Anti-falling device, transfer robot, anti-falling method, equipment and storage medium

Abstract

The invention relates to the technical field of intelligent warehousing, and discloses an anti-falling device, a transfer robot, an anti-falling method, equipment and a storage medium, the anti-falling device is applied to the transfer robot, the transfer robot can vertically ascend and descend along a goods shelf track, the transfer robot comprises a braking mechanism, and the anti-falling device comprises an acceleration measuring unit, a control unit and a control unit; the acceleration sensor is used for measuring acceleration of the transfer robot; and the control unit is used for acquiring the accelerated speed and detecting whether the transfer robot falls on the goods shelf track or not according to the accelerated speed, and if it is detected that the transfer robot falls on the goods shelf track, the brake mechanism is controlled to conduct braking so that the transfer robot can stop falling. In this way, in the operation process of the transfer robot on the goods shelf, the transfer robot can stop falling after falling.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of intelligent warehousing, and particularly to a fall prevention device, a handling robot, a fall prevention method, a device, and a storage medium. Background Art

[0002] In the existing warehousing system, the shelf includes multiple layers and columns of storage locations for storing storage boxes. Usually, a handling robot is used to take out the storage boxes stored in the storage locations, or to carry and store the storage boxes in the storage locations. Horizontal and vertical tracks can be set on the shelf, and the handling robot moves horizontally or vertically along the tracks on the shelf to move to the target storage location for the operation of taking and placing storage boxes. There is a risk of falling during the operation of the handling robot on the shelf. If a fall occurs, it may cause damage to the handling robot and the goods it loads. Summary of the Invention

[0003] In view of the above problems, the embodiments of the present application provide a fall prevention device, a handling robot, a fall prevention method, a device, and a storage medium, which are used to solve the problem of how to stop the fall of the handling robot after a fall occurs during the operation of the handling robot on the shelf in the prior art.

[0004] According to one aspect of the embodiments of the present application, a fall prevention device is provided, which is applied to a handling robot. The handling robot can move vertically along the shelf track. The handling robot includes a braking mechanism. The fall prevention device includes: an acceleration measurement unit for measuring the acceleration of the handling robot; and a control unit for obtaining the acceleration and detecting whether the handling robot falls on the shelf track according to the acceleration. If it is detected that the handling robot falls on the shelf track, the control unit controls the braking mechanism to implement braking so that the handling robot stops falling.

[0005] In an optional manner, the acceleration measurement unit is a three-axis acceleration sensor, and the acceleration includes an X-axis acceleration, a Y-axis acceleration, and a Z-axis acceleration; the control unit is used to calculate the resultant acceleration amplitude according to the X-axis acceleration, the Y-axis acceleration, and the Z-axis acceleration, and detect whether the handling robot falls on the shelf track according to the resultant acceleration amplitude.

[0006] In an optional manner, the control unit is used to determine that the handling robot falls on the shelf track if the resultant acceleration amplitude is less than a fall threshold, where the fall threshold is determined according to the difference between the gravitational acceleration value and the maximum downward acceleration value when the handling robot descends actively.

[0007] In an alternative manner, the fall threshold is equal to the difference between the gravitational acceleration value and the maximum downward acceleration value minus an allowable tolerance value, where the allowable tolerance value is a preset value.

[0008] In an alternative manner, the handling robot further includes a switch unit electrically connected to the braking mechanism; the control unit is used to be electrically connected to the switch unit; the control unit is used to send a control signal to the switch unit to control the operation of the switch unit so that the braking mechanism performs braking.

[0009] In an alternative manner, the braking mechanism is a brake of the motor of the handling robot; the control unit is used to send a control signal to the switch unit to control the operation of the switch unit, and the brake performs braking so that the handling robot stops at the current position on the shelf track.

[0010] In an alternative manner, holes are spaced apart on the shelf track; the control unit is used to send a control signal to the switch unit to control the operation of the switch unit, and a braking member of the braking mechanism extends to be inserted into the holes so that the handling robot stops at the current position on the shelf track.

[0011] In an alternative manner, the braking mechanism is an electromagnetic lock of the handling robot, holes are spaced apart on the shelf track, and the control unit is used to send a control signal to the switch unit to control the operation of the switch unit so that the braking mechanism performs braking, including: the control unit is used to send a control signal to the switch unit to control the switch unit to disconnect, and the locking tongue of the electromagnetic lock is inserted into the holes so that the handling robot stops at the current position on the shelf track.

[0012] In an alternative manner, the anti-fall device further includes a signal converter and a power amplifier. The signal converter is electrically connected to the control unit and the power amplifier respectively, and the power amplifier is used to be electrically connected to the switch unit. Wherein, the control unit is used to send a control signal to the switch unit to control the switch unit to disconnect, including: the control unit is used to output a digital control signal to the signal converter; the signal converter is used to convert the digital control signal into an analog control signal and transmit it to the power amplifier; the power amplifier is used to amplify the analog control signal and send the amplified analog control signal to the switch unit to control the switch unit to disconnect.

[0013] In an alternative embodiment, the handling robot further includes a main control unit; the anti-falling device further includes a communication transceiver for communicatively connecting with the main control unit, and the communication transceiver is configured to send a falling prompt message to the main control unit if the control unit detects that the handling robot falls on the shelf track.

[0014] According to another aspect of the embodiments of the present application, there is provided a handling robot including the anti-falling device as described in any one of the above.

[0015] According to another aspect of the embodiments of the present application, there is provided an anti-falling method applied to a handling robot that can vertically lift along a shelf track. The handling robot includes a braking mechanism. The method includes: obtaining the acceleration of the handling robot; detecting whether the handling robot falls on the shelf track according to the acceleration; and if it is detected that the handling robot falls on the shelf track, controlling the braking mechanism to perform braking so that the handling robot stops falling.

[0016] According to another aspect of the embodiments of the present application, there is provided an anti-falling device including: a processor, a memory, a communication interface, and a communication bus. The processor, the memory, and the communication interface complete mutual communication through the communication bus; the memory is used to store executable instructions, and the executable instructions cause the processor to execute the operations of the anti-falling method as described above.

[0017] According to still another aspect of the embodiments of the present application, there is provided a computer-readable storage medium storing at least one executable instruction. When the executable instruction runs on an electronic device, it causes the electronic device to execute the operations of the anti-falling method as described above.

[0018] In the embodiments of the present application, by providing that the anti-falling device includes an acceleration measurement unit and a control unit, the control unit obtains the acceleration of the handling robot through the acceleration measurement unit, and then can detect whether the handling robot falls according to the obtained acceleration. If it falls, the braking mechanism of the handling robot is timely controlled to perform braking so that the handling robot stops falling and stays at the current position of the shelf track, thereby avoiding damage to the handling robot.

[0019] The above description is only an overview of the technical solutions of the embodiments of the present application. In order to be able to understand the technical means of the embodiments of the present application more clearly, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features, and advantages of the embodiments of the present application more obvious and understandable, the specific embodiments of the present application are hereinafter specifically exemplified. Description of the Drawings

[0020] The accompanying drawings are only used to illustrate the embodiments and are not considered to limit the present application. Moreover, throughout the accompanying drawings, the same reference numerals are used to represent the same components. In the accompanying drawings:

[0021] Figure 1 It shows a schematic diagram of an application scenario provided by an embodiment of the present application;

[0022] Figure 2 It shows a schematic diagram of the composition of a fall prevention device provided by an embodiment of the present application;

[0023] Figure 3 It shows a schematic diagram of the composition of another fall prevention device provided by an embodiment of the present application;

[0024] Figure 4 It shows Figure 3 A schematic diagram of the specific composition of the provided fall prevention device;

[0025] Figure 5 It shows a partial structural schematic diagram of an electromagnetic lock and a shelf track provided by an embodiment of the present application;

[0026] Figure 6 It shows a schematic diagram of the composition of another fall prevention device provided by an embodiment of the present application;

[0027] Figure 7 It shows a structural schematic diagram of a handling robot provided by an embodiment of the present application;

[0028] Figure 8 It shows a flowchart of a fall prevention method provided by an embodiment of the present application;

[0029] Figure 9 It shows a structural schematic diagram of a fall prevention device provided by an embodiment of the present application.

[0030] The reference numerals in the specific embodiments are as follows:

[0031] 10, shelf; 20, cargo box; 30, shelf track;

[0032] 40, handling robot; 41, braking mechanism; 42, switch unit; 43, power supply; 44, main control unit;

[0033] 100, fall prevention device; 101, acceleration measurement unit; 102, control unit; 103, communication transceiver;

[0034] 31, hole; 411, locking tongue;

[0035] 402, processor; 404, communication interface; 406, memory; 408, communication bus; 410, program. Specific embodiments

[0036] Exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein.

[0037] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this application belongs; the terms used herein are for the purpose of describing specific embodiments only and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above drawings are intended to cover non-exclusive inclusion.

[0038] In the description of the embodiments of this application, technical terms such as "first" and "second" are only used to distinguish different objects and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity, specific order or primary-secondary relationship of the indicated technical features. In the description of the embodiments of this application, the meaning of "a plurality of" is two or more, unless otherwise specifically defined.

[0039] Referring to "embodiments" herein means that the specific features, structures or characteristics described in connection with the embodiments can be included in at least one embodiment of this application. The phrase appears in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0040] In the description of the embodiments of this application, the term "and / or" is merely a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can mean: there is A, there is both A and B, and there is B. In addition, the character " / " herein generally indicates that the associated objects before and after are in an "or" relationship.

[0041] In the description of the embodiments of this application, the term "a plurality of" refers to two or more (including two). Similarly, "a plurality of groups" refers to two or more groups (including two groups), and "a plurality of pieces" refers to two or more pieces (including two pieces).

[0042] In the description of the embodiments of the present application, the orientation or positional relationship indicated by technical terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the embodiments of the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation on the embodiments of the present application.

[0043] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installation", "connection", "coupling", "fixation", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral body; it can also be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside 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 specific circumstances.

[0044] Figure 1 The schematic diagram of the application scenario provided by the embodiments of the present application is shown, as Figure 1 shown, in a warehousing system, a shelf 10 includes 8 layers and 10 rows of storage locations for storing the cargo boxes 20. Among them, at least in the vertical direction, the shelf 10 is provided with shelf tracks 30, so that the handling robot 40 can vertically lift along the shelf tracks 30, so as to reach different shelf layers, take out the cargo boxes 20 stored in the storage locations, or store the cargo boxes 20 into the storage locations. Of course, the shelf 10 can also be provided with horizontal shelf tracks in the horizontal direction, so that the handling robot can horizontally move along the horizontal shelf tracks, so as to reach different storage location rows.

[0045] The inventors of the present application have learned that during the operation of the handling robot 40 on the shelf tracks 30, for example, during the vertical lifting process and when performing the operation of picking up and placing the cargo box in front of a certain storage location, if the components for lifting in the handling robot 40 fail, the controller for controlling the climbing of the handling robot 40 is abnormal or crashes, etc., resulting in the handling robot 40 being unable to normally control its lifting, or unable to continue to stop at the current stop position, then the handling robot 40 is affected by factors such as gravity and inertia, and is prone to falling, resulting in damage to the handling robot 40 and the goods loaded thereon, thus causing property losses and also affecting the normal operation of the warehousing system.

[0046] The inventors of the present application have noticed that if a handling robot falls, usually the change range of its descending speed is relatively large, that is, the acceleration is relatively large. Therefore, in view of the above problems, the present application proposes an anti-falling device that detects the acceleration of the handling robot to determine whether the handling robot has fallen. When it is detected that the handling robot has fallen, the braking mechanism of the handling robot is controlled in a timely manner to implement braking, so that the handling robot stops falling, thereby avoiding damage to the handling robot.

[0047] Figure 2 FIG. shows a schematic diagram of the composition of the anti-falling device provided by an embodiment of the present application. The anti-falling device is applied to a handling robot 40 including a braking mechanism 41. As Figure 2 shown, the anti-falling device 100 includes an acceleration measurement unit 101 and a control unit 102; wherein, the acceleration measurement unit 101 is used to measure the acceleration of the handling robot 40; the control unit 102 is used to obtain the acceleration and detect whether the handling robot 40 has fallen on the shelf track 30 according to the acceleration. If it is detected that the handling robot 40 has fallen on the shelf track 30, the braking mechanism 41 is controlled to implement braking, so that the handling robot 40 stops falling.

[0048] Wherein, the braking mechanism 41 of the handling robot 40 refers to a device used to control the stop of the handling robot 40. During the movement of the handling robot 40, if the braking mechanism 41 implements braking, the handling robot 40 can be stopped. For example, the braking mechanism 41 can be a brake of the motor of the handling robot 40 or an electromagnetic lock of the handling robot 40.

[0049] The acceleration measurement unit 101 refers to a measurement unit that can be used to measure the acceleration of the handling robot 40. Considering the influence of gravity and inertia, to ensure that the handling robot 40 can stably perform vertical lifting along the shelf track 30, the handling robot 40 is usually set to lift at a constant speed or lift with slow acceleration, avoiding out-of-control or collision due to too fast lifting speed or large change in speed. That is to say, usually when the handling robot 40 actively lifts, it lifts at a constant speed or with slow acceleration. If an abnormality occurs, for example, due to the failure of climbing components, abnormal controller or downtime, etc., resulting in the handling robot 40 being unable to normally control its lifting or unable to continue to stop at the current stop position, then affected by factors such as gravity and inertia, its moving speed will change greatly, that is, its acceleration is large, resulting in a fall. Therefore, by measuring the acceleration of the handling robot 40 with the acceleration measurement unit 101, it is possible to detect whether the handling robot 40 has fallen according to the acceleration. Since the speed of the handling robot 40 in the vertical direction (i.e., the Z-axis direction) will change to a certain extent when the handling robot 40 falls, the acceleration measurement unit 101 can be a single-axis acceleration sensor for measuring the Z-axis acceleration of the handling robot 40 to detect whether the handling robot 40 has fallen. The acceleration measurement unit 101 can also be a sensor that can detect not only the Z-axis acceleration but also other axial accelerations or other motion parameters, as long as the detected parameters include the Z-axis acceleration.

[0050] The control unit 102 can be a microcontroller unit (MCU), or a system on chip (SOC), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application, which is not limited herein.

[0051] Specifically, the acceleration measurement unit 101 is configured to be disposed on the handling robot 40, so as to measure the acceleration of the handling robot 40. The control unit 102 is electrically connected to the acceleration measurement unit 101 and the braking mechanism of the handling robot 40 respectively. When the handling robot 40 is located on the shelf track 30, the control unit 102 obtains the acceleration of the handling robot 40 in real time through the acceleration measurement unit 101, and then detects whether the current handling robot 40 has fallen according to the obtained acceleration. For example, the control unit 102 may compare the obtained acceleration with a preset threshold. If the acceleration is greater than or equal to the preset threshold, that is, when the speed change amplitude of the handling robot 40 reaches a certain level, it is determined that the handling robot 40 has fallen. If the control unit 102 detects that the handling robot 40 has fallen, it controls the braking mechanism 41 to implement braking, so that the handling robot 40 stops falling and stays at the current position on the shelf track 30. For example, when the control unit 102 detects that the handling robot 40 has fallen, it sends a control signal to the braking mechanism 41 to control the braking mechanism 41 to implement braking in time.

[0052] In the embodiment of the present application, by providing the acceleration measurement unit 101 and the control unit 102, the control unit 102 obtains the acceleration of the handling robot 40 through the acceleration measurement unit 101, and then can detect whether the handling robot 40 has fallen according to the obtained acceleration. If it has fallen, the braking mechanism 41 of the handling robot 40 is timely controlled to implement braking, so that the handling robot 40 stops falling and stays at the current position on the shelf track 30, thereby avoiding damage to the handling robot 40. In order to improve the accuracy of judging whether the handling robot 40 has fallen, in the embodiment of the present application, the acceleration measurement unit 101 is a triaxial acceleration sensor, and the measured acceleration includes the X-axis acceleration, the Y-axis acceleration, and the Z-axis acceleration; the control unit 102 is configured to calculate the resultant acceleration amplitude according to the X-axis acceleration, the Y-axis acceleration, and the Z-axis acceleration, and detect whether the handling robot 40 has fallen on the shelf track 30 according to the resultant acceleration amplitude. Selecting a triaxial acceleration sensor can not limit the specific fixed posture of the sensor.

[0053] Specifically, the triaxial acceleration sensor can detect the X-axis acceleration, the Y-axis acceleration, and the Z-axis acceleration of the handling robot 40. Therefore, after the control unit 102 obtains the X-axis acceleration, the Y-axis acceleration, and the Z-axis acceleration of the handling robot 40 through the triaxial acceleration sensor, it calculates the amplitude of the resultant acceleration according to the obtained acceleration, and then can detect whether the handling robot 40 has fallen according to the resultant acceleration amplitude. Among them, the amplitude of the resultant acceleration can be calculated based on the X-axis acceleration, the Y-axis acceleration, and the Z-axis acceleration according to the following formula 1:

[0054]

[0055] Among them, G i is the magnitude of the resultant acceleration, X i is the acceleration in the X-axis direction, Y i is the acceleration in the Y-axis direction, Z i is the acceleration in the Z-axis direction.

[0056] Since during the fall of the handling robot 40, its acceleration is not limited to a single direction, that is, its acceleration changes in three orthogonal directions (i.e., the X-axis direction, the Y-axis direction, and the Z-axis direction). Therefore, in the embodiments of the present application, the control unit 102 simultaneously measures the accelerations of the handling robot 40 in three orthogonal directions through a triaxial acceleration sensor, and calculates the magnitude of the resultant acceleration based on the accelerations obtained in the three orthogonal directions, so as to more comprehensively and accurately determine whether the handling robot 40 has fallen. When it is accurately determined that the handling robot 40 has fallen, the braking mechanism 41 can be controlled in a timely manner to implement braking, so that the handling robot 40 stops falling, thereby effectively avoiding damage to the handling robot 40.

[0057] In some embodiments, in order to obtain a higher-accuracy acceleration, the anti-fall device 100 further includes a sliding filter, which is used to process the acceleration of the handling robot 40 measured by the acceleration measurement unit 101, reduce the influence of measurement signal noise, and obtain a higher-accuracy acceleration, thereby improving the accuracy of determining whether the handling robot 40 has fallen.

[0058] In order to improve the accuracy of the control unit 102 to determine whether the handling robot 40 has fallen based on the acceleration of the handling robot 40, in the embodiments of the present application, first, an acceleration threshold for determining whether a fall has occurred is set, that is, a fall threshold, which is determined according to the difference between the gravitational acceleration value and the maximum downward acceleration value when the handling robot 40 actively descends. The control unit 102 is used to determine that the handling robot 40 has fallen on the shelf track 30 if the magnitude of the resultant acceleration is less than the fall threshold.

[0059] Among them, the maximum downward acceleration when the handling robot 40 actively descends refers to the maximum acceleration that it can reach when descending along the shelf track 30 in its normal working state. The fall threshold can be the difference between the gravitational acceleration value and the maximum downward acceleration value when the handling robot 40 actively descends.

[0060] The magnitude of the gravitational acceleration is 1.0g (generally, g is taken as 9.8 m / s 2) The direction is vertically downward. To overcome the acceleration due to gravity, the handling robot 40 can be stationary on the shelf track 30 when it is subjected to an upward acceleration of 1.0g in the vertical direction. That is, when the handling robot 40 is stationary on the shelf track 30, the magnitude of the acceleration of the handling robot 40 measured by the acceleration measurement unit 101 is 1.0g (unless otherwise specified, in the embodiments of the present application, the direction of the acceleration of the handling robot 40 measured by the acceleration measurement unit 101 is vertically upward).

[0061] The handling robot 40 can climb and accelerate along the shelf track 30 only when it is subjected to an upward acceleration greater than 1.0g in the vertical direction. That is, when the handling robot 40 climbs and accelerates along the shelf track 30, the acceleration value of the handling robot 40 measured by the acceleration measurement unit 101 is greater than 1.0g.

[0062] When the handling robot 40 descends vertically along the shelf track 30, in order to prevent the handling robot 40 from losing control due to too fast a descending speed, considering the acceleration due to gravity, the maximum descending acceleration value of the handling robot 40 during active descent can be set to bg. Then, when the handling robot 40 is subjected to an upward acceleration of not less than (1.0 - b)g, the descending acceleration value during its active descent can be controlled within a range not exceeding bg. The aforementioned fall threshold can be set to the minimum value ag of the above acceleration. That is, when the handling robot 40 is in a normal working state and descends actively on the shelf track 30, the acceleration value of the handling robot 40 measured by the acceleration measurement unit 101 should be greater than or equal to ag. If during the descent of the handling robot 40, the acceleration value of the handling robot 40 measured by the acceleration measurement unit 101 is less than ag, it indicates that the current descending acceleration value is greater than (1.0 - a)g, that is, greater than the maximum descending acceleration value bg during its active descent. Therefore, it can be confirmed that it is in an abnormal state of falling at present.

[0063] For example, if the maximum descending acceleration value of the handling robot 40 is set to 0.5g during active descent, when the handling robot 40 descends actively along the shelf track 30, the acceleration value of the handling robot 40 measured by the acceleration measurement unit 101 should be greater than or equal to (1 - 0.5)g, that is, 0.5g. If the acceleration value of the handling robot 40 measured by the acceleration measurement unit 101 is 0.2g (less than 0.5g), it indicates that the descending acceleration value of the handling robot 40 is 0.8g, that is, greater than the maximum descending acceleration value 0.5g during its active descent. Based on this, it is determined that the handling robot 40 is falling at present.

[0064] In the embodiments of the present application, by determining the fall threshold according to the difference between the gravitational acceleration value and the maximum downward acceleration value when the handling robot 40 actively descends, the control unit 102 can quickly and effectively determine whether the handling robot 40 has fallen according to the magnitude relationship between the acceleration value of the handling robot 40 and the fall threshold.

[0065] In order to further improve the accuracy of the control unit 102 to determine whether the handling robot 40 has fallen based on the acceleration of the handling robot 40, in the embodiments of the present application, the fall threshold is equal to the difference between the gravitational acceleration value and the maximum downward acceleration value minus the allowable tolerance value, where the allowable tolerance value is a preset value.

[0066] Assume that the maximum downward acceleration value when the handling robot 40 actively descends is bg, and the fall threshold a = (1.0 - b)g is set. However, due to certain errors during the operation of the handling robot 40, the maximum downward acceleration value during its active descent will fluctuate, that is, it will fluctuate around bg, but usually the fluctuation range is small. During the active descent of the handling robot 40, if the maximum downward acceleration value during its active descent is slightly greater than bg due to its operating error, then the acceleration value of the handling robot 40 measured by the acceleration measurement unit 101 will be less than (1.0 - b)g, that is, less than ag. At this time, if it is directly confirmed that the handling robot 40 has fallen, it will lead to misjudgment.

[0067] Therefore, in the embodiments of the present application, by determining the fall threshold as the difference between the gravitational acceleration value and the maximum downward acceleration value minus the allowable tolerance value, when the maximum downward acceleration value during the active descent of the handling robot 40 caused by its operating error is slightly greater than the set value, misjudging that the handling robot 40 has fallen can be avoided, thereby improving the accuracy of determining whether the handling robot 40 has fallen. And, since the downward acceleration value of the handling robot 40 is large when it falls, that is, much greater than bg, therefore, in the embodiments of the present application, by setting the fall threshold as the difference between the gravitational acceleration value and the maximum downward acceleration value minus the allowable tolerance value, the situation where the fall of the handling robot 40 cannot be recognized will not occur. The allowable tolerance value can be preset according to the actual situation, and usually can be taken in the range of 0.05g to 0.25g. For example, if the allowable tolerance value is set to 0.2g and the maximum downward acceleration value when the handling robot 40 actively descends is 0.5g, then the fall threshold can be set to 1.0g - 0.5g - 0.2g = 0.3g.

[0068] In some embodiments, such as Figure 7As shown in the figure, the handling robot 40 includes a fall prevention device 100. The control unit 102 of the fall prevention device 100 and the main control unit of the handling robot 40 can be the same control unit or different control units. When they are not the same control unit, they can communicate with each other in a wired or wireless manner. After receiving the signal indicating that the handling robot 40 has fallen sent by the control unit 102 of the fall prevention device 100, the main control unit of the handling robot 40 controls its braking mechanism 41 to brake.

[0069] In order to enable the control unit 102 to effectively control the braking mechanism to implement braking, based on the Figure 2 fall prevention device provided, Figure 3 the composition schematic diagram of another fall prevention device provided by the embodiment of the present application is shown. As Figure 3 shown, the fall prevention device 100 includes an acceleration measurement unit 101 and a control unit 102. The handling robot 40 further includes a switch unit 42 and a power supply 43. One end of the switch unit 42 is electrically connected to the braking mechanism 41, and the other end is electrically connected to the power supply 43. The control unit 102 is used to be electrically connected to the switch unit 42. When the control unit 102 detects that the handling robot 40 has fallen, the control unit 102 is used to send a control signal to the switch unit 42 to control the switch unit 42 to act, so that the braking mechanism 41 implements braking.

[0070] Among them, when the switch unit 42 is turned on, the braking mechanism 41 is connected to the power supply 43 through the switch unit 42, so that the braking mechanism 41 is in a non-braking state, that is, the handling robot 40 can normally move up and down vertically along the shelf track 30. If the switch unit 42 is turned off, the braking mechanism 41 cannot be connected to the power supply through the switch unit 42, thereby implementing braking. Of course, the above control logic can also be that the braking mechanism 41 is in a non-braking state when the switch unit is turned off, and the braking mechanism 41 implements braking when the switch unit is turned on.

[0071] If the braking mechanism 41 implements braking when it is in a power-off state and does not implement braking when it is in a power-on state, in the embodiment of the present application, when the control unit 102 detects that the handling robot 40 has fallen, by timely sending a control signal to the switch unit 42 to control the switch unit 42 to act, that is, controlling the switch unit 42 to turn off, the braking mechanism 41 can be effectively controlled to implement braking in time. And by controlling the switch unit 42 to turn off through the control signal, the braking mechanism 41 can implement braking. This control method is simple and efficient. Therefore, when it is detected that the handling robot 40 has fallen, the braking mechanism 41 can be timely controlled to implement braking, effectively avoiding damage to the handling robot 40. It is similar when the control logic is that the braking mechanism 41 is in a non-braking state when the switch unit is turned off and the braking mechanism 41 implements braking when the switch unit is turned on.

[0072] To further enable the control unit 102 to effectively control the braking mechanism to implement braking, based on the Figure 3 provided anti-falling device, Figure 4 the specific composition schematic diagram of the Figure 3 provided anti-falling device is shown. As Figure 4 shown, the anti-falling device 100 includes an acceleration measurement unit 101 and a control unit 102. The handling robot 40 includes a motor driver for supplying power to the motor. The braking mechanism is the brake of the motor of the handling robot 40, and the motor driver also supplies power to the brake of the motor. When the control unit 102 detects that the handling robot 40 is falling, the control unit 102 is used to send a control signal to the switch unit 42 to control the switch unit 42 to disconnect, and the brake is implemented to brake, so that the handling robot 40 stops at the current position of the shelf track 30.

[0073] Wherein, one end of the switch unit 42 is electrically connected to the motor, and the other end is electrically connected to the motor driver. When the switch unit is turned on, the motor driver is used to supply power to the motor and the brake through the switch unit, so that the handling robot 40 can vertically lift along the shelf track 30, and the brake is in a non-braking state.

[0074] Specifically, the brake of the motor can be an electromagnetic brake. If the motor is connected to the power supply through the switch unit, the coil of the electromagnetic brake obtains power, and the brake is in a non-braking state; if the switch unit is disconnected and the motor cannot be connected to the power supply through the switch unit, the coil of the electromagnetic brake is powered off, and the electromagnetic brake is implemented to brake, providing a torque opposite to the rotation direction to the motor to quickly stop the motor. Or, the brake consists of a brake electromagnet and a shoe brake. The brake electromagnet consists of an iron core, an armature and a coil. The shoe brake includes a brake wheel, brake shoes and springs, etc. The brake wheel and the motor are installed on the same rotating shaft. When the switch unit is turned on, the motor is powered on, and at the same time the electromagnetic brake coil is also powered on, the armature is attracted, overcoming the pulling force of the spring to separate the brake shoes of the brake from the brake wheel, and the motor runs normally. If the switch unit is disconnected, the motor loses power, and at the same time the electromagnetic brake coil also loses power, the armature separates from the iron core under the action of the spring pulling force, and makes the brake shoes of the brake tightly hold the brake wheel, and the motor is braked and stopped.

[0075] In the embodiment of the present application, by using the brake of the motor of the handling robot 40, if the control unit 102 detects that the handling robot 40 is falling, then by controlling the switch unit to disconnect, the brake loses power, and then braking is implemented, so that the handling robot 40 stops at the current position of the shelf track 30.

[0076] In some embodiments, holes are spaced apart on the shelf track 30. The control unit 102 is configured to send a control signal to the switch unit 42 to control the operation of the switch unit 42. The braking member of the braking mechanism 41 extends to engage with the holes on the shelf track 30, so that the handling robot 40 stops at the current position of the shelf.

[0077] Wherein, the braking mechanism 41 includes a braking member. When the braking member is in a non-braking state, the braking member is in a contracted state. By controlling the braking member of the braking mechanism 41 to extend and engage with the hole, the braking mechanism 41 implements braking. The braking mechanism 41 can be an electrified braking mechanism. If the braking mechanism 41 is in a non-braking state when electrified and implements braking when powered off, in the embodiments of the present application, the braking mechanism 41 is connected to the power supply through the switch unit 42, and the control unit 102 sends a control signal to the switch unit 42 to cause the switch unit 42 to disconnect, and the braking mechanism implements braking.

[0078] Based on the foregoing embodiments, in the embodiments of the present application, the braking mechanism can be an electromagnetic lock of the handling robot 40. Here, in order to better illustrate the shelf track and the electromagnetic lock, Figure 5 FIG. shows a partial structural schematic diagram of the electromagnetic lock and the shelf track provided by the embodiments of the present application (other structures of the handling robot are not shown in the figure, only the electromagnetic lock is shown). As Figure 5 shown, holes 31 are spaced apart on the shelf track 30. The braking mechanism 41 of the handling robot 40 is an electromagnetic lock, and the electromagnetic lock includes a locking tongue 411. When the control unit 102 detects that the handling robot 40 falls, the control unit 102 is configured to send a control signal to the switch unit 42 to control the switch unit 42 to disconnect, and the locking tongue 411 of the electromagnetic lock engages with the hole 31, so that the handling robot stops at the current position of the shelf track 30.

[0079] Wherein, the hole 31 can be a blind hole or a through hole, and its size matches the size of the locking tongue 411, so that the locking tongue 411 can engage with the hole 31. The electromagnetic lock further includes a spring, an electromagnetic coil and a lock body. The locking tongue 411 and the lock body are connected by a spring. When the switch unit is turned on, the electromagnetic lock is energized, that is, the electromagnetic coil is energized, and an electric current passes through the electromagnetic coil to generate a magnetic field, so that the locking tongue 411 is attracted to lock with the lock body, and the spring is in a contracted state. If the switch unit is turned off, the electromagnetic lock loses power, that is, the electromagnetic coil loses power, the magnetic field disappears, the locking tongue 411 cannot be attracted to lock with the lock body, and the spring stretches and pops the locking tongue 411 away from the lock body.

[0080] Therefore, in the embodiments of the present application, since the braking mechanism 41 is an electromagnetic lock of the handling robot 40, when the control unit 102 detects that the handling robot 40 is falling, the locking tongue 411 of the electromagnetic lock is controlled to pop out. Then, during the falling process of the handling robot 40, the locking tongue 411 can be inserted into the hole 31, so that the handling robot 40 stops at the current position of the shelf track.

[0081] It can be understood that during the falling process of the handling robot 40, after the locking tongue 411 pops out, if the locking tongue 411 cannot be inserted into the hole 31 due to other reasons such as the relatively fast falling speed of the handling robot 40, since the locking tongue 411 will also rub against the hole 31 during its falling process, the falling speed of the handling robot 40 can also be reduced, avoiding damage to the handling robot 40 or reducing its degree of damage.

[0082] In order to enable the control unit 102 to more effectively control the braking mechanism to implement braking, based on the provided embodiments, in the embodiments of the present application, the anti-falling device 100 further includes a signal converter and a power amplifier. The signal converter is electrically connected to the control unit 102 and the power amplifier respectively, and the power amplifier is used to be electrically connected to the switch unit. Among them, Figure 3 the control unit 102 is used to output a digital control signal to the signal converter;

[0083] the signal converter is used to convert the digital control signal into an analog control signal and transmit it to the power amplifier;

[0084] the power amplifier is used to amplify the analog control signal and send the amplified analog control signal to the switch unit to control the switch unit to disconnect.

[0085] Since the digital control signal output by the control unit 102 cannot directly control the switch unit to disconnect, therefore, in the embodiments of the present application, the digital control signal output by the control unit 102 is converted into an analog control signal through the signal converter, and then the switch unit can be controlled to disconnect through the analog control signal. At the same time, since the amplified analog control signal can drive a larger load, therefore, in the embodiments of the present application, the analog control signal is amplified by the power amplifier, so that the switch unit can be effectively controlled to disconnect by using the amplified analog control signal, avoiding the situation where the analog control signal cannot drive the switch unit to disconnect, ensuring that when it is detected that the handling robot 40 is falling, the braking mechanism can be effectively controlled to implement braking, so that the handling robot 40 stops falling. The signal converter can be PDO (Powered Digital Output), and the power amplifier can be a transistor, a field effect transistor or a Darlington transistor, etc.

[0086]

[0087] When the handling robot falls, in order to enable it to prompt the user so that the user can perform exception handling in a timely manner. In the embodiments of the present application, based on the Figure 2 fall prevention device provided, Figure 6 FIG. shows a schematic composition diagram of another fall prevention device provided by the embodiments of the present application. As Figure 6 shown, the handling robot 40 further includes a main control unit 44; the fall prevention device 100 further includes a communication transceiver 103 for communicating with the main control unit 44. The communication transceiver 103 is used to send a fall prompt message to the main control unit 44 if the control unit 102 detects that the handling robot 40 falls on the shelf track 30. Among them, the communication transceiver 103 can be a CAN transceiver, which is hung on the CAN interface of the MCU to implement the CAN communication function.

[0088] In the embodiments of the present application, the fall prompt message is used to prompt the user that the current handling robot 40 has fallen, so that the user can perform exception handling in a timely manner, thereby avoiding property losses.

[0089] Figure 7 FIG. shows a schematic structural diagram of the handling robot provided by the embodiments of the present application. As Figure 7 shown, the handling robot 40 includes a fall prevention device 100.

[0090] The fall prevention device 100 included in the handling robot 40 provided in this embodiment is similar in implementation principle and technical effect to the fall prevention device 100 in any of the foregoing device embodiments, and will not be elaborated here.

[0091] In some embodiments, if the handling robot 40 suddenly loses power, its braking mechanism will automatically implement braking to prevent the handling robot 40 from falling when it is out of control due to power loss.

[0092] In some embodiments, the handling robot 40 further includes one or more of the components that cooperate with the fall prevention device 100 in the above embodiments, such as a braking mechanism, a switch unit, a power supply, a motor, a motor driver, an electromagnetic lock, etc., to jointly achieve the fall prevention of the handling robot 40.

[0093] Figure 8 FIG. shows a flowchart of the fall prevention method provided by the embodiments of the present application. This method is executed by a microcontroller unit (MCU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application, which is not limited here. This method is applied to the handling robot 40 including a braking mechanism. As Figure 8As shown, the method includes the following steps:

[0094] Step 310: Obtain the acceleration of the handling robot.

[0095] Step 320: Detect whether the handling robot has fallen on the shelf track according to the acceleration. If so, go to Step 330; if not, end.

[0096] Step 330: Control the braking mechanism to implement braking so that the handling robot stops falling.

[0097] The anti-falling method provided by the embodiment of the present application is similar to Figure 2 the implementation principle and technical effect of the anti-falling device 100 in the provided embodiment, and will not be elaborated here.

[0098] In order to improve the accuracy of judging whether the handling robot has fallen, in the embodiment of the present application, the acceleration includes the X-axis acceleration, the Y-axis acceleration and the Z-axis acceleration, and Step 320 includes:

[0099] Step a: Calculate the resultant acceleration amplitude according to the X-axis acceleration, the Y-axis acceleration and the Z-axis acceleration, and detect whether the handling robot has fallen on the shelf track according to the resultant acceleration amplitude.

[0100] In the embodiment of the present application, by measuring the acceleration of the handling robot in three orthogonal directions and calculating the resultant acceleration amplitude according to the obtained accelerations in the three orthogonal directions, it is possible to more comprehensively and accurately judge whether the handling robot has fallen.

[0101] In some embodiments, Step a includes:

[0102] Step a1: Judge whether the resultant acceleration amplitude is less than the falling threshold, where the falling threshold is determined according to the difference between the gravitational acceleration value and the maximum downward acceleration value when the handling robot actively descends. If so, go to Step a2; if not, end.

[0103] Step a2: Determine that the handling robot has fallen on the shelf track.

[0104] In the embodiment of the present application, by determining the falling threshold according to the difference between the gravitational acceleration value and the maximum downward acceleration value when the handling robot actively descends, and then according to the magnitude relationship between the acceleration value of the handling robot and the falling threshold, it is possible to quickly and effectively determine whether the handling robot has fallen.

[0105] In some embodiments, the falling threshold is equal to the difference between the gravitational acceleration value and the maximum downward acceleration value minus the allowable tolerance value.

[0106] In the embodiments of the present application, by determining the fall threshold as the difference between the gravitational acceleration value and the maximum descent acceleration value minus the allowable tolerance value, when the maximum descent acceleration value is greater than the set value during the active descent of the handling robot due to working errors, misjudging the fall of the handling robot can be avoided, thereby improving the accuracy of determining whether the handling robot has fallen.

[0107] In some embodiments, the handling robot further includes a switch unit electrically connected to the braking mechanism, and the control unit is used to be electrically connected to the switch unit. Step 330 includes: sending a control signal to the switch unit to control the switch unit to disconnect, so that the braking mechanism implements braking.

[0108] In the embodiments of the present application, when it is detected that the handling robot has fallen, by timely sending a control signal to the switch unit to control the switch unit to disconnect, the braking mechanism can be effectively controlled to implement braking in a timely manner.

[0109] In some embodiments, the braking mechanism is the brake of the motor of the handling robot. Sending a control signal to the switch unit to control the switch unit to disconnect so that the braking mechanism implements braking includes:

[0110] Sending a control signal to the switch unit to control the switch unit to disconnect, and the brake implements braking so that the handling robot stops at the current position on the shelf track.

[0111] In the embodiments of the present application, if it is detected that the handling robot has fallen, then by controlling the switch unit to disconnect, the brake loses power, and then braking is implemented so that the handling robot stops at the current position on the shelf track.

[0112] In some embodiments, the braking mechanism is an electromagnetic lock of the handling robot, and holes are spaced on the shelf track. Sending a control signal to the switch unit to control the switch unit to disconnect so that the braking mechanism implements braking includes: sending a control signal to the switch unit to control the switch unit to disconnect, and the locking tongue of the electromagnetic lock is inserted into the hole so that the handling robot stops at the current position on the shelf track.

[0113] In the embodiments of the present application, since the braking mechanism is an electromagnetic lock of the handling robot, when it is detected that the handling robot has fallen, by controlling the locking tongue of the electromagnetic lock to pop out, then during the fall of the handling robot, the locking tongue can be inserted into the hole so that the handling robot stops at the current position on the shelf track.

[0114] In some embodiments, the anti-falling device further includes a signal converter and a power amplifier. The signal converter is electrically connected to the control unit and the power amplifier respectively, and the power amplifier is used to be electrically connected to the switch unit. Sending a control signal to the switch unit to control the switch unit to disconnect includes: outputting a digital control signal to the signal converter, so that the signal converter converts the digital control signal into an analog control signal and transmits it to the power amplifier, and causing the power amplifier to amplify the analog control signal and send the amplified analog control signal to the switch unit to control the switch unit to disconnect.

[0115] In the embodiments of the present application, by outputting a digital control signal to the signal converter, the signal converter can convert the digital control signal into an analog control signal, and then the switch unit can be controlled to disconnect through the analog control signal. At the same time, since the amplified analog control signal can drive a larger load, in the embodiments of the present application, after the power amplifier amplifies the analog control signal, it is ensured that the amplified analog control signal can effectively control the switch unit to disconnect, avoiding the situation where the analog control signal cannot drive the switch unit to disconnect.

[0116] Figure 9 The structural schematic diagram of the anti-falling device provided by the embodiments of the present application is shown. The specific implementation of the anti-falling device is not limited in the specific embodiments of the present application.

[0117] As Figure 9 shown, the anti-falling device may include: a processor 402, a communications interface 404, a memory 406, and a communication bus 408.

[0118] Among them: the processor 402, the communication interface 404, and the memory 406 complete mutual communication through the communication bus 408. The communication interface 404 is used to communicate with network elements of other devices such as clients or other servers. The processor 402 is used to execute the program 410, and specifically can execute the relevant steps in the above embodiments of the anti-falling method.

[0119] Specifically, the program 410 may include program code, and the program code includes computer-executable instructions.

[0120] The processor 402 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application. One or more processors included in the anti-falling device may be of the same type, such as one or more CPUs; or may be of different types, such as one or more CPUs and one or more ASICs.

[0121] A memory 406 for storing a program 410. The memory 406 may include high-speed RAM memory and may also include non-volatile memory, such as at least one disk memory.

[0122] The embodiments of the present application provide a computer-readable storage medium storing executable instructions, which, when running on the anti-falling device, cause the anti-falling device to execute the anti-falling method in any of the above method embodiments.

[0123] The embodiments of the present application provide a computer program, which can be called by a processor to cause the anti-falling device to execute the anti-falling method in any of the above method embodiments.

[0124] The embodiments of the present application provide a computer program product. The computer program product includes a computer program stored on a computer-readable storage medium. The computer program includes program instructions, which, when running on a computer, cause the computer to execute the anti-falling method in any of the above method embodiments.

[0125] The algorithms or displays provided herein are not inherently related to any particular computer, virtual system, or other device. Various general-purpose systems may also be used in conjunction with the teachings based herein. The structure required to construct such systems will be apparent from the above description. In addition, the embodiments of the present application are not directed to any particular programming language. It should be understood that the content of the present application described herein can be implemented using various programming languages, and the above description of a particular language is to disclose the best mode of the present application.

[0126] In the specification provided herein, a large number of specific details are set forth. However, it can be understood that the embodiments of the present application may be practiced without these specific details. In some instances, well-known methods, structures, and technologies have not been shown in detail so as not to obscure the understanding of this specification.

[0127] Similarly, it should be understood that, in order to streamline the present application and assist in understanding one or more of the various inventive aspects, in the foregoing description of the exemplary embodiments of the present application, the various features of the embodiments of the present application are sometimes grouped together into a single embodiment, figure, or description thereof. However, the disclosed method should not be construed as reflecting an intention that the claimed application requires more features than are expressly recited in each claim.

[0128] Those skilled in the art can understand that the modules in the devices in the embodiments can be adaptively changed and arranged in one or more devices different from the embodiments. The modules or units or components in the embodiments can be combined into a module or unit or component, and can be divided into multiple sub-modules or sub-units or sub-components. Except that at least some of such features and / or processes or units are mutually exclusive, any combination can be used to combine all the features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all the processes or units of any method or device so disclosed. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) can be replaced by an alternative feature that provides the same, equivalent, or similar purpose.

[0129] It should be noted that the above embodiments illustrate the present application rather than limit the present application, and those skilled in the art can design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in the claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present application can be implemented by means of hardware including several different elements and by means of a suitably programmed computer. In the unit claims listing several devices, several of these devices can be embodied by the same item of hardware. The use of the words first, second, and third, etc. does not denote any order. These words can be interpreted as names. The steps in the above embodiments, unless otherwise specified, should not be construed as limiting the order of execution.

Claims

1. A fall prevention device is applied to a handling robot. The handling robot can vertically lift along a shelf track. The handling robot includes a braking mechanism. Characterized in that, The fall prevention device includes: An acceleration measurement unit for measuring the acceleration of the handling robot; and A control unit for obtaining the acceleration and detecting whether the handling robot falls on the shelf track according to the acceleration. If it is detected that the handling robot falls on the shelf track, the control unit controls the braking mechanism to perform braking so that the handling robot stops falling.

2. The fall prevention device according to claim 1, Characterized in that, The acceleration measurement unit is a triaxial acceleration sensor, and the acceleration includes X-axis acceleration, Y-axis acceleration and Z-axis acceleration; The control unit is used for calculating the resultant acceleration amplitude according to the X-axis acceleration, the Y-axis acceleration and the Z-axis acceleration, and detecting whether the handling robot falls on the shelf track according to the resultant acceleration amplitude.

3. The fall prevention device according to claim 2, Characterized in that, The control unit is used for determining that the handling robot falls on the shelf track if the resultant acceleration amplitude is less than a fall threshold value, wherein the fall threshold value is determined according to the difference between the gravitational acceleration value and the maximum downward acceleration value when the handling robot descends actively.

4. The fall prevention device according to claim 3, Characterized in that, The fall threshold value is equal to the difference between the gravitational acceleration value and the maximum downward acceleration value minus an allowable tolerance value, wherein the allowable tolerance value is a preset value.

5. The fall prevention device according to claim 1, Characterized in that, The handling robot further includes a switch unit electrically connected to the braking mechanism; The control unit is used for being electrically connected to the switch unit; the control unit is used for sending a control signal to the switch unit to control the switch unit to act so that the braking mechanism performs braking.

6. The fall prevention device according to claim 5, Characterized in that, The braking mechanism is the brake of the motor of the handling robot; The control unit is used for sending a control signal to the switch unit to control the switch unit to disconnect, and the brake performs braking so that the handling robot stops at the current position of the shelf track.

7. The fall prevention device according to claim 5, Characterized in that, Holes are spaced apart on the shelf track; The control unit is used for sending a control signal to the switch unit to control the switch unit to act, and the braking member of the braking mechanism extends out to be stuck into the hole so that the handling robot stops at the current position of the shelf track.

8. The fall prevention device according to claim 1, Characterized in that, The handling robot further includes a main control unit; The fall prevention device further includes a communication transceiver for communicatively connecting with the main control unit. The communication transceiver is used for sending a fall prompt message to the main control unit if the control unit detects that the handling robot falls on the shelf track.

9. A handling robot, characterized in that, the handling robot includes a fall prevention device as described in any one of claims 1-8.

10. A fall prevention method applied to a handling robot, the handling robot being vertically liftable along a shelf track, the handling robot including a braking mechanism, characterized in that, the method includes: obtaining the acceleration of the handling robot; detecting whether the handling robot falls on the shelf track according to the acceleration; if it is detected that the handling robot falls on the shelf track, controlling the braking mechanism to perform braking so that the handling robot stops falling.

11. A fall prevention device, characterized in that, it includes: a processor, a memory, a communication interface and a communication bus, and the processor, the memory and the communication interface complete mutual communication through the communication bus; the memory is used for storing executable instructions, and the executable instructions cause the processor to execute the operations of the fall prevention method as described in claim 10.

12. A computer-readable storage medium, characterized in that, the storage medium stores executable instructions, and the executable instructions execute the operations of the fall prevention method as described in claim 10 when running.

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