A method for preventing falling of a main cable robot and the main cable robot

Abstract

The application discloses a kind of main cable robot and the anti-falling control method of main cable robot, wherein the main cable robot is provided with support wheel with acceleration sensor, the anti-falling control method includes: when the main cable robot works on the main cable hand rope, the mileage data collected by the acceleration sensor is obtained;According to the mileage data, the motion trend of the main cable robot is judged, and whether the anti-falling mechanism of the main cable robot needs to be started is determined according to the motion trend.It can be understood that when the main cable robot works on the main cable hand rope, 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 not consistent with the motion setting of the main cable robot itself, it means that the main cable robot has uncontrollable risk, and the main cable robot starts the anti-falling mechanism, that is, each boot component is forced to start and is held tightly on the main cable hand rope.

Description

[0001] This application claims priority to the Chinese patent application filed with the Patent Office of China 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 into 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. This 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 related technologies, to facilitate cable maintenance, a cable robot is often used. During this process, the robot may fall. Typically, personnel constantly monitor the robot's operation. If the robot experiences an anomaly, the robot is stopped to ensure its safety. This arrangement places a high workload on the personnel, and the robot may not be able to be stopped promptly when an anomaly 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 provides a fall prevention control method for a main cable robot and a main cable robot, wherein the main cable robot can automatically activate an 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 includes:

[0007] When the main cable robot is working on the main cable handrail, 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, one on a support wheel on one side of the front end portion of the main cable robot and the other on a support wheel on the rear end portion of the main cable robot;

[0010] 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 different, 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] According to some embodiments of the present invention, 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, determining whether the support wheel corresponding to the first acceleration sensor is in a suspended state;

[0016] If the state is not suspended, 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, wherein the first gripping shoe assembly and the second gripping shoe assembly are used to interchangeably grip 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 holding shoe assembly, and the holding 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 support 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, determining the motion 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 motion trend, includes:

[0030] If the main cable robot is controlled to be stationary on the main cable handrail 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 and a sudden decrease in the mileage value of the acceleration sensor is detected, 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 a 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 further comprises:

[0035] If it is determined that the data detected by any two of the sensors are abnormal, determining 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%, activating 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 the two groups of data before and after the sensor are compared to see whether both are abnormal. If both are abnormal, the anti-fall mechanism of the main cable robot is activated.

[0038] According to some embodiments of the present invention, each of the shoe-holding assemblies includes 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 travel switch is used to detect the clamping state of the two shoe-holding parts, and the other travel switch is used to detect the unfolding state of the two shoe-holding parts.

[0039] According to some embodiments of the present invention, each of the shoe-holding assemblies includes 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 travel switch is used to detect the clamping state of the two shoe-holding parts, and the other travel switch is used to detect the unfolding state of the two shoe-holding 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 further comprises:

[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 solution 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, thereby determining 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 DRAWINGS

[0045] Figure 1 Flowchart of the anti-falling control method of an embodiment of the present application;

[0046] Figure 2 Flowchart of part of the anti-falling control method of an embodiment of the present application;

[0047] Figure 3 Flowchart of an embodiment of the anti-falling control method of the present application;

[0048] Figure 4 Flowchart of another embodiment of the anti-falling control method of the present application. DETAILED DESCRIPTION

[0049] Embodiments of the present application are described in detail below with reference to the accompanying drawings, in which the same or similar elements or elements having the same or similar functions are denoted by the same or similar reference numerals throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only for the purpose of explaining the present application, and should not be construed as limiting the present application.

[0050] In the description of the present application, it should be understood that the orientation description, such as the orientation or position relationship indicated by up, down, front, back, top, bottom, etc. is based on the orientation or position relationship shown in the drawings, and is only for the purpose of facilitating the description of the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present application.

[0051] In the description of the present application, if the meaning of several is more than one, the meaning of multiple is more than two, greater than, less than, more than, etc. are understood as not including the number, above, below, etc. are understood as including the number. If it is described as first, second, it is only for the purpose of distinguishing technical features, and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or the order of technical features indicated.

[0052] In the description of the present application, unless otherwise explicitly limited, the words such as setting, installing, connecting, etc. should be broadly understood, and the person skilled in the art can reasonably determine the specific meaning of the above words in the present application in combination with the specific content of the technical solution.

[0053] In the description of the present application, the reference term "one embodiment", "some embodiments", "one example", "some examples", etc. should be understood as the specific technical features described in the embodiments, and should not be construed as indicating or implying that the present application is only applicable to the specific technical features described in the embodiments.

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

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

[0056] See also Figure 1 An embodiment of the present invention provides a fall prevention control method for a main cable robot. The main cable robot is equipped with support wheels at both the front and rear ends, which are configured to roll along the main cable handrail. Accelerometers are connected to the rotating shafts of the support wheels to detect wheel mileage.

[0057] To enable the main cable robot to move along the handrail, two sets of gripping shoe assemblies are installed on each side of the robot. These two sets of gripping shoe assemblies alternately grip the handrail during forward and backward movement, allowing the main cable robot to crawl along the handrail. Each gripping shoe assembly includes one or more gripping shoe assemblies, each consisting of two mating gripping shoe members that are used to clamp onto either side of the handrail.

[0058] Each of the shoe-holding 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. The displacement sensor is used to detect the distance moved by the shoe-holding component during the movement of clamping and loosening. The travel switch is used to detect whether the clamping and loosening of the handrail rope by the shoe-holding component has reached the set position. Only when it is detected that the shoe-holding component has reached the travel switch position can other components start to move. The pressure sensor is used to measure the pressure value between the shoe-holding component and the handrail rope, and the pressure value is used to determine whether the shoe-holding component is tightly fitted with the handrail rope.

[0059] The anti-fall control method comprises:

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

[0061] When the main cable robot is working on the main cable handrail, the central control system may control the main cable robot to be in a stationary state, or may 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 an abnormal working situation, the various shoe components installed on the main cable robot are forced to start and hold tightly to the main cable handrail rope.

[0065] Specifically, the central control system continuously receives mileage data from the acceleration sensor and uses this data to determine the main cable robot's motion trend. If the main cable robot's actual motion trend does not match the central control system's motion control of the main cable robot, it indicates that the main cable robot's movement is abnormal. In this case, the central control system controls the main cable robot's gripper assembly to clamp tightly to the main cable handrail, and personnel will then carry out subsequent treatment based on the main cable robot's problem.

[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, thereby determining 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 component is forcibly started and clamped to the main cable handrail.

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

[0068] Specifically, refer to Figure 1 and Figure 2 The step of judging 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 different, 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 use, as the main cable robot moves along the main cable handrail, two accelerometers simultaneously collect rolling data from their corresponding support wheels and transmit it to the central control system. After receiving the mileage data from both accelerometers, the central control system compares the mileage data from the two accelerometers to determine whether the mileage data collected by the two accelerometers is the same.

[0072] If the mileage data collected by the two acceleration sensors is the same, the central control system determines the motion 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 is different, the mileage sensor of the two acceleration sensors is determined to be the one that is functioning properly. For example, if the mileage data detected by one acceleration sensor remains unchanged while the mileage data detected by the other acceleration sensor steadily increases or decreases, it can be determined that the latter acceleration sensor is the one that is functioning properly. The central control system determines the motion trend of the main cable robot based on the mileage data collected by this acceleration sensor, thereby determining whether the anti-fall mechanism needs to be activated.

[0073] As can be seen from the above, this application can accurately judge the movement trend of the main cable robot through the setting of steps A1-A2, and then accurately judge whether it is necessary to activate the anti-fall mechanism, 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 method 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, determine 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 while the mileage value of the second acceleration sensor steadily increases or decreases, it can be seen that the first acceleration sensor is malfunctioning. In response, the central control system determines whether the support wheel corresponding to the first acceleration sensor is in a suspended state, which causes the mileage value detected by the first acceleration sensor to remain unchanged.

[0079] If the support wheel corresponding to the first acceleration sensor is not suspended and is rolling normally along the main cable handrail, the central control system determines that the first acceleration sensor is abnormal, activates the main cable robot's anti-fall mechanism, and waits for subsequent processing by 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 does not need to activate the main cable robot's anti-fall mechanism.

[0080] As can be seen from the above, through the settings of steps B1-B2, the central control system of this application effectively detects that when an abnormality occurs in the acceleration sensor, the main cable robot automatically activates 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 one 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 moves along the main cable handrail, the gripping shoe assembly, when clamped to the main cable clamp, may cause the support wheel corresponding to the first acceleration sensor to temporarily detach from the main cable handrail, thereby causing anomalies in the mileage data detected by the first absolute value code. To address this, through the configuration of steps C1-C3, the central control system detects that the gripping shoe assembly has completed clamping the main cable handrail, but the travel switch has not been triggered, and the pressure sensor's detection value is less than the standard pressure value during normal use. In this case, it can be determined that the gripping shoe assembly is clamped to the main cable clamp of the main cable. At this time, if the mileage value detected by the first acceleration sensor does not change, the central control system assumes that the mileage value detected by the first acceleration sensor has not changed due to the support wheel being suspended in the air, rather than the abnormality of the first acceleration sensor causing the abnormal mileage value. Therefore, there is no need to activate the main cable robot's anti-fall mechanism to ensure the main cable robot's operational safety.

[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 support 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, if the stiffness of one main cable handrail is relatively high on a certain section of road, the support wheel corresponding to the first acceleration sensor may temporarily detach from the main cable handrail when the main cable robot is traveling on this section, causing the mileage data detected by the first absolute value code to be abnormal. In response to this, through the settings of steps D1-D2, the central control system detects that the main cable robot is tilting 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 caused by an abnormality in the first acceleration sensor that causes the abnormal mileage value. However, the main cable robot's anti-fall mechanism needs to be activated to ensure the main cable robot's operational safety.

[0091] In other possible applications, the main cable robot is equipped with a first gripping shoe assembly and a second gripping shoe assembly, which are configured to alternately grip the main cable handrail. Specifically, when the main cable robot crawls along the main cable handrail, while the first gripping shoe assembly grips the main cable handrail, the second gripping shoe assembly releases its grip and moves forward. The second gripping shoe assembly then grips the main cable handrail, while the first gripping shoe assembly releases its grip and moves forward, thereby enabling the main cable robot to move forward along the main cable handrail.

[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, the attitude sensor's pitch angle continuously increases. When the first gripping shoe assembly grips the main cable handrail, the first accelerometer detects an abnormal mileage value. When the second gripping shoe assembly grips the main cable handrail, the first accelerometer still detects an abnormal mileage value, and the support wheel corresponding to the first accelerometer is no longer suspended. This indicates an abnormality in the first accelerometer, triggering the anti-fall mechanism. Of course, if the first accelerometer detects a return to normal mileage value while the second gripping shoe assembly grips the main cable handrail, the support wheel corresponding to the first accelerometer is no longer suspended, eliminating the 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 scenario, if the central control system controls the main cable robot to remain stationary on the main cable handrail, the mileage values ​​of the front and rear acceleration sensors should remain stable. If the mileage values ​​of the front and rear acceleration sensors change, the main cable robot's anti-fall mechanism is activated.

[0096] In the second case, if the main cable robot is controlled to move upward along the main cable handrail and a sudden decrease in the mileage value of the acceleration sensor is detected, the anti-fall mechanism of the main cable robot is activated.

[0097] Specifically, when the robot moves towards the main tower (i.e. upward movement), the attitude sensor detects that the pitch angle increases, the front and rear acceleration sensors should be continuously increasing, and the increment maintains a stable value. If the values of the two acceleration sensors suddenly decrease, i.e. the damage of the holding shoe, the force on the handrail rope decreases or the handrail rope is loosened from the rope clamp, etc., at this time, the anti-falling mechanism of the main cable robot is started, and the central control system immediately controls the motor to make the holding shoe clamp the main cable handrail rope, the main cable robot stops moving, and warning is given. Then, the staff gives the fault reason according to the values of the pressure sensor, the travel switch and the displacement sensor, the background can real-time understand the fault condition of the main cable robot, and also make a judgment basis for whether the robot 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 the mileage value of the acceleration sensor is detected to decrease rapidly, the anti-falling mechanism of the main cable robot is started.

[0099] Specifically, when the main cable robot returns to the starting point (moves downward), the attitude sensor detects that the pitch angle decreases, the values of the front and rear acceleration sensors should be continuously decreasing, and the decreasing value maintains a stable value. If the values of the front and rear encoders suddenly decrease greatly, i.e. the damage of the pressure sensor, the holding shoe cannot provide enough force to make the main cable robot hold the handrail rope, and the main cable robot slides backward. When the walking speed of the main cable robot exceeds the predetermined value, the anti-falling mechanism of the main cable robot is started, and the central control system immediately controls the motor to make the holding shoe clamp the main cable handrail rope, the robot stops, and warning is given. Then, the staff gives the fault reason according to the values of the pressure sensor, the travel switch and the displacement sensor, the background can real-time understand the fault condition of the main cable robot, and also make a judgment basis for whether the robot can continue to work.

[0100] In some embodiments, reference is made to Figure 1The 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. Each of the main cable robots is provided with a boot assembly for clamping a handrail rope, and each of the boot assemblies is provided with a pressure sensor, a travel switch, and a displacement sensor, which are collectively referred to as sensors, and each of the sensors 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 the acceleration sensor and any other sensor is greater than or equal to 100%, the total weight of the 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-falling control method further comprises:

[0102] If it is determined that the data detected by any two of the sensors is abnormal, it is determined 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%, the anti-falling mechanism of the main cable robot is started.

[0103] Any two of the sensors can be the same sensor or different sensors, which is not limited in the present application.

[0104] For example, if the central control system determines that one pressure sensor and one travel switch are abnormal in detection, the weight of the pressure sensor and the travel switch accounts for 80%, at this time, the central control system defaults that the main cable robot has no falling risk, therefore, the central control system does not start the anti-falling mechanism; if the central control system determines that one pressure sensor and one displacement sensor or one acceleration sensor are abnormal in detection, the weight of the pressure sensor and the travel switch accounts for 100%, at this time, the central control system defaults that the main cable robot has a falling risk, therefore, the central control system starts the anti-falling mechanism; if two displacement sensors or two acceleration sensors are abnormal in detection, the weight of the two displacement sensors or the two acceleration sensors accounts for 120%, at this time, the central control system defaults that the main cable robot has a falling risk, therefore, the central control system starts the anti-falling mechanism.

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

[0106] Any three of the sensors can be the same sensor or different sensors, and there can be the same sensor or different sensors.

[0107] For example, if the central control system determines that three pressure sensors have detected anomalies, and the weight of these three pressure sensors is 120%, the central control system will assume that the main cable robot is at risk of falling and activate the anti-fall mechanism. In short, the weight of each sensor is at least 40%. Therefore, if the total weight of any three sensors is greater than 100%, the central control system will assume that the main cable robot is at risk of falling and activate the anti-fall mechanism.

[0108] Furthermore, each shoe assembly includes two mating shoe members, each of which is equipped with a displacement sensor and a pressure sensor. Each shoe assembly is also equipped with two limit switches: one for detecting the clamping state of the shoe members, and the other for detecting the deployment state of the shoe members. It is understood that if both displacement sensors on the shoe assembly malfunction, the main cable robot is determined to be in a falling direction, and the central control system activates the anti-fall mechanism.

[0109] In some embodiments, the main cable robot is provided with a posture sensor, which 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 two groups of data before and after the sensor to see if there are abnormalities. If both groups are abnormal, start the anti-fall mechanism of the main cable robot.

[0113] Specifically, when the main cable robot is operating on the main cable handrail, each sensor transmits status information or detected information to the central control system, which verifies the data transmitted by each sensor. If the data transmitted by a sensor is abnormal, the central control system compares the data from both the sensor and the preceding data to see if both are abnormal. If both are abnormal, the main cable robot's anti-fall mechanism is activated. Of course, to ensure accuracy, the central control system can also compare the data from both the sensor and the preceding data to see if both are abnormal. If both are abnormal, the main cable robot's anti-fall mechanism 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 is working on the main cable handrail, the acceleration sensor monitors the motion state of the main cable robot in real time, thereby determining 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 in the main cable robot, and the main cable robot activates the anti-fall mechanism, that is, each holding shoe component is forced to start and hold tightly to the main cable handrail.

[0116] The technical means disclosed in the solutions of the present invention are not limited to those disclosed in the above-mentioned embodiments, but also include technical solutions composed of any combination of the above-mentioned technical features. It should be noted that those skilled in the art may make various improvements and modifications without departing from the principles of the present invention, and such improvements and modifications are also considered to be within the scope of protection 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 two sets of gripping shoe assemblies are respectively provided on the left and right sides of the main cable robot, and the two sets of gripping shoe assemblies alternately clamp the handrail rope during the forward and backward movement; wherein the anti-fall control method includes: When the main cable robot is working on the main cable handrail, obtaining mileage data collected by the acceleration sensor; The movement trend of the main cable robot is judged according to the mileage data, and it is determined whether the anti-fall mechanism of the main cable robot needs to be activated according to the movement trend, wherein the anti-fall mechanism means that when the main cable robot has a working abnormality, the various holding shoe components provided on the main cable robot are forcibly started and tightly clamped to the main cable handrail rope.

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 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; 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 different, 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, determining whether the support wheel corresponding to the first acceleration sensor is in a suspended state; If the state is not suspended, 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 to interchangeably clamp 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 assembly, and the shoe 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 support 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 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 and a sudden decrease 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 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, and 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 further comprises: If it is determined that the data detected by any two of the sensors are abnormal, determining 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%, activating 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 the two groups of data before and after the sensor are compared to see whether both are abnormal. If both are abnormal, the anti-fall mechanism of the main cable robot is activated.

8. A fall prevention control method according to claim 7, characterized in that: Each of the shoe-holding assemblies includes 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 travel switch 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 further comprises: 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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