Anti-falling control method of main cable robot and main cable robot

Abstract

The invention discloses an anti-falling control method of a main cable robot and the main cable robotic.The main cable robot is provided with a supporting wheel with an acceleration sensor, and the anti-falling control method comprises the steps that when the main cable robot works on a main cable handrail rope, mileage data collected by the acceleration sensor are obtained; and the movement trend of the main cable robot is judged according to the mileage data, and whether an anti-falling mechanism of the main cable robot needs to be started or not is determined according to the movement trend. It can be understood that when the main cable robot works on the main cable handrail rope, the acceleration sensor monitors the motion state of the main cable robot in real time, and therefore the motion trend of the main cable robot is determined; if the movement trend of the main cable robot does not conform to the movement setting of the main cable robot, it is indicated that the main cable robot has an uncontrollable risk, and the main cable robot starts an anti-falling mechanism, that is, each holding shoe assembly is forcibly started and tightly held on the main cable handrail rope.

Description

[0001] This application claims the priority of the Chinese patent application filed with the China Patent Office on October 12, 2024, with application number 202411426939.4 and invention name “A fall prevention control method for a main cable robot and a main cable robot”, the entire contents of which are incorporated by reference in this application. Technical Field

[0002] The present invention relates to the technical field of main cable robots, and in particular to a main cable robot anti-fall control method and the main cable robot. Background Art

[0003] The main cables of suspension bridges are exposed to the air all year round and are often affected by natural factors such as sun, rain, ice and snow pressure, which can easily cause the coating or sheath of the main cables to age and crack, exposing the internal steel wires directly to the air, causing the steel wires to corrode and break, affecting the service life of the bridge.

[0004] In the related art, in order to facilitate the maintenance of the main cable, a main cable robot is usually used to maintain the main cable. The main cable robot may be at risk of falling during the maintenance of the main cable. Usually, the staff always supervises the work of the main cable robot. If the main cable robot is abnormal, the main cable robot is stopped to ensure the safety of the main cable robot. In this way, the staff's work intensity is relatively high, and the main cable robot may not be controlled to stop working in time when an abnormality occurs. Summary of the invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a main cable robot anti-fall control method and a main cable robot, the main cable robot can automatically start the anti-fall mechanism to ensure the safety of the main cable robot during operation.

[0006] In a first aspect, an embodiment of the present application provides a fall prevention control method for a main cable robot, wherein the main cable robot is provided with a support wheel having an acceleration sensor, and the fall prevention control method comprises:

[0007] When the main cable robot works on the main cable handrail rope, obtaining mileage data collected by the acceleration sensor;

[0008] The movement trend of the main cable robot is determined according to the mileage data, and whether the anti-fall mechanism of the main cable robot needs to be activated is determined according to the movement trend.

[0009] According to some embodiments of the present invention, at least two acceleration sensors are provided, which are respectively provided on a support wheel on one side of the front end portion of the main cable robot and on a support wheel on the other side of the rear end portion of the main cable robot;

[0010] The determining the movement trend of the main cable robot according to the mileage data includes:

[0011] Determining whether the mileage data collected by the two acceleration sensors are the same;

[0012] If they are not the same, the acceleration sensor that is working normally among the two acceleration sensors is determined, and the movement trend of the main cable robot is determined based on the mileage data collected by the acceleration sensor.

[0013] 3. A fall prevention control method according to claim 2, characterized in that the two acceleration sensors are divided into a first acceleration sensor and a second acceleration sensor;

[0014] After determining whether the mileage data collected by the two acceleration sensors are the same, the method further includes:

[0015] If the mileage value of the first acceleration sensor remains unchanged, and the mileage value of the second acceleration sensor steadily increases or decreases, it is determined whether the support wheel corresponding to the first acceleration sensor is in a suspended state;

[0016] If it is not in the suspended state, it is determined that the first acceleration sensor is abnormal, and the anti-fall mechanism of the main cable robot is activated.

[0017] According to some embodiments of the present invention, the main cable robot is provided with a first gripping shoe assembly and a second gripping shoe assembly, and the first gripping shoe assembly and the second gripping shoe assembly are used to exchange and clamp the main cable handrail rope;

[0018] The determining whether the support wheel corresponding to the first acceleration sensor is in a suspended state includes:

[0019] When the first holding shoe assembly and the second holding shoe assembly are respectively clamping the main cable handrail rope, if it is determined that the mileage value of the first acceleration sensor is unchanged, it is determined that the support wheel corresponding to the first acceleration sensor is not in a suspended state.

[0020] According to some embodiments of the present invention, the main cable robot is provided with a gripping shoe assembly, and the gripping shoe assembly is provided with a pressure sensor and a travel switch;

[0021] The determining whether the support wheel corresponding to the first acceleration sensor is in a suspended state includes:

[0022] Determining whether the travel switch is triggered;

[0023] Determining whether the detection value of the pressure sensor is less than the standard pressure value during normal use;

[0024] If the travel switch is not triggered and the detection value of the pressure sensor is less than the standard pressure value during normal use, it is determined that the shoe assembly is clamped on the main cable clamp of the main cable, so as to determine that the support wheel corresponding to the first acceleration sensor is in a suspended state, and the anti-fall mechanism of the main cable robot is not activated; or,

[0025] The main cable robot is provided with a holding shoe assembly and a posture sensor;

[0026] The determining whether the support wheel corresponding to the first acceleration sensor is in a suspended state includes:

[0027] Acquiring posture information detected by the posture sensor to determine whether the main cable robot is tilted to the left or right;

[0028] If it is determined that the main cable robot is tilted to the left or right, it is determined that the supporting wheel corresponding to the first acceleration sensor is in a suspended state, and the anti-fall mechanism of the main cable robot is activated.

[0029] According to some embodiments of the present invention, judging the movement trend of the main cable robot according to the mileage data, and determining whether to activate the anti-fall mechanism of the main cable robot according to the movement trend, includes:

[0030] If the main cable robot is controlled to be stationary on the main cable handrail rope and a change in the mileage value of the acceleration sensor is detected, the anti-fall mechanism of the main cable robot is activated;

[0031] If the main cable robot is controlled to move upward along the main cable handrail rope, and it is detected that the mileage value of the acceleration sensor suddenly decreases, the anti-fall mechanism of the main cable robot is activated;

[0032] If the main cable robot is controlled to move downward along the main cable handrail rope, and it is detected that the mileage value of the acceleration sensor suddenly decreases rapidly, the anti-fall mechanism of the main cable robot is activated.

[0033] According to some embodiments of the present invention, the main cable robot is provided with a shoe assembly for clamping the handrail rope, each shoe assembly is provided with a pressure sensor, a travel switch and a displacement sensor, the pressure sensor, the travel switch, the acceleration sensor and the displacement sensor are collectively referred to as sensors, and each sensor is provided with a weight; wherein the total weight of the two pressure sensors is less than 100%, the total weight of the two travel switches is less than 100%, the total weight of one acceleration sensor and any other sensor is greater than or equal to 100%, the total weight of one displacement sensor and any other sensor is greater than or equal to 100%, and the total weight of any three sensors is greater than 100%;

[0034] The anti-fall control method also includes:

[0035] If it is determined that the data detected by any two of the sensors are abnormal, determine whether the total weight of the two sensors is greater than or equal to 100%, and if the weight is greater than or equal to 100%, start the anti-fall mechanism of the main cable robot; and / or,

[0036] If it is determined that the data detected by any three of the sensors are abnormal, then the total weight is determined to be greater than 100%, and the anti-fall mechanism of the main cable robot is activated; and / or,

[0037] If it is determined that the data detected by any sensor is abnormal, at least compare the data of the two groups before and after the sensor to see if both are abnormal. If both are abnormal, start the anti-fall mechanism of the main cable robot.

[0038] According to some embodiments of the present invention, each of the holding shoe assemblies includes two matching holding shoe parts, and the two holding shoe parts are respectively provided with a displacement sensor and a pressure sensor. Each of the holding shoe assemblies is also provided with two travel switches, one of the travel switches is used to detect the clamping state of the two holding shoe parts, and the other travel switch is used to detect the unfolding state of the two holding shoe parts.

[0039] According to some embodiments of the present invention, each of the holding shoe assemblies includes two matching holding shoe parts, and the two holding shoe parts are respectively provided with a displacement sensor and a pressure sensor. Each of the holding shoe assemblies is also provided with two travel switches, one of the travel switches is used to detect the clamping state of the two holding shoe parts, and the other travel switch is used to detect the unfolding state of the two holding shoe parts.

[0040] According to some embodiments of the present invention, the main cable robot is provided with a posture sensor;

[0041] The anti-fall control method also includes:

[0042] If there is an abnormality in the posture sensor, the anti-fall mechanism of the main cable robot is activated.

[0043] In a second aspect, an embodiment of the present application provides a main cable robot for applying the above-mentioned anti-fall control method.

[0044] It can be seen from the above technical scheme that the embodiments of the present application have the following advantages: when the main cable robot is working on the main cable handrail, the acceleration sensor monitors the motion state of the main cable robot in real time, so as to determine the motion trend of the main cable robot; if the motion trend of the main cable robot is inconsistent with the motion setting of the main cable robot itself, it means that there is an uncontrollable risk of the main cable robot, and the main cable robot activates the anti-fall mechanism, that is, each holding shoe assembly is forced to start and hold tightly to the main cable handrail. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 Schematic diagram of a fall prevention control method according to an embodiment of the present invention;

[0046] Figure 2 A partial flow chart of a fall prevention control method according to an embodiment of the present invention;

[0047] Figure 3 A schematic diagram of a flow chart of an implementation of a fall prevention control method according to an embodiment of the present invention;

[0048] Figure 4 The figure is a flow chart of another implementation of the fall prevention control method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0049] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0050] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, upper, lower, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0051] In the description of the present invention, "several" means more than one, "many" means more than two, "greater than", "less than", "exceed", etc. are understood to exclude the number itself, and "above", "below", "within", etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0052] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific content of the technical solution.

[0053] In the description of the present invention, reference is made to the terms "one embodiment", "some embodiments" and "

[0054] The specific features, structures, materials or characteristics described in the embodiments or examples are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0055] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0056] See also Figure 1 , an anti-fall control method is provided for an embodiment of the present invention, which is applied to a main cable robot. Support wheels are provided at both the front and rear ends of the main cable robot, and the support wheels are used to roll on the main cable handrail rope. An acceleration sensor connected to the rotating shaft of the support wheel is provided, and the acceleration sensor is used to detect the mileage of the support wheel.

[0057] At the same time, in order to realize the movement of the main cable robot along the handrail rope, two groups of holding shoe assemblies are respectively provided on the left and right sides of the main cable robot. The two groups of holding shoe assemblies alternately clamp the handrail rope during the forward and backward movement, so that the main cable robot crawls along the handrail rope. Each group of holding shoe assemblies includes one or more holding shoe assemblies, and each holding shoe assembly includes two matching holding shoe parts, and the two holding shoe parts are used to clamp on both sides of the handrail rope.

[0058] Wherein, each of the holding shoe components is provided with a pressure sensor, a travel switch and a displacement sensor, and the pressure sensor, the travel switch, the acceleration sensor and the displacement sensor are collectively referred to as sensors. Wherein, the displacement sensor is used to detect the movement distance generated by the holding shoe during the movement of clamping and loosening. The travel switch is used to detect whether the clamping shoe has reached the set position when clamping and loosening the handrail rope. Only when it is detected that the holding shoe has reached the travel switch position, can other components start to move. The pressure sensor is used to measure the pressure value between the holding shoe and the handrail rope, and judge whether the holding shoe is tightly fitted to the handrail rope through the pressure value.

[0059] The fall prevention control method comprises:

[0060] S100: When the main cable robot works on the main cable handrail, mileage data collected by the acceleration sensor is obtained.

[0061] Among them, when the main cable robot is working on the main cable handrail rope, the central control system may control the main cable robot to be in a stationary state, may also control the main cable robot to be in a forward walking state, or may control the main cable robot to be in a backward walking state.

[0062] Specifically, when the main cable robot crawls along the main cable handrail, the support wheel rolls forward or backward along the main cable handrail, and the acceleration sensor obtains the rotation of the support wheel, thereby obtaining the mileage data of the main cable robot. The acceleration sensor transmits the mileage data to the central control system, and the central control system records the mileage data of the main cable robot.

[0063] S200 determines the movement trend of the main cable robot according to the mileage data, and determines whether it is necessary to activate the anti-fall mechanism of the main cable robot according to the movement trend.

[0064] Among them, the anti-fall mechanism refers to the fact that when the main cable robot encounters a working abnormality, the various holding boot components set on the main cable robot are forced to start and hold tightly to the main cable handrail rope.

[0065] Specifically, when the central control system continuously receives the mileage data from the acceleration sensor, it determines the movement trend of the main cable robot based on the mileage data from the acceleration sensor. If the actual movement trend of the main cable robot is inconsistent with the movement control of the main cable robot by the central control system, it means that the walking of the main cable robot is abnormal. At this time, the central control system controls the shoe assembly of the main cable robot to hold the main cable handrail rope tightly, and the staff will carry out subsequent processing according to the problem of the main cable robot.

[0066] In summary, in steps S100-S200, when the main cable robot is working on the main cable handrail, the acceleration sensor monitors the motion state of the main cable robot in real time, so as to determine the motion trend of the main cable robot; if the motion trend of the main cable robot is inconsistent with the motion setting of the main cable robot itself, it means that there is an uncontrollable risk of the main cable robot, and the main cable robot activates the anti-fall mechanism, that is, each holding shoe assembly is forced to start and hold tightly to the main cable handrail.

[0067] In some embodiments, at least two acceleration sensors are provided, wherein one acceleration sensor is provided on a support wheel at the front end of one side of the main cable robot, and the other acceleration sensor is provided on a support wheel at the rear end of the other side of the main cable robot. It is understandable that when the acceleration sensors are provided in the above-mentioned manner, when the main cable robot crawls along the main cable handrail rope, at least one of the support wheels corresponding to the two acceleration sensors can remain pressed against the main cable handrail rope to roll along the main cable handrail rope, thereby ensuring that one of the two acceleration sensors can always normally detect the movement of the main cable robot.

[0068] Specifically, refer to Figure 1 and Figure 2 The step of determining the movement trend of the main cable robot according to the mileage data includes the following steps A1-A2.

[0069] A1 determines whether the mileage data collected by the two acceleration sensors are the same.

[0070] If A2 is not the same, the acceleration sensor that is working normally among the two acceleration sensors is determined, and the movement trend of the main cable robot is determined based on the mileage data collected by the acceleration sensor.

[0071] In actual application, when the main cable robot moves along the main cable handrail, two acceleration sensors simultaneously collect the rolling data of the corresponding support wheels and transmit them to the central control system. After receiving the mileage data from the two acceleration sensors, the central control system compares the mileage data from the two acceleration sensors to determine whether the mileage data collected by the two acceleration sensors are the same.

[0072] Among them, if the mileage data collected by the two acceleration sensors are the same, the central control system determines the movement trend of the main cable robot based on the mileage data of one of the acceleration sensors. If the mileage data collected by the two acceleration sensors are different, the acceleration sensor that is working normally among the two acceleration sensors is determined. For example, the mileage data detected by one acceleration sensor remains unchanged, and the mileage data detected by the other acceleration sensor steadily increases or decreases. It can be seen that the latter acceleration sensor is a normally working acceleration sensor. The central control system determines the movement trend of the main cable robot based on the mileage data collected by the acceleration sensor, thereby determining whether the anti-fall mechanism needs to be activated.

[0073] As can be seen from the above, the present application can accurately determine the movement trend of the main cable robot through the setting of steps A1-A2, and then accurately determine whether the anti-fall mechanism needs to be activated, and the safety of the main cable robot is effectively guaranteed.

[0074] In order to facilitate the presentation of the solution, the two acceleration sensors are divided into a first acceleration sensor and a second acceleration sensor to further illustrate the present application.

[0075] In some embodiments, reference Figure 2 and Figure 3 After the step of determining whether the mileage data collected by the two acceleration sensors are the same, the step further includes steps B1-B2.

[0076] B1: If the mileage value of the first acceleration sensor remains unchanged and the mileage value of the second acceleration sensor steadily increases or decreases, it is determined whether the support wheel corresponding to the first acceleration sensor is in a suspended state.

[0077] If B2 is not in the suspended state, it is determined that the first acceleration sensor is abnormal and the anti-fall mechanism of the main cable robot is activated.

[0078] Specifically, if the mileage value of the first acceleration sensor remains unchanged, and the mileage value of the second acceleration sensor steadily increases or decreases, it can be seen that the first acceleration sensor is working abnormally. In this regard, the central control system determines whether the support wheel corresponding to the first acceleration sensor is in a suspended state, resulting in the mileage value detected by the first acceleration sensor remaining unchanged.

[0079] Among them, if the support wheel corresponding to the first acceleration sensor is not suspended, and rolls normally along the main cable handrail rope, the central control system determines that the first acceleration sensor is abnormal, activates the anti-fall mechanism of the main cable robot, and waits for subsequent processing by the staff. If the support wheel corresponding to the first acceleration sensor is suspended, the central control system determines that the first acceleration sensor is normal, and there is no need to activate the anti-fall mechanism of the main cable robot.

[0080] As can be seen from the above, through the setting of steps B1-B2, the central control system of the present application effectively detects that when an abnormality occurs in the acceleration sensor, the main cable robot automatically starts the anti-fall mechanism, thereby ensuring that the main cable robot can work safely on the main cable handrail.

[0081] In some embodiments, the main cable robot is further provided with a posture sensor, which may be a gyroscope, and the posture sensor is used to detect the posture of the main cable robot.

[0082] In order to determine whether the support wheel corresponding to the first acceleration sensor is in a suspended state, in an application case, referring to Figure 2 and Figure 4 The step of determining whether the support wheel corresponding to the first acceleration sensor is in a suspended state includes the following steps C1-C3.

[0083] C1 determines whether the travel switch is triggered.

[0084] C2 determines whether the detection value of the pressure sensor is less than the standard pressure value during normal use.

[0085] C3 If the travel switch is not triggered and the detection value of the pressure sensor is less than the standard pressure value during normal use, it is determined that the shoe assembly is clamped on the main cable clamp of the main cable to determine that the support wheel corresponding to the first acceleration sensor is in a suspended state, and the anti-fall mechanism of the main cable robot is not activated.

[0086] Specifically, when the main cable robot is moving along the main cable handrail rope, the holding shoe assembly may cause the support wheel corresponding to the first acceleration sensor to temporarily detach from the main cable handrail rope when it is clamped on the main cable clamp, thereby causing the mileage data detected by the first absolute value code to be abnormal. In this regard, through the setting of steps C1-C3, the central control system detects that the holding shoe assembly has completed the clamping of the main cable handrail rope, but the travel switch has not been triggered, and whether the detection value of the pressure sensor is less than the standard pressure value during normal use, it can be determined that the holding shoe assembly is clamped on the main cable clamp of the main cable. At this time, if the mileage value detected by the first acceleration sensor has not changed, the central control system assumes that the mileage value detected by the first acceleration sensor has not changed because the support wheel is suspended in the air, and the mileage value detected is not abnormal due to the abnormality of the first acceleration sensor. There is no need to start the anti-fall mechanism of the main cable robot to ensure the working safety of the main cable robot.

[0087] In another application, refer to Figure 1 and Figure 2 The step of determining whether the support wheel corresponding to the first acceleration sensor is in a suspended state includes steps D1-D2.

[0088] D1 obtains the posture information detected by the posture sensor to determine whether the main cable robot is tilted to the left or right.

[0089] D2: If it is determined that the main cable robot is tilted to the left or right, it is determined that the supporting wheel corresponding to the first acceleration sensor is in a suspended state, and the anti-fall mechanism of the main cable robot is activated.

[0090] Specifically, when the main cable robot moves along the main cable handrail, on a certain road section, the stiffness of a main cable handrail is relatively large. When the main cable robot travels on this road section, it may also cause the support wheel corresponding to the first acceleration sensor to temporarily detach from the main cable handrail, thereby causing the mileage data detected by the first absolute value code to be abnormal. In this regard, through the setting of steps D1-D2, the central control system detects that the main cable robot is tilted to the left or right through the attitude sensor. The central control system assumes that the mileage value detected by the first acceleration sensor has not changed because the support wheel is suspended in the air, and it is not the first acceleration sensor that causes the abnormal mileage value to be abnormal. However, it is also necessary to activate the anti-fall mechanism of the main cable robot to ensure the working safety of the main cable robot.

[0091] In other possible application scenarios, the main cable robot is provided with a first holding shoe assembly and a second holding shoe assembly, and the first holding shoe assembly and the second holding shoe assembly are used to exchange and clamp the main cable handrail rope. Specifically, when the main cable robot is crawling along the main cable handrail rope, when the first holding shoe assembly is in a clamping state on the main cable handrail rope, the second holding shoe assembly releases the clamping state on the main cable handrail rope and moves forward. Then, the second holding shoe assembly clamps the main cable handrail rope, and the first holding shoe assembly releases the clamping state on the main cable handrail rope and moves forward, thereby realizing the forward movement of the main cable robot along the main cable handrail rope.

[0092] Among them, the step of judging whether the support wheel corresponding to the first acceleration sensor is in a suspended state includes the following steps: when the first holding shoe assembly and the second holding shoe assembly are respectively clamping the main cable handrail rope, if it is determined that the mileage value of the first acceleration sensor is unchanged, it is judged that the support wheel corresponding to the first acceleration sensor is not in a suspended state.

[0093] Specifically, when the main cable robot is climbing upward, the value of the attitude sensor is that the pitch angle continuously increases. When the first holding shoe assembly clamps the main cable handrail rope, the first acceleration sensor detects that the mileage value is abnormal; when the second holding shoe assembly clamps the main cable handrail rope, the first acceleration sensor detects that the mileage value is still abnormal, and the support wheel corresponding to the first acceleration sensor is not in a suspended state, that is, the first acceleration sensor is abnormal, and the anti-fall mechanism is activated. Of course, when the second holding shoe assembly clamps the main cable handrail rope, if the first acceleration sensor detects that the mileage value has returned to normal, the support wheel corresponding to the first acceleration sensor is in a suspended state, and there is no need to activate the anti-fall mechanism.

[0094] In some embodiments, reference Figure 1 The step of judging the movement trend of the main cable robot according to the mileage data, and determining whether it is necessary to activate the anti-fall mechanism of the main cable robot according to the movement trend, specifically includes the following three situations.

[0095] In the first situation, if the central control system controls the main cable robot to be stationary on the main cable handrail, the mileage values ​​of the front and rear acceleration sensors should be stable accordingly. If the mileage values ​​of the front and rear acceleration sensors change, the anti-fall mechanism of the main cable robot is activated.

[0096] In the second case, if the main cable robot is controlled to move upward along the main cable handrail rope, and it is detected that the mileage value of the acceleration sensor suddenly decreases, the anti-fall mechanism of the main cable robot is activated.

[0097] Specifically, when the robot moves toward the main tower (i.e., upward), the attitude sensor detects that the pitch angle increases, and the front and rear acceleration sensors should continue to increase, and the increments should maintain a stable value. If the values ​​of the two acceleration sensors suddenly decrease, that is, the shoe clamp is damaged, the force on the handrail rope is reduced, or the handrail rope is loosened from the rope clamp, etc., at this time, the anti-fall mechanism of the main cable robot is activated, and the central control system immediately controls the motor to make the shoe clamp clamp the main cable handrail rope, the main cable robot stops moving, and an alarm is issued. Then, the staff will give the cause of the fault based on the judgment of the pressure sensor value, the travel switch value, and the displacement sensor value. The background can understand the current fault situation encountered by the main cable robot in real time, and also serve as a basis for judging whether the machine can continue to work.

[0098] In the third case, if the main cable robot is controlled to move downward along the main cable handrail rope, and it is detected that the mileage value of the acceleration sensor suddenly decreases rapidly, the anti-fall mechanism of the main cable robot is activated.

[0099] Specifically, when the main cable robot returns to the starting point (moving downward), the attitude sensor detects that the elevation angle decreases, and the values ​​of the front and rear acceleration sensors should continue to decrease, and the decrease value maintains a stable value. If the values ​​of the front and rear encoders suddenly decrease significantly, that is, the pressure sensor is damaged, the shoe clamp cannot provide enough force to make the main cable robot hold the handrail rope tightly, and the main cable robot slips backwards. When the walking speed of the main cable robot exceeds the preset value, the anti-fall mechanism of the main cable robot is activated, and the central control system immediately controls the motor to make the shoe clamp clamp the main cable handrail rope, the machine stops, and an alarm is issued. Then, the staff will give the cause of the fault based on the judgment of the pressure sensor value, the travel switch value, and the displacement sensor value. The background can understand the current fault situation encountered by the main cable robot in real time, and also serve as a basis for judging whether the machine can continue to work.

[0100] In some embodiments, reference Figure 1, the pressure sensor, the travel switch, the acceleration sensor, and the displacement sensor are collectively referred to as sensors, and each of the sensors is provided with a weight. The main cable robot is provided with a shoe assembly for clamping the handrail rope, and each of the shoe assemblies is provided with a pressure sensor, a travel switch, and a displacement sensor. The pressure sensor, the travel switch, the acceleration sensor, and the displacement sensor are collectively referred to as sensors, and each sensor is provided with a weight; wherein, the total weight of the two pressure sensors is less than 100%, the total weight of the two travel switches is less than 100%, the total weight of one acceleration sensor and any other sensor is greater than or equal to 100%, the total weight of one displacement sensor and any other sensor is greater than or equal to 100%, and the total weight of any three sensors is greater than 100%. For example, the weight of the pressure sensor accounts for 40%, the weight of the acceleration sensor accounts for 60%, the weight of the travel switch accounts for 40%, and the weight of the laser displacement sensor accounts for 60%.

[0101] The anti-fall control method also includes:

[0102] If it is determined that the data detected by any two of the sensors are abnormal, it is determined whether the total weight of the two sensors is greater than or equal to 100%. If the weight is greater than or equal to 100%, the anti-fall mechanism of the main cable robot is activated.

[0103] Among them, any two of the sensors can be the same sensor or different sensors, which is not limited in this application.

[0104] For example, if the central control system determines that a pressure sensor and a travel switch have detection abnormalities, the weight ratio of the pressure sensor and the travel switch is 80%. At this time, the central control system defaults that the main cable robot has no risk of falling, so the central control system does not activate the anti-fall mechanism; if the central control system determines that a pressure sensor and a displacement sensor or an acceleration sensor have detection abnormalities, the weight ratio of the pressure sensor and the travel switch is 100%. At this time, the central control system defaults that the main cable robot has a risk of falling, so the central control system activates the anti-fall mechanism; if two displacement sensors or two acceleration sensors have detection abnormalities, the weight ratio of the two displacement sensors or two acceleration sensors is 120%. At this time, the central control system defaults that the main cable robot has a risk of falling, so the central control system activates the anti-fall mechanism.

[0105] If it is determined that the data detected by any three of the sensors are abnormal, it is determined that the total weight is greater than 100%, and the anti-fall mechanism of the main cable robot is activated.

[0106] Among them, any three sensors may be the same sensor, or different sensors, or may be the same sensor or different sensors.

[0107] For example, if the central control system determines that three pressure sensors have detected abnormalities, the weight of the three pressure sensors is 120%. At this time, the central control system assumes that the main cable robot has a risk of falling, so the central control system activates the anti-fall mechanism. In short, the weight of each sensor is not less than 40%. Therefore, if the total weight of any three sensors is greater than 100%, the central control system assumes that the main cable robot has a risk of falling, so the central control system activates the anti-fall mechanism.

[0108] Furthermore, each of the shoe assemblies includes two matching shoe assemblies, the two shoe assemblies are respectively provided with a displacement sensor and a pressure sensor, and each of the shoe assemblies is also provided with two travel switches, one of which is used to detect the clamping state of the two shoe assemblies, and the other travel switch is used to detect the unfolding state of the two shoe assemblies. It can be understood that when both displacement sensors on the shoe assemblies have problems, it is determined that the main cable robot has a falling direction, so the central control system activates the anti-fall mechanism.

[0109] In some embodiments, the main cable robot is provided with a posture sensor, and the posture sensor may be a gyroscope.

[0110] The anti-fall control method further includes: if there is an abnormality in the posture sensor, starting the anti-fall mechanism of the main cable robot.

[0111] It can be understood that the weight of the posture sensor is 100%. Therefore, if it is determined that the data detected by the posture sensor is abnormal, the weight is determined to be 100%, and the anti-fall mechanism of the main cable robot is activated.

[0112] In some embodiments, reference Figure 1 The anti-fall control method also includes: if it is determined that the data detected by any sensor is abnormal, at least compare the data of the two groups before and after the sensor to see if both are abnormal. If both are abnormal, start the anti-fall mechanism of the main cable robot.

[0113] Specifically, when the main cable robot is working on the main cable handrail, each sensor transmits the status information or detected information to the central control system, and the central control system verifies the data transmitted by each sensor. If the data transmitted by a sensor are all abnormal, the central control system compares whether the two groups of data before and after the sensor are both abnormal. If both are abnormal, the anti-fall mechanism of the main cable robot is activated. Of course, in order to ensure accuracy, the central control system can also compare whether the two groups of data before and after each sensor are both abnormal. If both are abnormal, the anti-fall mechanism of the main cable robot is activated.

[0114] The present application also discloses a main cable robot for applying the above-mentioned anti-fall control method.

[0115] Specifically, refer to Figure 1 The main cable robot applies the above-mentioned anti-fall control method. Therefore, when the main cable robot works on the main cable handrail, the acceleration sensor monitors the motion state of the main cable robot in real time, so as to determine the motion trend of the main cable robot; if the motion trend of the main cable robot is inconsistent with the motion setting of the main cable robot itself, it means that there is an uncontrollable risk of the main cable robot, and the main cable robot activates the anti-fall mechanism, that is, each holding shoe assembly is forced to start and hold tightly to the main cable handrail.

[0116] The technical means disclosed in the scheme of the present invention are not limited to the technical means disclosed in the above-mentioned implementation mode, but also include technical schemes composed of any combination of the above-mentioned technical features. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications are also regarded as the protection scope of the present invention.

Claims

1. A method for preventing a main cable robot from falling, characterized in that: The main cable robot is provided with a support wheel having an acceleration sensor, and the anti-fall control method comprises: When the main cable robot works on the main cable handrail rope, obtaining mileage data collected by the acceleration sensor; The movement trend of the main cable robot is determined according to the mileage data, and whether the anti-fall mechanism of the main cable robot needs to be activated is determined according to the movement trend.

2. A fall prevention control method according to claim 1, characterized in that: At least two acceleration sensors are provided, which are respectively provided on a support wheel on one side of the front end of the main cable robot and on a support wheel on the other side of the rear end of the main cable robot; The determining the movement trend of the main cable robot according to the mileage data includes: Determining whether the mileage data collected by the two acceleration sensors are the same; If they are not the same, the acceleration sensor that is working normally among the two acceleration sensors is determined, and the movement trend of the main cable robot is determined based on the mileage data collected by the acceleration sensor.

3. A fall prevention control method according to claim 2, characterized in that: The two acceleration sensors are divided into a first acceleration sensor and a second acceleration sensor; After determining whether the mileage data collected by the two acceleration sensors are the same, the method further includes: If the mileage value of the first acceleration sensor remains unchanged, and the mileage value of the second acceleration sensor steadily increases or decreases, it is determined whether the support wheel corresponding to the first acceleration sensor is in a suspended state; If it is not in the suspended state, it is determined that the first acceleration sensor is abnormal, and the anti-fall mechanism of the main cable robot is activated.

4. A fall prevention control method according to claim 3, characterized in that: The main cable robot is provided with a first holding shoe assembly and a second holding shoe assembly, wherein the first holding shoe assembly and the second holding shoe assembly are used for exchanging and clamping the main cable handrail rope; The determining whether the support wheel corresponding to the first acceleration sensor is in a suspended state includes: When the first holding shoe assembly and the second holding shoe assembly are respectively clamping the main cable handrail rope, if it is determined that the mileage value of the first acceleration sensor is unchanged, it is determined that the support wheel corresponding to the first acceleration sensor is not in a suspended state.

5. A fall prevention control method according to claim 3, characterized in that: The main cable robot is provided with a shoe holding assembly, and the shoe holding assembly is provided with a pressure sensor and a travel switch; The determining whether the support wheel corresponding to the first acceleration sensor is in a suspended state includes: Determining whether the travel switch is triggered; Determining whether the detection value of the pressure sensor is less than the standard pressure value during normal use; If the travel switch is not triggered and the detection value of the pressure sensor is less than the standard pressure value during normal use, it is determined that the shoe assembly is clamped on the main cable clamp of the main cable, so as to determine that the support wheel corresponding to the first acceleration sensor is in a suspended state, and the anti-fall mechanism of the main cable robot is not activated; or, The main cable robot is provided with a holding shoe assembly and a posture sensor; The determining whether the support wheel corresponding to the first acceleration sensor is in a suspended state includes: Acquiring posture information detected by the posture sensor to determine whether the main cable robot is tilted to the left or right; If it is determined that the main cable robot is tilted to the left or right, it is determined that the supporting wheel corresponding to the first acceleration sensor is in a suspended state, and the anti-fall mechanism of the main cable robot is activated.

6. A fall prevention control method according to claim 1, characterized in that: The determining the movement trend of the main cable robot according to the mileage data, and determining whether to activate the anti-fall mechanism of the main cable robot according to the movement trend, includes: If the main cable robot is controlled to be stationary on the main cable handrail rope and a change in the mileage value of the acceleration sensor is detected, the anti-fall mechanism of the main cable robot is activated; If the main cable robot is controlled to move upward along the main cable handrail rope, and it is detected that the mileage value of the acceleration sensor suddenly decreases, the anti-fall mechanism of the main cable robot is activated; If the main cable robot is controlled to move downward along the main cable handrail rope, and it is detected that the mileage value of the acceleration sensor suddenly decreases rapidly, the anti-fall mechanism of the main cable robot is activated.

7. A fall prevention control method according to claim 1, characterized in that: The main cable robot is provided with a shoe assembly for clamping the handrail rope, each shoe assembly is provided with a pressure sensor, a travel switch and a displacement sensor, the pressure sensor, the travel switch, the acceleration sensor and the displacement sensor are collectively referred to as sensors, and each sensor is provided with a weight; wherein the total weight of the two pressure sensors is less than 100%, the total weight of the two travel switches is less than 100%, the total weight of one acceleration sensor and any other sensor is greater than or equal to 100%, the total weight of one displacement sensor and any other sensor is greater than or equal to 100%, and the total weight of any three sensors is greater than 100%; The anti-fall control method also includes: If it is determined that the data detected by any two of the sensors are abnormal, determine whether the total weight of the two sensors is greater than or equal to 100%, and if the weight is greater than or equal to 100%, start the anti-fall mechanism of the main cable robot; and / or, If it is determined that the data detected by any three of the sensors are abnormal, then the total weight is determined to be greater than 100%, and the anti-fall mechanism of the main cable robot is activated; and / or, If it is determined that the data detected by any sensor is abnormal, at least compare the data of the two groups before and after the sensor to see if both are abnormal. If both are abnormal, start the anti-fall mechanism of the main cable robot.

8. A fall prevention control method according to claim 7, characterized in that: Each of the shoe-holding assemblies comprises two matching shoe-holding parts, and the two shoe-holding parts are respectively provided with a displacement sensor and a pressure sensor. Each of the shoe-holding assemblies is also provided with two travel switches, one of which is used to detect the clamping state of the two shoe-holding parts, and the other of which is used to detect the unfolding state of the two shoe-holding parts.

9. A fall prevention control method according to claim 1, characterized in that: The main cable robot is provided with a posture sensor; The anti-fall control method also includes: If there is an abnormality in the posture sensor, the anti-fall mechanism of the main cable robot is activated.

10. A main cable robot, characterized in that: Used to apply the fall prevention control method described in any one of claims 1 to 9.

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