Safety anti-falling method and device of wall-climbing robot

Abstract

The application discloses a safety anti-falling method and device of a wall-climbing robot, and relates to the field of safety anti-falling. The method comprises the following steps: in response to a first setting operation of a user on a driving device of the wall-climbing robot, the first setting operation is an operation of setting the driving device to an automatic mode; monitoring a first wire winding and unwinding speed of a current time, the first wire winding and unwinding speed is an actual wire winding and unwinding speed of the wall-climbing robot corresponding to the current time; acquiring a second wire winding and unwinding speed corresponding to the current time from a preset wire winding and unwinding time sequence diagram according to the current time, the second wire winding and unwinding speed is a preset wire winding and unwinding speed of the wall-climbing robot corresponding to the current time; judging whether the first wire winding and unwinding speed is greater than the second wire winding and unwinding speed; and if the first wire winding and unwinding speed is greater than the second wire winding and unwinding speed, stopping wire unwinding to prevent the wall-climbing robot from falling. The technical scheme provided by the application can solve the problem of falling risk of the wall-climbing robot during work.

Description

Technical Field

[0001] This application relates to the field of safety fall prevention, specifically to a safety fall prevention method and device for a wall-climbing robot. Background Technology

[0002] Currently, wall-climbing robots are used in many scenarios, such as cleaning the exterior of tall buildings, building inspections, and industrial maintenance.

[0003] Wall-climbing robots are at risk of falling during operation for many reasons. For example, for magnetic wall-climbing robots, when they climb onto uneven surfaces or when temperature changes weaken the magnetic force and the attraction force weakens, the wall-climbing robot may fall, resulting in personal injury or machine damage. In other words, wall-climbing robots are at risk of falling during operation.

[0004] Therefore, there is an urgent need for a safe fall prevention method and device for wall-climbing robots. Summary of the Invention

[0005] This application provides a safety fall prevention method and device for wall-climbing robots, which can solve the problem of fall risk during operation of wall-climbing robots.

[0006] This application provides a safety fall prevention method for a wall-climbing robot in a first aspect, applied to a drive device. The method includes: responding to a user's first setting operation on the drive device of the wall-climbing robot, the first setting operation being an operation to set the drive device to automatic mode; monitoring a first take-up and release speed at the current time, the first take-up and release speed being the actual take-up and release speed of the wall-climbing robot at the current time; obtaining a second take-up and release speed corresponding to the current time from a preset take-up and release timing diagram based on the current time, the second take-up and release speed being a preset take-up and release speed of the wall-climbing robot at the current time; the preset take-up and release timing diagram including the correspondence between take-up and release speed and time; determining whether the first take-up and release speed is greater than the second take-up and release speed; if the first take-up and release speed is greater than the second take-up and release speed, stopping the release of line to prevent the wall-climbing robot from falling.

[0007] By adopting the above technical solution, the drive device can continuously monitor whether the actual take-up and release speed is consistent with the preset take-up and release speed corresponding to the current time in the preset take-up and release timing diagram in automatic mode. When the actual take-up and release speed is greater than the preset take-up and release speed, there is an unexpected acceleration in the take-up and release. During the descent, it may be that the suction force of the wall-climbing robot weakens, resulting in a decrease in friction, thus causing acceleration. At this time, there is a risk of falling. Therefore, in the case of unexpected acceleration, the drive device controls the take-up and release to stop moving, and the free end of the take-up and release is connected to the wall-climbing robot, thereby stopping the wall-climbing robot and preventing it from falling.

[0008] Optionally, after stopping the release of the line if the first release speed is greater than the second release speed, the method further includes: displaying a first prompt message to indicate that the wall-climbing robot is at risk of falling and whether to retract the wall-climbing robot; and retracting the wall-climbing robot by retracting the line in response to the user's retraction operation.

[0009] By adopting the above technical solution, after the drive device stops retracting the cable, the user is shown that the wall-climbing robot is at risk of falling and has stopped moving. The user is also shown a prompt message asking whether the wall-climbing robot needs to be retrieved. When the user performs the retrieval operation, the wall-climbing robot is retrieved by retracting the cable.

[0010] Optionally, before obtaining the second take-up and put-down speed corresponding to the current time from the preset take-up and put-down timing diagram based on the current time, it is also necessary to construct a preset put-down timing diagram. Constructing the preset put-down timing diagram specifically includes: obtaining the working route of the wall-climbing robot; obtaining a distance-time curve diagram showing the change of the straight-line relative distance over time based on the working route, where the straight-line relative distance is the straight-line distance between the wall-climbing robot and the drive device, and the distance-time curve diagram includes the correspondence between the straight-line relative distance and time; and constructing the preset take-up and put-down timing diagram based on the distance-time curve diagram.

[0011] By adopting the above technical solution, the drive device can construct a preset take-up and release timing diagram based on the distance-time curve. That is, the correspondence between time and speed is obtained based on the correspondence between time and distance. After constructing the preset take-up and release timing diagram, the preset take-up and release speed corresponding to each time can be obtained based on the preset take-up and release timing diagram.

[0012] Optionally, the drive device is equipped with a tension sensor; when the speed of the take-up and release is greater than zero, the tension value of the take-up and release is obtained; if the tension value of the take-up and release is greater than a preset tension threshold, a second prompt message is displayed, which is used to indicate that the load on the take-up and release is too large or the take-up and release is improperly installed.

[0013] By adopting the above technical solution, the drive equipment can monitor in real time whether the tension of the take-up and release wire is within the expected range through the tension sensor; when the tension value is too high, the drive equipment can display a prompt message indicating that the current take-up and release wire load is too high or the take-up and release wire is improperly installed, so as to reduce the probability of accidents such as breakage of the take-up and release wire.

[0014] Optionally, after determining whether the first take-up and release speed is greater than the second take-up and release speed, the method further includes: if the first take-up and release speed is less than the second take-up and release speed, then obtaining the remaining battery information of the wall-climbing robot; determining whether the wall-climbing robot has insufficient battery based on the remaining battery information; if it is determined that the wall-climbing robot has insufficient battery, then displaying a third prompt message, which is used to prompt the wall-climbing robot to need to be charged or have its power supply replaced.

[0015] By adopting the above technical solution, when the actual winding and unwinding speed of the drive device is less than the preset winding and unwinding speed, it attempts to find the cause of the abnormality. When the wall-climbing robot's battery is insufficient, it will affect the speed of the wall-climbing robot. Therefore, the remaining battery of the wall-climbing robot is detected. When the remaining battery of the wall-climbing robot is detected to be insufficient, a third prompt message is sent to remind the user that the wall-climbing robot needs to be charged or the power supply replaced, thereby reducing the probability that the wall-climbing robot's speed does not match the expectation.

[0016] Optionally, after responding to the user's first setting operation on the drive device of the wall-climbing robot, the method further includes: displaying the current working mode, the first take-up and release speed, the speed abnormality status, the preset take-up and release timing diagram, and the prompt information displayed during operation to the user, wherein the current working mode includes one of automatic mode and manual mode.

[0017] By adopting the above technical solution, the drive device can display various information during the operation process, so that users can more intuitively monitor the working status of the wall-climbing robot.

[0018] Optionally, after stopping the release of the line if the first release speed is greater than the second release speed, the method further includes: responding to a second setting operation by the user on the drive device of the wall-climbing robot, the second setting operation being an operation to set the drive device to manual mode; switching from automatic mode to manual mode; displaying operation options on the control panel, the operation options including controlling the brake of the drive device, stopping the release movement, increasing or decreasing the release speed, and controlling the retraction of the release.

[0019] By adopting the above technical solution, when the wall-climbing robot malfunctions in automatic mode and stops moving due to the drive device, the user can choose to change the automatic mode to manual mode according to the actual situation, thereby enabling the user to operate the drive device according to their needs.

[0020] In a second aspect, this application provides a safety fall prevention device for a wall-climbing robot. The device is a drive device, which includes an acquisition unit and a processing unit.

[0021] The acquisition unit is used to obtain the second take-up and release speed corresponding to the current time from the preset take-up and release timing diagram based on the current time. The second take-up and release speed is the preset take-up and release speed of the wall-climbing robot corresponding to the current time. The preset take-up and release timing diagram includes the correspondence between the take-up and release speed and time.

[0022] The processing unit is configured to respond to a user's first setting operation on the drive device of the wall-climbing robot, the first setting operation being the operation of setting the drive device to automatic mode; it is also configured to monitor a first take-up and release speed at the current time, the first take-up and release speed being the actual take-up and release speed of the wall-climbing robot at the current time; it is also configured to determine whether the first take-up and release speed is greater than a second take-up and release speed; and it is also configured to stop releasing the line if the first take-up and release speed is greater than the second take-up and release speed, so as to prevent the wall-climbing robot from falling.

[0023] Optionally, the processing unit is used to display the first prompt information, which is used to indicate that the wall-climbing robot is at risk of falling and whether to retract the wall-climbing robot; in response to the user's retraction operation of the wall-climbing robot, the wall-climbing robot is retracted by extending and retracting the cable.

[0024] Optionally, the acquisition unit is used to acquire the working route of the wall-climbing robot; acquire a distance-time curve graph showing the change of the straight-line relative distance over time based on the working route, where the straight-line relative distance is the straight-line distance between the wall-climbing robot and the drive device, and the distance-time curve graph includes the correspondence between the straight-line relative distance and time; the processing unit is used to construct a preset take-up and release timing diagram based on the distance-time curve graph.

[0025] Optionally, the acquisition unit is used to acquire the tension value of the take-up and release line when the movement speed of the take-up and release line is greater than zero; the processing unit is used to display a second prompt message if the tension value of the take-up and release line is greater than a preset tension threshold. The second prompt message is used to indicate that the load on the take-up and release line is too large or the take-up and release line is improperly installed.

[0026] Optionally, the acquisition unit is used to acquire the remaining battery information of the wall-climbing robot if the first take-up and release speed is less than the second take-up and release speed; the processing unit is used to determine whether the wall-climbing robot has insufficient battery based on the remaining battery information; if it is determined that the wall-climbing robot has insufficient battery, a third prompt message is displayed, which prompts the wall-climbing robot to need to be charged or have its power supply replaced.

[0027] Optionally, the processing unit is used to display the current working mode, the first take-up and release speed, the speed abnormality status, the preset take-up and release timing diagram, and the prompt information displayed during operation to the user. The current working mode includes one of automatic mode and manual mode.

[0028] Optionally, the processing unit is configured to respond to a second setting operation by the user for the drive device of the wall-climbing robot, the second setting operation being to set the drive device to manual mode; to switch from automatic mode to manual mode; and to display operation options on the control panel, including controlling the drive device to brake, stopping the take-up and release movement, increasing or decreasing the take-up and release speed, and controlling the take-up and release of the line.

[0029] This application provides an electronic device in a third aspect, including a processor, a memory, a user interface, and a network interface. The memory is used to store instructions, the user interface and the network interface are used to communicate with other devices, and the processor is used to execute the instructions stored in the memory to cause the electronic device to perform the first aspect or any possible implementation of the first aspect.

[0030] In a fourth aspect, this application provides a computer-readable storage medium storing a computer program, which is executed by a processor as described in the first aspect or any possible implementation of the first aspect.

[0031] In summary, one or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages:

[0032] 1. In automatic mode, the drive device can continuously monitor whether the actual take-up and release speed is consistent with the preset take-up and release speed corresponding to the current time in the preset take-up and release timing diagram. When the actual take-up and release speed is greater than the preset take-up and release speed, there is an unexpected acceleration in the take-up and release. During the descent, it may be that the suction force of the wall-climbing robot weakens, resulting in a decrease in friction, thus accelerating. At this time, there is a risk of falling. Therefore, in the case of unexpected acceleration, the drive device controls the take-up and release to stop moving, and the free end of the take-up and release is connected to the wall-climbing robot, thereby stopping the wall-climbing robot and preventing it from falling.

[0033] 2. After the drive device stops retracting the cable, the system displays a message to the user indicating that the wall-climbing robot is at risk of falling and has stopped moving. The user is also prompted to retract the robot. When the user initiates the retraction operation, the robot is retracted using the cable retraction mechanism.

[0034] 3. The drive device can construct a preset take-up and release timing diagram based on the distance-time curve. That is, it can obtain the correspondence between time and speed based on the correspondence between time and distance. After constructing the preset take-up and release timing diagram, the preset take-up and release speed corresponding to each time can be obtained based on the preset take-up and release timing diagram. Attached Figure Description

[0035] Figure 1 This is a flowchart illustrating a safety fall prevention method for a wall-climbing robot provided in an embodiment of this application.

[0036] Figure 2 This is a schematic diagram of a preset take-up and release timing diagram provided in an embodiment of this application.

[0037] Figure 3 This is a structural schematic diagram of a safety fall prevention device for a wall-climbing robot disclosed in an embodiment of this application.

[0038] Figure 4 This is a schematic diagram of the structure of an electronic device disclosed in an embodiment of this application.

[0039] Explanation of reference numerals in the attached drawings: 301, acquisition unit; 302, processing unit; 400, electronic device; 401, processor; 402, communication bus; 403, user interface; 404, network interface; 405, memory. Detailed Implementation

[0040] To enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0041] In the description of the embodiments of this application, the words "for example" or "for instance" are used to indicate examples, illustrations, or explanations. Any embodiment or design that is described as "for example" or "for instance" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design options. Rather, the use of the words "for example" or "for instance" is intended to present the relevant concepts in a specific manner.

[0042] In the description of the embodiments of this application, the term "multiple" means two or more. For example, multiple systems means two or more systems, and multiple screen terminals means two or more screen terminals. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. The terms "comprising," "including," "having," and variations thereof all mean "including but not limited to," unless otherwise specifically emphasized.

[0043] Wall-climbing robots face the risk of falling during operation due to various reasons. For example, magnetic wall-climbing robots may fall when they climb uneven surfaces or when temperature changes weaken the magnetic attraction, potentially causing personal injury or machine damage. Therefore, this embodiment provides a safety fall prevention method for wall-climbing robots.

[0044] The safety fall prevention method for a wall-climbing robot provided in this application can be referenced. Figure 1 , Figure 1This is a flowchart illustrating a safety fall prevention method for a wall-climbing robot provided in this application embodiment, applied to a drive device. Specifically, this application embodiment uses a scenario where the drive device is installed on a rooftop, the drive device's extension and retraction cable is connected to the wall-climbing robot, and the robot adheres to the wall and operates within a preset range. The method includes steps S101 to S105.

[0045] S101, responding to a user's first setting operation for the drive device of the wall-climbing robot, the first setting operation being an operation to set the drive device to automatic mode.

[0046] In the above steps, after the user sets the operation mode to automatic mode, the drive device responds to the operation and starts to automatically control the take-up and release of the line. It should be noted that the drive device has a communication device and can control the wall-climbing robot. In this embodiment, the drive device can control the take-up and release of the line to stop moving, and can also control the wall-climbing robot to stop moving and interrupt the operation. That is, when the wall-climbing robot needs to cooperate with the take-up and release of the line to perform corresponding movements, the drive device directly controls the take-up and release of the line and also controls the wall-climbing robot to perform corresponding movements. Unless otherwise specified, this embodiment assumes that the wall-climbing robot is automatically controlled to perform corresponding movements and will not be described in detail.

[0047] In one possible implementation, after responding to a user's first setting operation on the drive device of the wall-climbing robot, the method further includes: displaying the current working mode, the first take-up and release speed, the speed abnormality status, the preset take-up and release timing diagram, and the prompt information displayed during operation to the user, wherein the current working mode includes one of automatic mode and manual mode.

[0048] In the above steps, the drive device is equipped with a control panel, which can display various operation data in real time in automatic mode, such as whether the current working mode is automatic or manual, the actual winding and unwinding speed, whether the current speed is abnormal, the preset winding and unwinding timing diagram, the preset movement speed of the winding and unwinding rope at the current time, and various prompts that may be displayed during the operation. Among them, the preset winding and unwinding timing diagram is a diagram showing the relationship between the preset speed of the winding and unwinding rope and time.

[0049] S102. Monitor the first take-up and release speed at the current time. The first take-up and release speed is the actual take-up and release speed of the wall-climbing robot at the current time.

[0050] In the above steps, the drive device obtains the actual take-up and release speed of the take-up and release wire through the speed sensor. Specifically, it can measure the distance the take-up and release wire has moved over a period of time to obtain the current speed of the take-up and release wire, which is the first take-up and release speed.

[0051] For example, if the drive device obtains the actual take-up and take-up speed of 0.2m / s at 12:00:00 (24-hour system), then 12:00:00 is the current time.

[0052] S103. Based on the current time, obtain the second take-up and release speed corresponding to the current time from the preset take-up and release timing diagram. The second take-up and release speed is the preset take-up and release speed of the wall-climbing robot corresponding to the current time. The preset take-up and release timing diagram includes the correspondence between the take-up and release speed and time.

[0053] In the above steps, the drive device obtains the preset take-up and release speed corresponding to the current time from the preset take-up and release timing diagram. The preset take-up and release timing diagram contains a curve, and each point on the curve has a two-dimensional coordinate. The horizontal axis of the two-dimensional coordinate represents time, and the vertical axis represents the preset take-up and release speed corresponding to that time. That is, the preset take-up and release timing diagram expresses and records what value the take-up and release speed should have at what time. This value is the preset value or ideal value. For details of the preset take-up and release timing diagram, please refer to [reference needed]. Figure 2 , Figure 2 This is a schematic diagram of a preset take-up and release timing diagram provided in an embodiment of this application, wherein the horizontal axis represents time and the vertical axis represents the speed of take-up and release, in m / s.

[0054] In the example above, the drive device obtains the preset movement speed of the take-up and release of the wire (0.1 m / s) at 12:00:00 through the preset take-up and release timing diagram.

[0055] In one possible implementation, before obtaining the second take-up and release speed corresponding to the current time from the preset take-up and release timing diagram based on the current time, it is also necessary to construct the preset release timing diagram. Constructing the preset release timing diagram specifically includes: obtaining the working route of the wall-climbing robot; obtaining a distance-time curve diagram showing the change of the straight-line relative distance over time based on the working route, where the straight-line relative distance is the straight-line distance between the wall-climbing robot and the drive device, and the distance-time curve diagram includes the correspondence between the straight-line relative distance and time; and constructing the preset take-up and release timing diagram based on the distance-time curve diagram.

[0056] In the above steps, the drive device acquires the route map of the wall-climbing robot, thereby obtaining the location of the wall-climbing robot at each time point, and then obtaining the distance between the wall-climbing robot and the drive device at each time point, that is, it can obtain a distance-time curve. This curve represents the relationship between time and relative position distance values, which can be expressed by a formula. By differentiating the formula, the relationship between time and speed can be obtained, that is, constructing a preset take-up and release line timing diagram.

[0057] S104. Determine whether the first take-up and release speed is greater than the second take-up and release speed.

[0058] In the above steps, the drive device determines whether the actual take-up and release speed of the take-up and release line is greater than the preset take-up and release speed of the take-up and release line at the current time. It should be noted that the expression here is "strictly greater than", but in actual situations, such high precision may not be required. Therefore, according to user needs, the actual take-up and release speed can be allowed to be within a preset length range of the preset take-up and release speed. Accordingly, "greater than the preset take-up and release speed" here means that the actual take-up and release speed is "strictly greater than the maximum value in the preset length range". When describing "less than the preset take-up and release speed" later, it corresponds to "the actual take-up and release speed is strictly less than the minimum value in the preset length range". In this embodiment, the description still uses the value of "strictly greater than the preset take-up and release speed" instead of the case of setting it to a preset length range.

[0059] In one possible implementation, after determining whether the first take-up and release speed is greater than the second take-up and release speed, the method further includes: if the first take-up and release speed is less than the second take-up and release speed, obtaining the remaining battery information of the wall-climbing robot; determining whether the wall-climbing robot has insufficient battery based on the remaining battery information; if it is determined that the wall-climbing robot has insufficient battery, displaying a third prompt message, which is used to prompt the wall-climbing robot to need to be charged or have its power supply replaced.

[0060] Specifically, if the actual winding and unwinding speed of the wire is less than the preset winding and unwinding speed at the current time, that is, the movement speed of the crawling robot is less than the expected speed, then an attempt is made to determine the cause of the speed abnormality; that is, to obtain the remaining battery information of the wall-climbing robot and determine whether the remaining battery is less than the preset battery threshold. If it is less, it means that the remaining battery of the crawling robot is insufficient; a third prompt message is sent to remind the user that the current wall-climbing robot speed is lower than expected because the battery is insufficient and the wall-climbing robot needs to be charged or the power supply replaced.

[0061] S105. If the first take-up and release speed is greater than the second take-up and release speed, stop releasing the line to prevent the wall-climbing robot from falling.

[0062] In the above steps, if the actual winding and unwinding speed is greater than the preset winding and unwinding speed at the current time, the winding roller can be locked by means of a brake to stop unwinding or winding. Correspondingly, the speed of the wall-climbing robot will also be zero, which greatly reduces the probability of the wall-climbing robot falling.

[0063] In the example above, at 12:00:00, the actual winding and unwinding speed is 0.2m / s, which is greater than the preset winding and unwinding speed of 0.1m / s, so the winding and unwinding speed is controlled to stop.

[0064] In one possible implementation, after stopping the release of the line if the first release speed is greater than the second release speed, the method further includes: displaying a first prompt message to indicate that the wall-climbing robot is at risk of falling and whether to retrieve the wall-climbing robot; and retrieving the wall-climbing robot by retracting the line in response to the user's retrieval operation.

[0065] Specifically, after the wall-climbing robot stops, the drive device can display a first prompt message to ask the user whether to retract the wall-climbing robot. After the user performs the retraction operation, the drive device retracts the wall-climbing robot via the retraction cable.

[0066] In one possible implementation, the drive device is equipped with a tension sensor; when the speed of the take-up and release cable is greater than zero, the tension value of the take-up and release cable is acquired; if the tension value of the take-up and release cable is greater than a preset tension threshold, a second prompt message is displayed, which is used to indicate that the load on the take-up and release cable is too large or the take-up and release cable is improperly installed.

[0067] Specifically, the drive device is also equipped with a tension sensor to monitor the tension of the take-up and release line during its movement. Because both excessive and insufficient tension are detrimental to the operation of the wall-climbing robot, if the tension of the take-up and release line is frequently too high, the line is prone to wear and breakage, increasing the risk of the wall-climbing robot falling. Therefore, when the tension is detected to be greater than the preset tension threshold, a second prompt message is displayed to indicate that the current load on the take-up and release line is too high or the line is improperly installed.

[0068] In one possible implementation, after stopping the release of the line if the first release speed is greater than the second release speed, the method further includes: responding to a second setting operation by the user on the drive device of the wall-climbing robot, the second setting operation being an operation to set the drive device to manual mode; switching from automatic mode to manual mode; displaying operation options on the control panel, the operation options including controlling the drive device to brake, stopping the release movement, increasing or decreasing the release speed, and controlling the retraction of the release.

[0069] Specifically, after stopping the wall-climbing robot in automatic mode, users can choose to switch from automatic to manual mode to operate the line winding and unwinding themselves, thus ensuring the safety of the wall-climbing robot. Of course, users can also start with manual mode without going through automatic mode. The drive device is equipped with a control panel, which, in addition to displaying prompts and status data, also has operation buttons. The operation options include controlling the drive device's brake, stopping the line winding and unwinding movement, increasing or decreasing the movement speed of the line winding and unwinding, and controlling the retraction of the line. Operators can add or update the available options according to actual functional needs to meet diverse user requirements.

[0070] This application also provides a safety fall prevention device for a wall-climbing robot, which includes an acquisition unit 301 and a processing unit 302, as shown in the reference. Figure 3 .

[0071] The acquisition unit 301 is used to acquire the second take-up and release speed corresponding to the current time from the preset take-up and release timing diagram according to the current time. The second take-up and release speed is the preset take-up and release speed of the wall-climbing robot corresponding to the current time. The preset take-up and release timing diagram includes the correspondence between the take-up and release speed and time.

[0072] The processing unit 302 is configured to respond to a user's first setting operation on the drive device of the wall-climbing robot, the first setting operation being the operation of setting the drive device to automatic mode; it is also configured to monitor a first take-up and release speed at the current time, the first take-up and release speed being the actual take-up and release speed of the wall-climbing robot at the current time; it is also configured to determine whether the first take-up and release speed is greater than a second take-up and release speed; and it is also configured to stop releasing the line if the first take-up and release speed is greater than the second take-up and release speed, so as to prevent the wall-climbing robot from falling.

[0073] In one possible implementation, the processing unit 302 is used to display a first prompt message, which is used to indicate that the wall-climbing robot is at risk of falling and whether to retrieve the wall-climbing robot; in response to the user's retrieval operation on the wall-climbing robot, the wall-climbing robot is retrieved by retracting the cable.

[0074] In one possible implementation, the acquisition unit 301 is used to acquire the working route of the wall-climbing robot; acquire a distance-time curve graph showing the change of the straight-line relative distance over time based on the working route, wherein the straight-line relative distance is the straight-line distance between the wall-climbing robot and the drive device, and the distance-time curve graph includes the correspondence between the straight-line relative distance and time; and the processing unit 302 is used to construct a preset take-up and release timing diagram based on the distance-time curve graph.

[0075] In one possible implementation, the acquisition unit 301 is used to acquire the tension value of the take-up and release line when the movement speed of the take-up and release line is greater than zero; the processing unit 302 is used to display a second prompt message if the tension value of the take-up and release line is greater than a preset tension threshold, the second prompt message being used to indicate that the load on the take-up and release line is too large or the take-up and release line is improperly installed.

[0076] In one possible implementation, the acquisition unit 301 is used to acquire the remaining power information of the wall-climbing robot if the first take-up and release speed is less than the second take-up and release speed; the processing unit 302 is used to determine whether the wall-climbing robot has insufficient power based on the remaining power information; if it is determined that the wall-climbing robot has insufficient power, a third prompt message is displayed, which prompts the wall-climbing robot to need to be charged or have its power supply replaced.

[0077] In one possible implementation, the processing unit 302 is used to display the current working mode, the first take-up and release speed, the speed abnormality status, the preset take-up and release timing diagram, and the prompt information displayed during operation to the user. The current working mode includes one of automatic mode and manual mode.

[0078] In one possible implementation, the processing unit 302 is configured to respond to a second setting operation by a user on the drive device of the wall-climbing robot, the second setting operation being to set the drive device to manual mode; to switch from automatic mode to manual mode; and to display operation options on the control panel, the operation options including controlling the drive device to brake, stopping the take-up and release movement, increasing or decreasing the take-up and release speed, and controlling the take-up and release of the line.

[0079] It should be noted that the above embodiments of the apparatus are only illustrated by the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the apparatus and method embodiments provided in the above embodiments belong to the same concept, and the specific implementation process can be found in the method embodiments, which will not be repeated here.

[0080] This application also discloses a computer-readable storage medium storing a computer program, which is executed by a processor as described above, representing a method for preventing falls in a wall-climbing robot.

[0081] This application also discloses an electronic device. (See reference...) Figure 4 , Figure 4 This is a schematic diagram of the structure of an electronic device disclosed in an embodiment of this application. The electronic device 400 may include: at least one processor 401, at least one communication bus 402, at least one user interface 403, a network interface 404, and a memory 405.

[0082] The communication bus 402 is used to enable communication between these components.

[0083] The user interface 403 may include a display screen and a camera. Optionally, the user interface 403 may also include a standard wired interface and a wireless interface.

[0084] The network interface 404 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface).

[0085] The processor 401 may include one or more processing cores. The processor 401 connects to various parts of the server using various interfaces and lines, and performs various server functions and processes data by running or executing instructions, programs, code sets, or instruction sets stored in memory 405, and by calling data stored in memory 405. Optionally, the processor 401 may be implemented using at least one hardware form of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor 401 may integrate one or a combination of several of the following: Central Processing Unit (CPU), Graphics Processing Unit (GPU), and modem. The CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the content required for display; and the modem handles wireless communication. It is understood that the modem may also be implemented as a separate chip without being integrated into the processor 401.

[0086] The memory 405 may include random access memory (RAM) or read-only memory. Optionally, the memory 405 may include a non-transitory computer-readable storage medium. The memory 405 may be used to store instructions, programs, code, code sets, or instruction sets. The memory 405 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as touch function, sound playback function, image playback function, etc.), instructions for implementing the above-described method embodiments, etc.; the data storage area may store data involved in the above-described method embodiments, etc. Optionally, the memory 405 may also be at least one storage device located remotely from the aforementioned processor 401. (Refer to...) Figure 4 The memory 405, which serves as a computer storage medium, may include an operating system, a network communication module, a user interface module, and a safety fall protection application.

[0087] exist Figure 4In the illustrated electronic device 400, the user interface 403 is mainly used to provide an input interface for the user and to acquire user input data; while the processor 401 can be used to call the safety fall prevention application stored in the memory 405. When executed by one or more processors 401, the electronic device 400 performs one or more methods as described in the above embodiments. It should be noted that, for the foregoing method embodiments, for the sake of simplicity, they are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, because according to this application, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also understand that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0088] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0089] In the various embodiments provided in this application, it should be understood that the disclosed apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some service interface; the indirect coupling or communication connection between apparatuses or units may be electrical or other forms.

[0090] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0091] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0092] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage device (CMD). Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned memory includes various media capable of storing program code, such as USB flash drives, portable hard drives, magnetic disks, or optical disks.

[0093] The above are merely exemplary embodiments of this disclosure and should not be construed as limiting the scope of this disclosure. Any equivalent changes and modifications made in accordance with the teachings of this disclosure shall still fall within the scope of this disclosure. Other embodiments of this disclosure will readily conceive of those skilled in the art upon consideration of the specification and the disclosure of practical truths.

[0094] This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not described in this disclosure. The specification and embodiments are to be considered exemplary only, and the scope and spirit of this disclosure are defined by the claims.

Claims

1. A safety fall prevention method for a wall-climbing robot, characterized in that, The method includes: In response to a user's first setting operation on the drive device of the wall-climbing robot, the first setting operation being to set the drive device to automatic mode; Monitor the first take-up and release speed at the current time, where the first take-up and release speed is the actual take-up and release speed of the wall-climbing robot at the current time. Based on the current time, the second take-up and release speed corresponding to the current time is obtained from the preset take-up and release timing diagram. The second take-up and release speed is the preset take-up and release speed of the wall-climbing robot corresponding to the current time. The preset take-up and release timing diagram includes the correspondence between the take-up and release speed and time. Determine whether the first take-up and release speed is greater than the second take-up and release speed; If the first take-up and release speed is greater than the second take-up and release speed, then release the line to prevent the wall-climbing robot from falling. Before obtaining the second take-up and release speed corresponding to the current time from the preset take-up and release timing diagram based on the current time, it is necessary to construct the preset take-up and release timing diagram. The construction of the preset take-up and release timing diagram specifically includes: obtaining the working route of the wall-climbing robot; obtaining a distance-time curve diagram showing the change of the straight-line relative distance over time based on the working route, wherein the straight-line relative distance is the straight-line distance between the wall-climbing robot and the drive device, and the distance-time curve diagram includes the correspondence between the straight-line relative distance and time; and constructing the preset take-up and release timing diagram based on the distance-time curve diagram. After determining whether the first take-up and release speed is greater than the second take-up and release speed, the method further includes: if the first take-up and release speed is less than the second take-up and release speed, then obtaining the remaining battery information of the wall-climbing robot; determining whether the wall-climbing robot has insufficient battery based on the remaining battery information; if it is determined that the wall-climbing robot has insufficient battery, then displaying a third prompt message, the third prompt message being used to prompt the wall-climbing robot to need charging or power replacement; The drive device is equipped with a tension sensor; when the speed of the take-up and release cable is greater than zero, the tension value of the take-up and release cable is obtained; if the tension value of the take-up and release cable is greater than a preset tension threshold, a second prompt message is displayed, which is used to indicate that the load on the take-up and release cable is too large or that the take-up and release cable is improperly installed. After stopping the release of line if the first release speed is greater than the second release speed, the method further includes: responding to a second setting operation by the user on the drive device of the wall-climbing robot, the second setting operation being an operation to set the drive device to manual mode; switching the automatic mode to the manual mode; displaying operation options on the control panel, the operation options including controlling the drive device to apply a brake, stopping the release and take-up movement, increasing or decreasing the release and take-up speed, and controlling the retraction of the release and take-up line.

2. The method according to claim 1, characterized in that, After stopping the wire feeding if the first wire feeding speed is greater than the second wire feeding speed, the method further includes: The first prompt message is displayed, which is used to indicate that the wall-climbing robot is at risk of falling and whether to retrieve the wall-climbing robot. In response to a user's retraction operation of the wall-climbing robot, the wall-climbing robot is retracted via the retraction line.

3. The method according to claim 1, characterized in that, Following the first setup operation by the user for the drive device of the wall-climbing robot, the method further includes: The current working mode, the first take-up and release speed, speed abnormality status, the preset take-up and release timing diagram, and the prompt information displayed during operation are shown to the user. The current working mode includes one of the automatic mode and the manual mode.

4. A safety fall prevention device for a wall-climbing robot, characterized in that, The device is a driving device, and the device includes an acquisition unit (301) and a processing unit (302): The processing unit (302) is configured to respond to a first setting operation by a user for the drive device of the wall-climbing robot, the first setting operation being to set the drive device to automatic mode; The processing unit (302) is also used to monitor the first take-up and release speed at the current time, wherein the first take-up and release speed is the actual take-up and release speed of the wall-climbing robot corresponding to the current time; The acquisition unit (301) is used to acquire, based on the current time, a second take-up and release speed corresponding to the current time from a preset take-up and release timing diagram, wherein the second take-up and release speed is a preset take-up and release speed of the wall-climbing robot corresponding to the current time; the preset take-up and release timing diagram includes the correspondence between take-up and release speed and time; The processing unit (302) is also used to determine whether the first take-up and release speed is greater than the second take-up and release speed; The processing unit (302) is further configured to stop releasing the line if the first line release speed is greater than the second line release speed, so as to prevent the wall-climbing robot from falling. The acquisition unit (301) is further configured to acquire the working route of the wall-climbing robot; and to acquire a distance-time curve of the relative straight-line distance changing with time based on the working route, wherein the relative straight-line distance is the straight-line distance between the wall-climbing robot and the driving device, and the distance-time curve includes the correspondence between the relative straight-line distance and time. The processing unit (302) is also used to construct the preset take-up and release timing diagram based on the distance-time curve; The acquisition unit (301) is also used to acquire the remaining power information of the wall-climbing robot if the first take-up and release speed is less than the second take-up and release speed; The processing unit (302) is also used to determine whether the wall-climbing robot has insufficient power based on the remaining power information; if it is determined that the wall-climbing robot has insufficient power, a third prompt message is displayed, which is used to prompt the wall-climbing robot to need to be charged or have its power supply replaced. The acquisition unit (301) is also used to acquire the tension value of the take-up and release line when the movement speed of the take-up and release line is greater than zero; The processing unit (302) is also used to display a second prompt message if the tension value of the take-up and release cable is greater than a preset tension threshold. The second prompt message is used to indicate that the load on the take-up and release cable is too large or the take-up and release cable is improperly installed. The processing unit (302) is also configured to respond to a second setting operation by the user on the drive device of the wall-climbing robot, the second setting operation being to set the drive device to manual mode; to switch the automatic mode to the manual mode; and to display operation options on the control panel, the operation options including controlling the drive device to brake, stopping the take-up and release movement, increasing or decreasing the speed of the take-up and release movement, and controlling the retraction of the take-up and release.

5. An electronic device, characterized in that, The device includes a processor (401), a memory (405), a user interface (403), and a network interface (404). The memory (405) is used to store instructions. The user interface (403) and the network interface (404) are used to communicate with other devices. The processor (401) is used to execute the instructions stored in the memory (405) to cause the electronic device (400) to perform the method as described in any one of claims 1 to 3.

6. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 3.

Images