Robot anti-toppling method

Abstract

The invention discloses an anti-toppling method for a robot. The anti-toppling method comprises the steps that a sensor detects the inclination angle of the robot; when the inclination angle of the robot is larger than a first preset inclination angle, it is judged that the robot is in a toppling state; a driving mechanism of the robot moves in the inclination direction so as to reduce the inclination angle of the robot; and a moving unit on the robot moves, so that the gravity center of the moving unit moves in the direction away from the inclination direction. The inclination angle of the robot is detected through the sensor so as to quickly sense the posture change of the robot. The driving mechanism moves in the inclined direction, and the robot can actively adjust the posture of the robot, so that the inclination angle is reduced, and the stability is improved. The active adjusting capability helps the robot to keep balance in an inclined state, and toppling accidents are prevented. The position of the gravity center of the robot is adjusted through movement of the moving unit, the robot moves in the direction away from the inclination direction, and therefore the stability of the robot is further enhanced.

Description

Technical Field

[0001] The invention relates to the technical field of robot movement, and in particular to a robot anti-dumping method. Background Art

[0002] In the development and application of robotics, it is crucial to ensure the stability and safety of robots in various operating environments. In particular, in complex and changing working scenarios, such as uneven ground, dynamically changing load conditions, or unexpected external impacts, robots may face the risk of tipping over. Toppling over will not only cause damage to the robot itself, but may also cause safety hazards to the surrounding environment, affecting production efficiency and operational continuity.

[0003] Traditional robot anti-dumping strategies mainly rely on the stable design of mechanical structures to maintain the balance of the robot during operation. However, these methods are often limited to specific application scenarios and are not adaptable to complex and changing external environments. For example, when the robot encounters sudden external force interference or drastic changes in ground conditions, it may be difficult to quickly and effectively prevent dumping with only mechanical structures.

[0004] Specifically, the existing anti-dumping structures in the robot industry are mainly divided into two types, namely: 1. Starting from the center of gravity and stability of the chassis design, such as crawler type, chassis center of gravity design, etc. 2. Adding anti-dumping structure from the structural redundancy design, such as adding chassis side support rods and real-time adjustment of chassis counterweights. Both ensure the stability of the robot from the chassis properties of the robot itself, and play a role in reducing the risk of dumping. However, the anti-dumping structure requires the addition of external structures, which will first affect the robot's passability and ground wire under normal use conditions. Summary of the invention

[0005] In view of the above problems, the present application provides a robot anti-tipping method to prevent the robot from tipping over.

[0006] To achieve the above object, the present application provides a robot anti-dumping method, comprising the steps of:

[0007] The sensor detects the robot's tilt angle;

[0008] When the tilt angle of the robot is greater than a first preset tilt angle, the robot is judged to be in a tipping state;

[0009] The driving mechanism of the robot moves in the tilting direction to reduce the tilting angle of the robot; the moving unit on the robot moves so that the center of gravity of the moving unit moves away from the tilting direction.

[0010] The technical solution of the embodiment of the present application also includes the step of: when the tilt angle of the robot is greater than a second preset tilt angle, driving the airbag on the robot to inflate to protect the robot.

[0011] The technical solution of the embodiment of the present application also includes the step of: when the tilt angle of the robot is greater than a second preset tilt angle, the relay driving the robot is turned off to stop the power output.

[0012] In the technical solution of the embodiment of the present application, when the robot falls over, the robot uploads its location to the platform.

[0013] In the technical solution of the embodiment of the present application, the mobile unit is a mechanical arm, a robot arm, a door body and / or a drawer.

[0014] In the technical solution of the embodiment of the present application, the robot has a built-in camera, and the sensor is a camera; the camera is used to detect the angle between the robot and the ground.

[0015] In the technical solution of the embodiment of the present application, the robot has a built-in infrared camera, the infrared camera is placed on the top of the robot, and the infrared camera is used to detect the distance between the top of the robot and the ground; the sensor is an infrared camera;

[0016] When the distance detected by the infrared camera is less than the preset distance, it is determined that the inclination angle of the robot is greater than a first preset inclination angle.

[0017] In the technical solution of the embodiment of the present application, the robot has a built-in accelerometer, and the sensor is an accelerometer. When the acceleration value detected by the accelerometer is greater than a preset acceleration, it is determined that the inclination angle of the robot is greater than a first preset inclination angle.

[0018] In the technical solution of the embodiment of the present application, the tire of the robot has a built-in tire pressure detection unit, and the sensor is a tire pressure detection unit. When the tire pressure detected by multiple tire pressure detection units on one side is greater than the preset tire pressure, it is judged that the inclination angle of the robot is greater than the first preset inclination angle.

[0019] In the technical solution of the embodiment of the present application, the robot has a built-in three-axis gyroscope, the sensor is a three-axis gyroscope, and the three-axis gyroscope is used to detect the tilt angle of the robot.

[0020] Different from the prior art, the above technical solution detects the tilt angle of the robot through a sensor to quickly perceive the change in the robot's posture and provide accurate data support for subsequent anti-dumping measures. This real-time monitoring capability helps to take timely measures before the robot is about to dump to avoid the occurrence of dumping accidents. When the tilt angle of the robot is greater than the first preset tilt value, the robot is judged to be in a dumping state, so that the robot can accurately judge whether it is in a critical state of dumping according to the size of the tilt angle. By moving the driving mechanism in the tilting direction, the robot can actively adjust its posture, thereby reducing the tilt angle and improving stability. This active adjustment capability helps the robot maintain balance in a tilted state and prevents the occurrence of dumping accidents. Through the movement of the mobile unit, the position of the robot's center of gravity is adjusted so that it moves away from the tilting direction, thereby further enhancing the stability of the robot. This center of gravity adjustment strategy helps the robot to better maintain balance in a tilted state and improve the anti-dumping effect.

[0021] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present application. Moreover, the same reference numerals are used throughout the drawings to represent the same components. In the drawings:

[0023] Figure 1 A flow chart of a robot anti-dumping method described in a specific implementation manner;

[0024] Figure 2 A flowchart for preventing the robot from tipping over is provided for a specific implementation method;

[0025] Figure 3 A flowchart for preventing said robot from being damaged is provided for a specific implementation method;

[0026] Figure 4 A flow chart for driving the mobile unit for a specific implementation;

[0027] Figure 5 The driving mechanism flow chart is driven by a specific implementation method. DETAILED DESCRIPTION

[0028] The following embodiments of the technical solution of the present application are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application, and are therefore only used as examples, and cannot be used to limit the scope of protection of the present application.

[0029] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0030] In the description of the embodiments of the present application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0031] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0032] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of the associated objects, indicating that there may be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0033] In the description of the embodiments of the present application, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0034] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the embodiments of the present application.

[0035] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0036] See also Figures 1 to 5 This embodiment provides a robot anti-dumping method, comprising the steps of:

[0037] The sensor detects the robot's tilt angle;

[0038] When the tilt angle of the robot is greater than a first preset tilt angle, the robot is judged to be in a tipping state;

[0039] The driving mechanism of the robot moves in the tilting direction to reduce the tilting angle of the robot; the moving unit on the robot moves so that the center of gravity of the moving unit moves away from the tilting direction.

[0040] A high-precision sensor is installed on the robot to monitor the tilt angle of the robot in real time. The tilt angle is the angle between the center line of the robot and the ground. Preferably, the center of the robot is generally perpendicular to the ground. When the robot falls, the angle between the center line and the ground changes. The sensor sends the tilt angle data collected in real time to the control system of the robot for analysis.

[0041] Determine whether the robot is in a dumped state:

[0042] A first preset tilt angle is set as a threshold for determining whether the robot is in a tipping state.

[0043] When the tilt angle detected by the sensor is greater than this threshold, the control system will immediately determine that the robot is in the process of tipping over. It should be noted that the sensor can directly detect the angle between the robot and the ground, and determine whether the robot is in a tipping state. Of course, in some embodiments, the sensor can also be used to detect tire pressure, acceleration and other values, and each value corresponds to a tilt angle, so as to determine the state of the robot; for example: when the tire pressure reaches the preset tire pressure, the preset tire pressure corresponds to the first preset tilt angle, and then the state of the robot is determined.

[0044] The drive mechanism moves in the tilting direction:

[0045] When the robot is judged to be in a tilted state, the control system will immediately send a motion command to the robot's drive mechanism to correct the robot's state. Specifically, the drive mechanism (such as wheels, tracks or leg joints) will move in the tilting direction according to the command to generate a reverse torque to help the robot reduce the tilt angle or straighten the robot.

[0046] That is, the control system will conduct a comprehensive analysis based on the data collected by the sensors. When the controller detects that the vehicle body is tilting forward significantly and determines that the tipping state is real, the control system will send a short-term, forward output of maximum torque to the drive motor, causing the chassis to generate an instant forward acceleration, thereby generating a swing force for the entire machine and reducing the tendency to tip forward.

[0047] On the contrary, when the vehicle body tilts backward, the driving motor is controlled to perform instantaneous high torque deceleration or reverse rotation, so that the wheels move backward to correct the backward tilting posture of the vehicle body. It should also be noted that when the robot tilts in one direction, an obtuse angle and an acute angle will be formed, and driving in the tilting direction means driving the robot in the acute angle.

[0048] It should also be noted that if the robot falls in a direction away from the driving direction due to inertia after being righted, the sensor and control system will re-operate until the robot stops shaking.

[0049] Mobile unit movement, adjustment of center of gravity:

[0050] At the same time, the mobile units on the robot (such as movable counterweights or adjustable center of gravity structures) will start moving according to the instructions of the central processor.

[0051] These mobile units will move away from the tilt direction, thereby adjusting the overall center of gravity distribution of the robot and further helping the robot to regain balance.

[0052] Finally, it should be noted that when the robot tilts, its center of gravity will shift in the tilt direction, causing the robot to lose balance. By monitoring the tilt angle in real time through sensors and taking immediate action when the tilt angle exceeds a preset threshold, this method can effectively reduce the tilt angle and adjust the center of gravity distribution, thereby restoring the robot's balance.

[0053] Specifically, the reverse torque generated by the driving mechanism moving in the tilting direction can offset the tilting torque, allowing the robot to gradually return to a vertical state, ensuring that the robot can quickly and effectively restore its balance when encountering a risk of tipping, thus avoiding tipping accidents.

[0054] Different from the prior art, the above technical solution detects the tilt angle of the robot through a sensor to quickly perceive the change in the robot's posture and provide accurate data support for subsequent anti-dumping measures. This real-time monitoring capability helps to take timely measures before the robot is about to dump to avoid the occurrence of dumping accidents. When the tilt angle of the robot is greater than the first preset tilt value, the robot is judged to be in a dumping state, so that the robot can accurately judge whether it is in a critical state of dumping according to the size of the tilt angle. By moving the driving mechanism in the tilting direction, the robot can actively adjust its posture, thereby reducing the tilt angle and improving stability. This active adjustment capability helps the robot maintain balance in a tilted state and prevents the occurrence of dumping accidents. Through the movement of the mobile unit, the position of the robot's center of gravity is adjusted so that it moves away from the tilting direction, thereby further enhancing the stability of the robot. This center of gravity adjustment strategy helps the robot to better maintain balance in a tilted state and improve the anti-dumping effect.

[0055] According to some embodiments of the present application, referring to Figure 1 and Figure 3 , also includes the step of: when the robot's tilt angle is greater than a second preset tilt angle, driving the airbag on the robot to inflate to protect the robot.

[0056] The second preset tilt angle is an angle for determining the tilt of the robot, that is, when the robot reaches this angle, the robot will not be able to straighten itself through its own efforts.

[0057] In order to prevent the robot from being damaged after it falls over, and to prevent the driving mechanism from continuing to drive the robot to move after the robot falls over, when the sensor detects that the robot's tilt angle is greater than the second preset tilt angle, the control system will drive the airbag on the robot to inflate to protect the robot. At the same time, when the robot falls over completely, the friction between the airbag and the ground is large, which can further prevent the robot from moving.

[0058] After the anti-dumping measures are implemented, the controller system continues to comprehensively judge the data from each sensor. When it detects that the dumping trend cannot be changed, it will activate the dumping protection plan.

[0059] The gas generator installed in the key parts of the robot usually produces a large amount of gas through chemical reactions, such as the decomposition of sodium azide by heat to produce nitrogen. The generated gas is filled into the airbag in a very short time (usually in milliseconds), causing the airbag to expand rapidly and protect the robot.

[0060] Airbags are generally deployed at protruding parts of the robot's structure, such as the head, arms, chassis, and other places that will first come into contact with the ground after tipping over.

[0061] According to some embodiments of the present application, referring to Figure 1 and Figure 3 , also includes the steps of: when the robot airbag is opened, the relay driving the robot is turned off to stop the power output.

[0062] When the airbag is triggered, the control system receives the signal that the airbag has been opened, which means that the protection measures have been implemented. At this time, the control system will cut off other controllers, control the relay of the battery pack to close and stop its power output, and record the dumping status and upload it to the platform before powering off. This power-off control logic ensures that the power is cut off after the vehicle falls to the ground to avoid unexpected consequences such as electrical short circuits after the collision, and transmits a signal to the platform to quickly contact relevant management personnel to handle it on site.

[0063] According to some embodiments of the present application, when the robot falls over, the robot uploads its position to the platform through the control system. Falling over means that the robot falls completely to the ground, that is, the side wall of the robot is attached to the ground. The platform is a cloud, which is used to store, record and control the running trajectories and working status of multiple robots.

[0064] According to some embodiments of the present application, referring to Figure 1 , Figure 2 as well as Figure 4 , the moving unit is a mechanical arm, a robot arm, a door and / or a drawer.

[0065] The robot is assembled with different mobile units according to different functions, and the conventional ones are mechanical arms, mechanical hands, door bodies, drawers, etc. The mobile units carried can affect the center of gravity of the robot, and the controller synchronously controls in the opposite direction of the tipping to make certain compensation. Taking the mechanical arm as an example, when the robot tips forward, the mechanical arm will stretch backward to compensate; the same is true for the drawer. When the robot tips forward, the drawer will stretch backward to compensate. If the drawer is in front of the robot, the drawer remains stationary.

[0066] According to some embodiments of the present application, referring to Figure 1 , the robot has a built-in camera, and the sensor is a camera; the camera is used to detect the angle between the robot and the ground.

[0067] A camera is installed inside the robot, which is used as a sensor. The direction of its lens is set to capture the angle between the robot and the ground. Through image processing technology, the image captured by the camera can analyze the angle between the robot and the ground, thereby indirectly obtaining the robot's tilt angle.

[0068] Specifically, the camera captures an image including the edge of the robot and the ground, uses an image recognition algorithm to identify the edge of the robot and the ground, and determines the tilt angle of the robot by calculating the angle between the two. When the angle is greater than a first preset tilt angle, the system determines that the robot is in a tipping state.

[0069] Using a camera as a sensor is not only relatively low-cost, but also can provide intuitive visual information, which is convenient for subsequent image processing and tilt angle calculation. In addition, the camera can also be used for other visual tasks, such as obstacle detection, path planning, etc., which improves the overall intelligence level of the robot.

[0070] Camera, visual image detection, collects image signals sent back by the robot camera;

[0071] According to some embodiments of the present application, referring to Figure 1 , the robot has a built-in infrared camera, the infrared camera is placed on the top of the robot, and the infrared camera is used to detect the distance between the top of the robot and the ground; the sensor is an infrared camera;

[0072] When the distance detected by the infrared camera is less than the preset distance, it is determined that the tilt angle of the robot is greater than the first preset tilt angle. The infrared detection sensor collects signals and transmits them back to the controller.

[0073] An infrared camera is installed on the top of the robot to detect the distance between the top of the robot and the ground. By comparing the distance difference between different positions of the robot (such as the left and right sides) and the ground, the tilt angle of the robot can be indirectly inferred.

[0074] The infrared camera measures the vertical distance between the top of the robot and the ground and records it in real time. When the robot tilts, the distance between its top and the ground decreases in the tilt direction. By comparing the distance differences at different positions, the robot's tilt angle can be calculated. When the difference value exceeds the preset threshold, the system determines that the robot is in a tipping state.

[0075] Infrared cameras are not affected by light and can work stably under various lighting conditions. In addition, the tilt angle can be determined by measuring the distance difference. The method is simple and accurate and is applicable to various complex environments.

[0076] According to some embodiments of the present application, referring to Figure 1 The robot has a built-in accelerometer, and the sensor is an accelerometer. When the acceleration value detected by the accelerometer is greater than a preset acceleration, it is determined that the inclination angle of the robot is greater than a first preset inclination angle.

[0077] An accelerometer is installed inside the robot to detect the acceleration changes to which the robot is subjected. The acceleration value measured by the accelerometer can be used to indirectly infer the robot's tilt angle.

[0078] When the robot tilts, its center of gravity will be affected by the acceleration of gravity, causing the acceleration value measured by the accelerometer to change. By comparing the measured values ​​of the accelerometer in different directions, the tilt angle of the robot can be calculated. When the acceleration value exceeds the preset threshold, the system determines that the robot is in a tipping state.

[0079] Accelerometers have high measurement accuracy and are not affected by light and obstructions. In addition, accelerometers can also be used to detect the robot's motion state, such as acceleration, deceleration, and steering, improving the robot's motion control capabilities.

[0080] According to some embodiments of the present application, referring to Figure 1 The tire of the robot has a built-in tire pressure detection unit, and the sensor is a tire pressure detection unit. When the tire pressure detected by multiple tire pressure detection units on one side is greater than a preset tire pressure, it is judged that the inclination angle of the robot is greater than a first preset inclination angle.

[0081] A tire pressure detection unit is installed inside the robot's tire to detect changes in tire pressure inside the tire. By comparing the tire pressure differences between different tires of the robot (such as the left and right tires), the robot's tilt angle can be indirectly inferred.

[0082] When the robot tilts, its center of gravity will shift to one side, causing the tire pressure on that side to increase. By comparing the tire pressure differences between different tires, the robot's tilt angle can be calculated. When the difference exceeds the preset threshold, the system determines that the robot is in a tipping state.

[0083] The tire pressure detection unit can be used not only for anti-dumping detection, but also for tire status monitoring, such as tire leakage, wear, etc. In addition, the tilt angle can be judged by the tire pressure difference, which is simple and practical and suitable for various mobile robots.

[0084] According to some embodiments of the present application, referring to Figure 1 The robot has a built-in three-axis gyroscope, and the sensor is a three-axis gyroscope, which is used to detect the tilt angle of the robot.

[0085] A three-axis gyroscope is installed inside the robot to directly detect the tilt angle of the robot. The three-axis gyroscope can simultaneously measure the rotation angular velocity of the robot in three directions and obtain the tilt angle by integration.

[0086] The three-axis gyroscope measures the robot's angular velocity changes in three directions and uses an integral algorithm to calculate the robot's tilt angle. When the tilt angle exceeds a preset threshold, the system determines that the robot is in a tipping state.

[0087] The three-axis gyroscope has high measurement accuracy and fast response speed, and can provide real-time information on the robot's tilt angle. In addition, the three-axis gyroscope can also be used to detect the robot's rotational motion state, such as rotation and revolution, improving the robot's motion perception ability.

[0088] The sensor comprehensively feedbacks the acceleration change of the whole machine's movement. When its tilt speed suddenly increases and reaches the threshold (the second preset tilt angle), it indicates that it is about to fall. The gyroscope sensor can sense the angle change of the body and accurately determine whether the body is in an abnormal tilt state.

[0089] In summary, please refer to Figure 1 The operation process of this method is as follows:

[0090] When the robot is traveling, the sensor detects a tipping tendency, and the control system sends a tipping signal to the mobile unit, causing the mobile unit to move in the opposite direction of the tipping direction. When the tipping tendency disappears, the mobile unit is reset.

[0091] At the same time, the control system sends a maximum vehicle speed signal to the drive mechanism.

[0092] When tipping is detected, the airbags inflate, electrical appliances are powered off, and the battery pack is powered off.

[0093] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and they should all be included in the scope of the claims and specification of the present application. In particular, as long as there is no structural conflict, the various technical features mentioned in the various embodiments can be combined in any way. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions that fall within the scope of the claims.

Claims

1. A robot anti-dumping method, characterized in that: Includes steps: The sensor detects the robot's tilt angle; When the tilt angle of the robot is greater than a first preset tilt angle, the robot is judged to be in a tipping state; The driving mechanism of the robot moves in the tilting direction to reduce the tilting angle of the robot; the moving unit on the robot moves so that the center of gravity of the moving unit moves away from the tilting direction.

2. A robot anti-dumping method according to claim 1, characterized in that: The method also includes the following steps: when the tilt angle of the robot is greater than a second preset tilt angle, driving the airbag on the robot to inflate to protect the robot.

3. A robot anti-dumping method according to claim 2, characterized in that: The method also includes the following steps: when the airbag of the robot is opened, the relay driving the robot is turned off to stop the power output.

4. A robot anti-dumping method according to claim 2 or 3, characterized in that: When the robot falls over, it uploads its location to the platform.

5. A robot anti-dumping method according to claim 1, characterized in that: The moving unit is a mechanical arm, a robot arm, a door and / or a drawer.

6. A robot anti-dumping method according to claim 1, characterized in that: The robot has a built-in camera, and the sensor is a camera; the camera is used to detect the angle between the robot and the ground.

7. A robot anti-dumping method according to claim 1, characterized in that: The robot has a built-in infrared camera, which is placed on the top of the robot and is used to detect the distance between the top of the robot and the ground; the sensor is an infrared camera; When the distance detected by the infrared camera is less than the preset distance, it is determined that the inclination angle of the robot is greater than a first preset inclination angle.

8. A robot anti-dumping method according to claim 1, characterized in that: The robot has a built-in accelerometer, and the sensor is an accelerometer. When the acceleration value detected by the accelerometer is greater than a preset acceleration, it is determined that the inclination angle of the robot is greater than a first preset inclination angle.

9. A robot anti-dumping method according to claim 1, characterized in that: The tire of the robot has a built-in tire pressure detection unit, and the sensor is a tire pressure detection unit. When the tire pressure detected by multiple tire pressure detection units on one side is greater than a preset tire pressure, it is determined that the inclination angle of the robot is greater than a first preset inclination angle.

10. A robot anti-dumping method according to claim 1, characterized in that: The robot has a built-in three-axis gyroscope, and the sensor is a three-axis gyroscope, which is used to detect the tilt angle of the robot.

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