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Underwater walking mechanism rollover prevention method and system and computer readable storage medium

A walking mechanism and anti-rollover technology, applied in attitude control and other directions, can solve the problems of high cost of active steering technology, limited application range, complex active suspension structure, etc., and achieve the effect of reducing the risk of tipping and wide applicability

Pending Publication Date: 2022-02-18
广东行远机器人技术有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] However, the technology of active suspension and active anti-roll bar is complicated in structure and high in cost, so it is rarely used in heavy equipment
Active steering technology has the disadvantages of high cost and complicated technology, and it will cause great manipulation interference to the driver during the control process, so the application range is very limited

Method used

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  • Underwater walking mechanism rollover prevention method and system and computer readable storage medium
  • Underwater walking mechanism rollover prevention method and system and computer readable storage medium
  • Underwater walking mechanism rollover prevention method and system and computer readable storage medium

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Embodiment Construction

[0029] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0030] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relationship between the components in a certain posture (as shown in the accompanying drawings). Relative positional relationship, movement conditions, etc., if the specific posture changes, the directional indication will also change accordingly.

[0031] It should also be...

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Abstract

The invention relates to the technical field of rollover prevention, in particular to an underwater walking mechanism rollover prevention method and system and a computer readable storage medium, and the method comprises the following steps: obtaining the walking speed of a walking mechanism; selecting a tipping index and a predetermined parameter according to the walking speed; and judging the relation between the tipping index and a preset parameter, and judging whether to carry out tipping early warning operation or anti-tipping operation according to the relation between the tipping index and the preset parameter. According to the rollover prevention method for the underwater walking mechanism, the suitable rollover index is selected according to the walking speed of the walking mechanism, whether rollover prevention operation is carried out or not is determined by judging whether the rollover index meets the preset parameter or not, and the method does not need to correspondingly improve the structure of the walking mechanism, and the walking speed, the rollover index and other state parameters of the walking mechanism only need to be obtained to conduct early warning and rollover prevention operation on the walking mechanism, and therefore the method is wide in applicability and can be used for various underwater mobile platforms, and the rollover risk is effectively reduced.

Description

technical field [0001] The invention relates to the technical field of anti-overturning, and relates to an anti-overturning method and system for an underwater traveling mechanism, and a computer-readable storage medium. Background technique [0002] At present, the active anti-overturning technology of the traveling mechanism mainly includes two types: one is to start from the anti-overturning ability of the traveling mechanism itself, and try to improve the overall rollover threshold, such as adding active suspensions and active anti-roll bars to control rollover Movement, to achieve the purpose of increasing the rollover threshold; the other is to start from trying to control the yaw motion of the traveling mechanism, and indirectly control the roll motion by controlling the overall yaw motion, so as to achieve the purpose of preventing rollover, such as active Steering technology and differential braking technology, etc. [0003] The active suspension can control the he...

Claims

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Application Information

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IPC IPC(8): G05D1/08
CPCG05D1/08
Inventor 王云
Owner 广东行远机器人技术有限公司
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