≤Nmin, adjusting the thrust of the duct vector propulsion mechanism to ensure that the robot is stably attached to the wall surface;
And acquiring the distance between the robot and the top of the wall surface, and if the distance reaches a set threshold value, controlling the tire of the steering mechanism to steer by 90 degrees, so that the robot performs left or right transverse translational motion.
2. The method of claim 1, wherein determining a minimum value N min of the forward suction force required by the robot based on the pose information of the robot comprises:
The attitude information of the robot is an included angle alpha between the robot and a horizontal plane;
If α=0 °, N min =0;
If it is Wherein G is the gravity of the robot, and mu is the static friction force between the tire and the wall surface;
If it is
Wherein F is the thrust provided by the ducted vector propulsion mechanism, and beta is the included angle between the propulsion direction of the ducted vector propulsion mechanism and the horizontal plane.
3. The method of claim 1 wherein adjusting the thrust of the ducted vector propulsion mechanism if N touch≤Nmin comprises:
If N touch≤Nmin, describing the current adsorption state and the target state of the robot by adopting quaternion solution to obtain pitch angle deviation of the robot;
And controlling a motor of the bypass vector propulsion mechanism to increase the rotating speed according to the pitch angle deviation of the robot so as to increase the thrust of the bypass vector propulsion mechanism, and further increasing the value of N touch until N touch is larger than N min, so that the robot can be stably attached to the wall surface.
4. A vector wall climbing robot for concrete appearance detection, comprising: the robot comprises a robot body (2), wherein a duct vector propulsion mechanism (1), a visual scanning mechanism, a steering mechanism and a robot main control system are arranged on the robot body (2);
the steering mechanism is used for realizing transverse translational motion of the robot and comprises a plurality of tires (21), a pressure sensor (22) is arranged on each tire (21), and the pressure sensor (22) is used for detecting a pressure value between the tire (21) and a wall surface and transmitting the pressure value to the robot main control system;
the robot comprises a robot body (2), wherein a six-axis gesture sensor and an ultrasonic ranging sensor are arranged in the robot body (2), the six-axis gesture sensor is used for detecting gesture information of a robot and transmitting the gesture information to a robot main control system, and the ultrasonic ranging sensor is used for detecting the distance between the robot and the top of a wall surface and transmitting the distance to the robot main control system;
the culvert vector propulsion mechanism (1) is used for providing thrust and forward adsorption force for climbing of the robot;
the visual scanning mechanism is used for acquiring image information of the wall surface and transmitting the image information to the upper computer control console;
the robot main control system is used for realizing the vector wall climbing robot control method for concrete appearance detection according to any one of claims 1-3.
5. The vector wall climbing robot for concrete appearance inspection according to claim 4, wherein the ducted vector propulsion mechanism (1) includes a ducted fan (11), a motor, and a link control mechanism (12), the link control mechanism (12) being for controlling an azimuth conversion of the ducted fan (11), the motor being for providing a driving force for rotation of the ducted fan (11).
6. The vector wall climbing robot for concrete appearance detection according to claim 5, wherein the link control mechanism (12) includes a connecting rod (3), a lateral rotary joint (41), a longitudinal rotary joint (42), and a fixed base (5), the connecting rod (3) being connected to the lateral rotary joint (41), the lateral rotary joint (41) being connected to the longitudinal rotary joint (42);
The fixed base (5) is arranged on the robot car body (1), and the connecting rod (3) is used for connecting the ducted fan (11); the rotation of the transverse rotary joint (41) can realize the rotation of the ducted fan (11) on a transverse plane; the rotation of the longitudinal rotation joint (42) enables the rotation of the ducted fan (11) in a longitudinal plane.
7. A vector wall climbing robot system for concrete appearance detection, comprising: the device comprises a vector wall climbing robot for concrete appearance detection, an upper computer control console, a ground power supply mechanism, a wireless communication module and an optical fiber communication module;
the optical fiber communication module is used for realizing data transmission of the visual scanning mechanism and the upper computer control console;
The wireless communication module is used for realizing data transmission of the vector wall climbing robot for concrete appearance detection and the upper computer control console;
the ground power supply mechanism is used for supplying electric energy to the vector wall climbing robot for concrete appearance detection;
The upper computer control console is used for analyzing the health condition of the concrete according to the received image information of the wall surface and sending the selected robot movement mode to the robot main control system;
the vector wall climbing robot for concrete appearance detection is the vector wall climbing robot for concrete appearance detection according to any one of claims 4 to 6.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202410021230.XA CN117961921A (en) | 2024-01-05 | 2024-01-05 | Vector wall climbing robot for concrete appearance detection and control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410021230.XA CN117961921A (en) | 2024-01-05 | 2024-01-05 | Vector wall climbing robot for concrete appearance detection and control method |
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| CN117961921A true CN117961921A (en) | 2024-05-03 |
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| CN202410021230.XA Pending CN117961921A (en) | 2024-01-05 | 2024-01-05 | Vector wall climbing robot for concrete appearance detection and control method |
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