Intelligent traction control device, method, electronic device, and storage medium

Abstract

Embodiments of the present application provide a kind of intelligent traction control device, method, electronic equipment and storage medium, the device includes: first drive mechanism, first reel, first elastic member, rope, controller, wherein, controller is connected with the force sensor and the first drive mechanism, for receiving the tension signal sent by the force sensor in real time, and when the tension signal corresponding tension value is greater than preset first tension value and less than preset second tension value, rotation signal is sent to the first drive mechanism, to control the first drive mechanism rotates along recovery direction, and first torsion is applied, the difference between the tension signal corresponding tension value and the first torsion is less than preset tension value.The implementation of the present application realizes the intelligent perception and dynamic adjustment of the rope tension and extension length during the pet traction process, effectively avoids the risk of pet injury or equipment damage due to sudden pulling.

Description

Technical Field

[0001] This application relates to the field of robot pet walking technology, and in particular to an intelligent traction control device, method, electronic device and storage medium. Background Technology

[0002] Currently, wheeled robots are capable of providing outdoor companionship, offering a novel and practical solution for pet owners. Especially when pet owners are traveling, unwell, or otherwise unable to walk their pets, these robots can assist in fulfilling their pets' daily outdoor activity needs, avoiding the need for boarding services due to temporary inconvenience.

[0003] However, existing pet leashes or harnesses generally lack intelligent release and force control capabilities. If directly applied to robots, the pet may pull on the robot due to the different walking speeds of the robot and the pet. This could not only damage the robot but also pose a risk of strangulation or even death to the pet due to the robot's forced pulling on the leash. These problems significantly limit the safety and practicality of combining existing leashes with robots.

[0004] Therefore, there is an urgent need to provide a pet leash device with intelligent retraction and force control capabilities to meet the growing demand of modern pet-owning families for automated pet walking solutions and to ensure the safety of both pets and the device.

[0005] The above content is only used to help understand the technical solution of the present invention and does not represent an admission that the above content is prior art. Summary of the Invention

[0006] To address one of the aforementioned technical deficiencies, this application provides an intelligent traction control device, method, electronic device, and storage medium. The implementation of this application can significantly reduce the risk of injury or equipment damage caused by a pet suddenly pulling on the robot while walking a pet.

[0007] According to a first aspect of the embodiments of this application, an intelligent traction control device is provided, the device comprising: First drive mechanism; The first winding reel is disposed in the rotating part of the first driving mechanism so as to drive the first winding reel to rotate synchronously when the first driving mechanism rotates. The first elastic element is fixedly disposed inside the first winding reel to provide a rebound force when the first winding reel rotates in the release direction; The rope is wound around the first winding spool; A force sensor is used to detect the tension force on the rope; The controller, connected to the force sensor and the first drive mechanism, is used to receive the tension signal sent by the force sensor in real time, and when the tension value corresponding to the tension signal is greater than a preset first tension value and less than a preset second tension value, it sends a rotation signal to the first drive mechanism to control the first drive mechanism to rotate in the retraction direction and apply a first torque, wherein the difference between the tension value corresponding to the tension signal and the first torque is less than a preset tension difference value.

[0008] Furthermore, the device also includes: Second drive mechanism; The second winding disk is disposed in the rotating part of the second driving mechanism so that when the second driving mechanism rotates, it drives the second winding disk to rotate synchronously. Accordingly, the rope includes: a first rope and a second rope, wherein the first rope is wound on the first winding spool; and the second rope is wound on the second winding spool.

[0009] Furthermore, the device further includes a second elastic element, fixedly disposed inside the second winding reel, to provide a restoring force when the second winding reel rotates in the release direction.

[0010] Furthermore, the device also includes a length sensor connected to the controller for detecting the extended length of the rope; Accordingly, the controller is also configured to control the first drive mechanism and / or the second drive mechanism to stop rotating in the release direction when the length value corresponding to the length signal sent by the length sensor is greater than a preset first length threshold and less than a preset second length threshold.

[0011] Furthermore, the controller is also configured to send a rotation signal to the first drive mechanism and the second drive mechanism simultaneously when the length value corresponding to the length signal sent by the length sensor is greater than a preset second length threshold, and the tension value corresponding to the tension signal is greater than the preset second tension value and less than a preset third tension value, so as to control the first drive mechanism and the second drive mechanism to rotate synchronously along the retraction direction and jointly apply a second torque, wherein the difference between the tension value corresponding to the tension signal and the second torque is less than a preset tension difference. Wherein, the preset second tension value is greater than the preset first tension value.

[0012] Furthermore, the controller is connected to the robot; The controller is further configured to simultaneously send rotation signals to the first drive mechanism, the second drive mechanism, and the robot when the length value corresponding to the length signal received from the length sensor is greater than a preset second length threshold and the tension value corresponding to the tension signal is greater than a preset third tension value, so as to control the first drive mechanism and the second drive mechanism to rotate synchronously along the recovery direction and control the robot to brake, so that the first drive mechanism, the second drive mechanism, and the robot jointly apply a third torque, and the difference between the tension value corresponding to the tension signal and the third torque is less than a preset tension difference value.

[0013] On the other hand, this application provides an intelligent traction control method, which is applied in a controller. The controller is connected to a first drive mechanism and a force sensor. The rotating part of the first drive mechanism abuts against a first winding reel on which the rope is wound. The method includes: Receive the tension signal sent by the force sensor, the tension signal being used to characterize the tension acting on the rope; Determine whether the tension value corresponding to the tension signal is greater than a preset first tension value and less than a preset second tension value; If the tension value corresponding to the tension signal is greater than a preset first tension value and less than a preset second tension value, a rotation signal is sent to the first drive mechanism to control the first drive mechanism to rotate in the retraction direction and apply a first torque. The difference between the tension value corresponding to the tension signal and the first torque is less than a preset tension difference.

[0014] Furthermore, the controller is also connected to a length sensor; Before determining whether the tension value corresponding to the tension signal is greater than a preset first tension value, the method further includes: Receive the length signal, representing the extended length of the rope, sent by the length sensor; Determine whether the rope extension length corresponding to the length signal is greater than a preset first length threshold; If the rope extension length corresponding to the length signal is greater than a preset first length threshold, a stop rotation command is sent to the first drive mechanism to stop rotating in the release direction, so that the first drive mechanism stops rotating in the release direction.

[0015] Furthermore, the controller is also connected to a second drive mechanism, the rotating part of which abuts against a second winding reel on which the rope is wound. The method further includes: Determine whether the rope extension length corresponding to the length signal is greater than a preset second length threshold, wherein the preset second length threshold is greater than the preset first length threshold; If the rope extension length corresponding to the length signal is greater than a preset second length threshold, determine whether the tension value corresponding to the tension signal is greater than a preset second tension value and less than a preset third tension value; If the tension value corresponding to the tension signal is greater than a preset second tension value and less than a preset third tension value, then a rotation signal is sent to the first drive mechanism and the second drive mechanism simultaneously to control the first drive mechanism and the second drive mechanism to rotate synchronously along the retraction direction, so that the first drive mechanism and the second drive mechanism jointly apply a second torque, and the difference between the tension value corresponding to the tension signal and the second torque is less than a preset tension difference.

[0016] Furthermore, the controller is also connected to the robot; If the rope extension length corresponding to the length signal is greater than a preset second length threshold, the method further includes: Determine whether the tension value corresponding to the tension signal is greater than a preset third tension value; If the tension value corresponding to the tension signal is greater than the preset third tension value, then a rotation signal is sent to the first drive mechanism, the second drive mechanism, and the robot simultaneously to control the first drive mechanism and the second drive mechanism to rotate synchronously along the recovery direction, and to control the robot to brake, so that the first drive mechanism, the second drive mechanism, and the robot jointly apply a third torque, and the difference between the tension value corresponding to the tension signal and the third torque is less than the preset tension difference value.

[0017] On the other hand, this application provides an electronic device, including: Memory; Processor; and Computer programs; The computer program is stored in the memory and configured to be executed by the processor to implement the method described above.

[0018] On the other hand, this application provides a computer-readable storage medium having a computer program stored thereon; the computer program is executed by a processor to implement the method described above.

[0019] By implementing this application, through the setting of a first drive mechanism, a first winding reel, a first elastic element, a force sensor, a length sensor, and a controller, intelligent sensing and dynamic adjustment of the rope tension and extension length during pet traction are realized. The device utilizes a coil spring to provide rebound force to achieve automatic rope retraction, and combines a tension threshold judgment mechanism to control the motor to apply a retraction torque less than the actual tension, thereby ensuring traction stability while effectively avoiding the risk of pet injury or equipment damage due to sudden pulling. Attached Figure Description

[0020] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 This is a schematic diagram of an embodiment of a pet-walking traction device provided by the present invention; Figure 2 for Figure 1 An exploded view of the pet-walking traction device described above; Figure 3 for Figure 1 A schematic diagram of the structure of the pet-walking leash device described in the document (excluding part of the housing); Figure 4 for Figure 3 Another structural diagram of the pet-walking leash device described above; Figure 5 for Figure 4 An exploded view of the pet-walking traction device described above; Figure 6 for Figure 1 A structural diagram of the pet-walking leash device described in the text (excluding part of the shell and rope); Figure 7 for Figure 6 A cross-sectional structural diagram of the pet-walking traction device described herein; Figure 8 for Figure 1 A schematic diagram of the structure of the first winding module and the second winding module; Figure 9 for Figure 1 A schematic diagram of the structure of the first rope, the second rope, and the telescopic loop; Figure 10 This is a schematic diagram of the structure of the first and second ropes in section 1; Figure 11 A flowchart illustrating an intelligent traction control method provided in an embodiment of this application; Figure 12 A flowchart illustrating yet another intelligent traction control method provided in an embodiment of this application; Figure 13 A flowchart illustrating another intelligent traction control method provided in an embodiment of this application; Figure 14 A flowchart illustrating another intelligent traction control method provided in an embodiment of this application; Figure 15 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0021] 100-Intelligent traction control device; 1-Housing; 11-First housing; 12-Second housing; 13-Transition bracket; 131-First mounting hole; 132-Second mounting hole; 133-Cable outlet; 134-Guide groove; 2-First winding module; 21-First winding reel; 211-First winding base; 2111-Winding groove; 212-First cover plate; 22-First rope; 3-Second winding module; 31-Second winding reel; 311-Second winding base; 3111-First clamping part; 3112-Second clamping part; 312-Second cover plate; 3121-Limiting protrusion; 313-Pressure plate; 3131-Limiting recess; 32-Second rope; 321-Snap ring; 33-First bearing; 34-Second bearing; 35-Wire clamping post; 36-Second elastic element; 4-Retractable rope loop; 5-First drive mechanism; 51-First driver; 52-First drive disk; 53-Positioning part; 531-First connecting hole; 532-First positioning hole; 6-Second drive mechanism; 62-Reduction device; 621-Output part; 6211-Transmission groove; 7-Wire group guide structure; 71-First guide wheel; 72-Second guide wheel; 73-Third guide wheel; 8-Length sensor. Detailed Implementation

[0022] To make the technical solutions and advantages of the embodiments of this application clearer, the exemplary embodiments of this application will be described in further detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not an exhaustive list of all embodiments. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.

[0023] With the continuous development of intelligent robot technology, wheeled robots have made significant progress in outdoor environment adaptation, autonomous navigation, and human-computer interaction, possessing the ability to perform tasks in complex environments. For pet owners, the combination of robot companionship and pet walking functions has extremely high practical value. Especially when pet owners are unable to walk their pets themselves due to going out, illness, or other reasons, robot-assisted pet walking can effectively replace traditional boarding services, avoiding the psychological and physiological health problems caused by pets being confined to small spaces for extended periods.

[0024] However, current pet leashes on the market are all manual or semi-automatic devices, lacking intelligent control over traction force and leash length. If these devices are directly applied to robotic systems, safety issues can easily arise during actual use, such as pets pulling on the robot and causing damage, or the robot forcibly retracting the leash, leading to pet injury or even suffocation. Furthermore, traditional leashes cannot dynamically adjust the traction force based on the pet's behavior, lacking a multi-level response mechanism, making it difficult to meet the needs of pet walking in complex scenarios.

[0025] To address the aforementioned issues, this application provides an intelligent traction control device, method, electronic device, and storage medium. The intelligent traction control device 100 includes a housing 1, a first winding module 2, a second winding module 3, a first drive mechanism 5, a second drive mechanism 6, a telescopic rope sleeve 4, and a line guide structure 7.

[0026] Shell 1 has a box-like structure, such as Figure 1 and Figure 2 As shown, the system includes a first housing 11, a second housing 12, and a transition bracket 13 located between them. A first cavity is formed between the transition bracket 13 and the first housing 11 to accommodate the first winding module 2 and the second winding module 3; a second cavity is formed between the transition bracket 13 and the second housing 12 to accommodate the first drive mechanism 5 and the second drive mechanism 6. In normal use, the first housing 11 is positioned above the second housing 12. The transition bracket 13 has a cable outlet 133 for extending or retracting the traction rope. Furthermore, the second housing 12 has heat dissipation holes to improve the heat dissipation of the drive mechanisms.

[0027] The first winding module 2 is disposed within the housing 1 and includes a first winding reel 21 and a first rope 22. The first winding reel 21 is rotatably mounted via a first mounting hole 131 on the transition bracket 13, and the first rope 22 is wound around it, having a winding end that emerges from the first winding reel 21. Figure 3 and Figure 5 As shown, the first winding reel 21 includes a first winding base 211 and a first cover plate 212. The first winding base 211 is disc-shaped, with a winding groove 2111 protruding from one side along the axial direction for fixing the fixed end of the first rope 22. A notch is provided on one side of the winding groove 2111 to facilitate the first rope 22 winding out from the notch. The first cover plate 212 covers the opening of the winding groove 2111 to prevent the first rope 22 from coming out, and presses the fixed end of the first rope 22 with a positioning protrusion.

[0028] The second winding module 3 includes a second winding reel 31 and a second rope 32. The second winding reel 31 is rotatably mounted via a second mounting hole 132 on the transition bracket 13. The second rope 32 is wound around it and has a winding end that extends from the first winding reel 21, and the winding end of the second rope 32 is connected to the winding end of the first rope 22. Figure 3 and Figure 5 As shown, the second winding reel 31 includes a second winding base 311, a second cover plate 312, and a pressure plate 313. The second winding base 311 has a winding ring, and a groove on its outer periphery serves as a winding area. The second cover plate 312 covers the inner ring end of the winding ring, allowing the second winding base 311 to rotate relative to it. The pressure plate 313 is connected to the transition bracket 13 and cooperates with the second cover plate 312 to prevent rotation. The second winding module 3 also includes a second elastic element (preferably a spiral spring), disposed between the inner ring side of the winding ring and the second cover plate 312, for providing winding force.

[0029] The first drive mechanism 5 is connected to the first winding disc 21 and is used to drive its forward and reverse rotation. For example... Figure 4 and Figure 7 As shown, the first drive mechanism 5 includes a first driver 51 and a first drive disk 52. The first drive disk 52 is provided with a positioning part 53, including multiple first connecting holes 531 and first positioning holes 532, which cooperate with the mating part on the first winding disk 21 to achieve a detachable connection. The first driver 51 can be a motor or an electric cylinder, used to drive the first winding disk 21 to rotate, thereby realizing the unwinding and rewinding of the first rope 22.

[0030] The second drive mechanism 6 is connected to the second winding disc 31 and is used to drive its forward and reverse rotation. The structure of the second drive mechanism 6 can be the same as that of the first drive mechanism 5, or it can take other forms, as long as it can drive the second winding disc 31.

[0031] The second elastic element 36 is disposed on the second winding reel 31. When the tension on the first rope 22 and the second rope 32 is greater than the winding force of the elastic element 36, the two ropes automatically unwind; when the tension is less than the winding force, they automatically wind up. This can prevent the ropes from tangling, reduce the user's operating burden, save energy, and protect the drive mechanism.

[0032] Both the first rope 22 and the second rope 32 are elongated structures, each with a fixed end and an outgoing end. The first rope 22 is made of a flexible material (such as nylon or cotton), while the second rope 32 is made of metal (such as metal sheet or wire), and its stiffness is greater than that of the first rope 22, providing support. The outgoing end of the second rope 32 is bonded or welded to the first rope 22, preferably located in the middle of the first rope 22 to ensure stability.

[0033] The locking mechanism is located at the outward end of the first rope 22 and includes a U-shaped buckle for connecting to the pet's collar or clothing cover. The buckle is preferably made of metal, which is strong and creates a space between it and the pet lock connector, allowing the pet to move freely.

[0034] The telescopic rope loop 4 is fitted over the outside of the winding ends of the first rope 22 and the second rope 32, serving both protective and aesthetic purposes. One end of the telescopic rope loop 4 is fixed within the guide groove 134 at the cable outlet 133, and the other end is connected to the winding end of the first rope 22, exposing the locking head. The open end of the telescopic rope loop 4 has a rigid edge that engages with the locking groove of the guide groove 134, facilitating extension and retraction while preventing complete pull-out.

[0035] The cable guide structure 7 includes a first guide wheel 71, a second guide wheel 72, and a third guide wheel 73. These three are arranged in a triangle to guide the first rope 22 and the second rope 32 smoothly in and out. Figure 3 , Figure 6 and Figure 8 As shown, the first guide wheel 71 is positioned near the cable outlet 133, forming a clamping area between itself and the second winding reel 31, clamping both sides of the first rope 22 to tension it and make it fit snugly against the second rope 32. The second guide wheel 72 and the third guide wheel 73 are located between the first guide wheel 71 and the first winding reel 21, further tensioning the rope and preventing internal tangling.

[0036] Specifically, the first drive mechanism 5 serves as the drive component, providing power output. The first winding reel 21, mounted on the rotating part of the first drive mechanism 5, rotates synchronously with the first drive mechanism 5, thereby releasing or retrieving the rope wound on it. A first elastic element, fixedly mounted inside the first winding reel 21, compresses and generates a rebound force when the first winding reel 21 rotates in the release direction, providing initial tension to the rope and assisting in rapid retrieval. The rope is wound around the first winding reel 21 to connect to an external load, and traction or release is achieved through the forward and reverse rotation of the winding reel. A force sensor detects the tension on the rope in real time and sends the detected tension signal to the controller. The controller is electrically connected to the force sensor and the first drive mechanism, receiving the tension signal from the force sensor and making intelligent judgments and controls based on the current tension value.

[0037] Specifically, during operation, the controller continuously monitors changes in rope tension. When the detected tension value is greater than a preset first tension value but less than a preset second tension value, the controller determines that the current tension is within the range requiring active adjustment. It then sends a rotation signal to the first drive mechanism, controlling it to rotate in the retraction direction and applying a first torque. The controller dynamically adjusts the torque output by the motor based on the tension signal, ensuring that the difference between the current tension value and the first torque is less than a preset tension difference. This achieves closed-loop control of the rope tension, ensuring smooth system operation and constant traction.

[0038] The intelligent leash control device is used in pet leash equipment, such as intelligent dog walkers or automatic leash collars, to achieve intelligent guidance and safe control of pet movement behavior.

[0039] In this application scenario, one end of the rope is connected to the pet's traction kit (such as a leash or collar), and the other end is wound around the first winding reel 21. Through the coordinated work of the controller and the force sensor, the pulling force on the pet is sensed in real time.

[0040] When the pet attempts to run quickly or suddenly breaks free, the tension on the leash increases rapidly. A force sensor detects this tension signal and sends it to the controller. If the controller determines that the current tension value is greater than a preset first tension value but less than a preset second tension value, it determines that the pet is in a normal but controlled traction state. At this time, the controller sends a rotation signal to the first drive mechanism 5, controlling it to rotate in the retraction direction and outputting a corresponding first torque to apply a moderate reverse traction force to the pet, preventing it from escaping the control range.

[0041] Meanwhile, the controller dynamically adjusts the force based on the difference between the tension value corresponding to the tension signal and the target torque, ensuring that the difference is always less than the preset tension difference. This maintains the stability of the traction process, avoids excessive pulling damage to the pet, and improves user comfort and safety.

[0042] In addition, when the pet does not actively pull the leash, the first elastic element can provide a certain initial tension to keep the leash slightly taut, so that the system can quickly respond to changes in the pet's movement.

[0043] It is understood that the parameters, dimensions, and other information of components such as the first drive mechanism 5, the first winding disc 21, and the first elastic element can be set according to actual needs, and are not specifically limited in the embodiments of this specification.

[0044] The force sensor can be installed in the first drive mechanism 5 (such as a motor). It determines the magnitude of the pet's pulling force based on the motor's rotational torque; that is, the force sensor is a torque sensor capable of detecting changes in torque on the motor's output shaft. When the pet pulls the leash, this pulling force is converted into rotational resistance on the winding reel (connected to the motor's rotating part), causing the motor to apply additional torque to maintain the intended motion or overcome this resistance. The controller inside the motor can read the data provided by the torque sensor in real time and calculate the current pulling force value acting on the leash based on this data. This pulling force value is then sent to the controller connected to it, allowing the controller to perform control based on this pulling force value.

[0045] For intelligent traction control devices, especially in pet leash scenarios, this approach not only simplifies the device structure but also provides a more reliable tension monitoring function. For example, if a pet attempts to run suddenly while being walked, the motor can increase its output torque to counteract this tension. Simultaneously, a built-in torque sensor sends a signal to the controller, allowing the controller to adjust the motor's actions in a timely manner to maintain an appropriate traction force and avoid causing discomfort or danger to the pet.

[0046] In a preferred embodiment of the present invention, the intelligent traction control device further includes a second drive mechanism 6 and a second winding disc 31 to realize multi-degree-of-freedom control or dual-point traction function of the traction system, thereby improving the stability and maneuverability of the traction process.

[0047] Specifically, the second drive mechanism 6 serves as an auxiliary drive component, working in conjunction with the first drive mechanism 5 or operating independently to provide additional power output. The second winding reel 31 is mounted on the rotating part of the second drive mechanism 6. When the second drive mechanism 6 starts and rotates, it drives the second winding reel 31 to rotate synchronously, thereby enabling the release or retrieval of the second rope 32.

[0048] Accordingly, the rope may include two independent ropes, namely a first rope 22 and a second rope 32. The first rope 22 is wound around the first winding reel 21 and is used to perform the main traction or release action; the second rope 32 is wound around the second winding reel 21 and can cooperate with the first rope 22 for balanced traction, or can be independently controlled to achieve traction adjustment in a specific direction.

[0049] By employing a dual-motor, dual-winding-reel structure, the system can independently control the rotation direction, speed, and output torque of the two winding reels according to actual application requirements. This enables various complex control strategies, such as left-right balanced traction, angle guidance, and emergency correction. For example, in a pet leash application scenario, if the pet veers to one side, the controller can independently adjust the motor output corresponding to the second winding reel to apply reverse traction, guiding the pet back to the predetermined path.

[0050] Furthermore, this structure enhances the system's redundancy and fault tolerance. Even if one motor or winding reel fails, the other winding system can still maintain basic traction functionality to some extent, improving the overall safety and reliability of the equipment.

[0051] Compared with existing technologies, the intelligent traction control device provided by this invention achieves multi-point coordinated control of the traction object by setting two motors to drive the first winding reel and the second winding reel respectively. By adopting a dual-motor structure, the two motors can share the traction load, thereby avoiding stalling or overheating caused by excessive load on a single motor. Simultaneously, the reasonable distribution of the load between the two motors helps reduce component wear, extend equipment lifespan, and improve the overall system stability and durability. Furthermore, this structure has the advantage of redundancy design; even if one motor fails, the other motor can still maintain basic traction function, effectively preventing traction loss of control and ensuring safety and reliability during use.

[0052] In a preferred embodiment of the present invention, the device further includes a second elastic element 36, which is fixedly disposed inside the second winding reel 31. When the second winding reel rotates in the release direction, the second elastic element is stretched or twisted and stores elastic potential energy, thereby providing a rebound force to the winding reel after the rope is released or when the motor retrieval action is initiated, causing the second winding reel to automatically reset or assisting in the retrieval of the rope.

[0053] By incorporating a second elastic element 36 in the second winding reel 31, the device can maintain a certain basic tension when the rope is in a non-active traction state, preventing the rope from loosening, tangling, or knotting, thereby improving the stability and reliability of the overall traction process. Furthermore, in applications requiring dual-motor coordinated control, the first and second winding reels are each equipped with a coil spring structure, which helps achieve symmetrical and consistent control of the two traction channels, further enhancing the system's dynamic response capability and traction accuracy.

[0054] In a preferred embodiment of the present invention, the intelligent traction control device further includes a length sensor disposed at an appropriate position on the rope path and communicating with the controller to detect in real time the extension length of the rope released from the winding reel. The length sensor converts the measured length information into a length signal and sends it to the controller for precise management of the traction process by the control system.

[0055] Accordingly, the controller is configured to determine whether the actual extended length of the rope exceeds a set safety range after receiving a length signal from the length sensor. Specifically, when the controller detects that the length value is greater than a preset first length threshold and less than a preset second length threshold, it determines that the rope is in a state range where release needs to be restricted. At this time, the controller will send a control command to the first drive mechanism 5 and / or the second drive mechanism 6 to stop them from rotating in the release direction, thereby preventing the rope from being pulled out without restriction.

[0056] The preset first length threshold serves as a warning value for traction control, indicating that the rope is approaching its maximum safe extension length; while the preset second length threshold represents the maximum allowable release length of the rope. By setting this dynamic control range, the system can adopt different response strategies at different stages. For example, when the first threshold is reached, the release speed can be slowed down, and when the second threshold is reached, the release can be completely stopped and the retrieval mechanism can be activated.

[0057] It should be noted that the length sensor can be installed near the first or second winding reel, close to the starting point of the rope winding. If a rotary encoder is used, it can be directly mounted on the motor shaft or winding reel shaft, and the rope extension length can be calculated by monitoring the rotation angle of the shaft.

[0058] Specifically, length sensors can also be installed at a fixed point along the rope path. For example, a draw-wire displacement sensor determines the extended length by detecting the displacement of the rope. Alternatively, a photoelectric switch / grating ruler counts pulses by blocking light as the rope passes through, indirectly measuring length changes.

[0059] Through the above structure, the present invention realizes intelligent monitoring and automatic limiting of rope extension length, effectively avoiding the risk of loss of control caused by the traction object moving away from the control area, improving the safety and controllability of equipment use, and is especially suitable for intelligent traction scenarios that require remote or unmanned operation.

[0060] In a preferred embodiment of the present invention, the controller is not only used to dynamically adjust the traction process based on the tension signal, but also combines the rope extension length information provided by the length sensor to achieve more accurate and safer multi-condition linkage control.

[0061] Specifically, when the controller receives a length signal from the length sensor corresponding to a rope extension length value greater than a preset second length threshold, and at the same time the force sensor detects a force signal corresponding to a tension value greater than a preset second tension value and less than a preset third tension value, the controller determines that the current traction state has entered a high-risk area: that is, the pet has moved a certain distance away from the intelligent traction control device and applied a large tension, but has not yet reached the critical point of emergency braking.

[0062] In this situation, to prevent the pet from drifting further away and to prevent loss of control, the controller simultaneously sends rotation signals to the first and second drive mechanisms, controlling the two motors to rotate synchronously in the retrieval direction and jointly output a set second torque. This second torque is determined according to preset system parameters and is designed to provide sufficient retrieval power to effectively guide the pet back to a safe area.

[0063] Furthermore, the controller is also configured to ensure that the difference between the tension value corresponding to the tension signal and the second torque is less than a preset tension difference, thereby realizing closed-loop feedback control of the traction force, keeping the traction process smooth and gentle, and avoiding discomfort to the pet or overload of the equipment due to excessive tension.

[0064] The preset second pulling force value is greater than the preset first pulling force value, indicating that the traction control at this stage belongs to a higher pulling force response level, which is usually used to deal with pets’ more violent struggles or situations that exceed their normal activity range.

[0065] Through the above control strategy, the present invention realizes a multi-level intelligent recognition and response mechanism for the behavior of the traction object, which not only improves the safety and stability of the system, but also prevents pets from suffocating or dying due to excessive pulling force.

[0066] In a preferred embodiment of the present invention, the controller is not only connected to the first and second drive mechanisms, but also establishes a communication connection with an external robotic device. This robot can be a mobile service robot, a pet companion robot, or an automated traction platform, or other device with autonomous mobility.

[0067] When the controller receives a length signal from the length sensor indicating that the rope extension length is greater than a preset second length threshold, and at the same time the force sensor detects a force signal indicating that the force value is greater than a preset third force value, the controller determines that the current traction object (such as a pet) is exhibiting strong struggle behavior or has moved a considerable distance away, and the force has exceeded the safety control range, thus entering a high-risk state.

[0068] In this situation, to effectively control the traction object and prevent it from spiraling out of control, the controller simultaneously sends rotation signals to the first drive mechanism, the second drive mechanism, and the robot. Specifically: The first and second drive mechanisms are controlled to rotate synchronously along the recovery direction to provide active recovery traction force. Send a braking control command to the robot to immediately stop its movement and enter a braking state, thereby enhancing the overall traction stability of the system; The first and second drive mechanisms work together in conjunction with the robot's braking action, and the three together apply a set third torque to form a stronger reverse traction force.

[0069] Furthermore, the controller is also configured to ensure that the difference between the tension value corresponding to the tension signal and the third torque is less than the preset tension difference, thereby realizing closed-loop feedback control of the traction process, making the actual traction force closer to the target value, avoiding excessive traction force causing discomfort to the pet or overload of the equipment, and also preventing insufficient traction force from causing control failure.

[0070] When the controller detects that the rope's extension exceeds a preset second length threshold and the tension value corresponding to the tension signal is greater than a preset third tension value, it can simultaneously send control commands to the first drive mechanism, the second drive mechanism, and the robot. This multi-device linkage mechanism not only improves the response speed of the traction system but also effectively enhances the control over the traction object. Especially when the pet violently struggles or moves away from the device, it can promptly take braking and retraction measures to prevent loss of control. Furthermore, the controller is configured to ensure that the difference between the tension value corresponding to the tension signal and the third torque is less than a preset tension difference, thus forming a closed-loop feedback control mechanism. This mechanism guarantees the smoothness and controllability of the traction process, avoiding discomfort to the pet or overload damage to the traction device due to excessive fluctuations in traction force, further improving safety and comfort during use.

[0071] On the other hand, this application provides an intelligent traction control method, such as... Figure 11 As shown, the method is applied in the above-mentioned intelligent traction control, and the method includes: 102. Receive the tension signal sent by the force sensor, the tension signal being used to characterize the tension on the rope.

[0072] Specifically, the controller is configured to receive a tension signal from a force sensor, which characterizes the actual tension value experienced by the rope during use. The force sensor is located at key stress points in the traction system, such as the connection between the rope and the winding reel or the traction end, and can sense changes in the external traction force applied to the rope in real time, converting this physical quantity into an electrical tension signal output.

[0073] By receiving and analyzing the tension signal, the controller can dynamically acquire load information under the current traction state, thereby determining the behavioral intentions and force conditions of the traction object (such as a pet). For example, when a pet suddenly accelerates, the tension on the rope increases rapidly. After detecting this change, the force sensor immediately sends a corresponding tension signal back to the controller. Based on this, the controller executes a preset response strategy, such as controlling the motor to retract the rope or adjusting the output torque, to achieve intelligent control of the traction process.

[0074] 104. Determine whether the tension value corresponding to the tension signal is greater than a preset first tension value and less than a preset second tension value; 106. If the tension value corresponding to the tension signal is greater than a preset first tension value and less than a preset second tension value, a rotation signal is sent to the first drive mechanism to control the first drive mechanism to rotate in the retraction direction and apply a first torque. The difference between the tension value corresponding to the tension signal and the first torque is less than a preset tension difference.

[0075] Specifically, after receiving the tension signal from the force sensor, the controller further performs intelligent judgment and response control of the traction state. Specifically, the controller is configured to determine whether the tension value corresponding to the tension signal is greater than a preset first tension value and less than a preset second tension value.

[0076] The preset first pulling force value is a lower threshold set by the traction system to identify whether the traction object is pulling. The preset second pulling force value is an upper threshold to define the safe range of traction force. When the controller determines that the current pulling force value is within this range, it indicates that the traction object (such as a pet) is pulling moderately, but it is still within a controllable range. Emergency braking is not required, but traction force adjustment is necessary to maintain traction stability and safety.

[0077] When the above judgment conditions are met, the controller sends a rotation signal to the first drive mechanism, controlling it to rotate in the retraction direction and outputting a corresponding first torque. This first torque is dynamically adjusted according to the currently detected tension value, so that the difference between the tension value corresponding to the tension signal and the first torque is less than a preset tension difference value, thereby realizing closed-loop feedback control of traction force and ensuring that the traction process is smooth, gentle and effective.

[0078] This invention enables real-time response and precise adjustment to changes in tension during traction, which not only improves the system's intelligence and user experience, but also effectively prevents equipment malfunction or traction discomfort caused by excessive or insufficient tension.

[0079] Based on the above embodiments, in one embodiment of this specification, such as Figure 12 As shown, the controller is also connected to a length sensor; Before determining whether the tension value corresponding to the tension signal is greater than a preset first tension value, the method further includes: 202. Receive the length signal, representing the extended length of the rope, sent by the length sensor; Specifically, before performing the tension judgment, the controller first receives a length signal from the length sensor. This length signal characterizes the length of the rope extended from the winding spool, reflecting the range of motion of the leash (such as a pet) relative to the leash.

[0080] 204. Determine whether the rope extension length corresponding to the length signal is greater than a preset first length threshold; Specifically, the controller analyzes the received length signal and determines whether the actual extension length of the rope exceeds a preset first length threshold. Wherein: The preset first length threshold is a safe distance reference value set by the system, used to determine whether the towing object has moved far enough away to require intervention; If the rope extends beyond this threshold, it indicates that the object being pulled may have exceeded the safe range of movement and there is a risk of loss of control.

[0081] 206. If the rope extension length corresponding to the length signal is greater than a preset first length threshold, a stop rotation command is sent to the first drive mechanism to stop rotating in the release direction, so that the first drive mechanism stops rotating in the release direction.

[0082] When the controller determines that the current rope extension length is greater than the preset first length threshold, in order to prevent the traction object from moving further away and to avoid excessive tension, the controller sends a stop rotation command to the first drive mechanism to stop rotating in the release direction.

[0083] In response to the command, the first drive mechanism will immediately stop releasing the rope, thereby limiting the further extension of the rope and providing initial limiting protection.

[0084] By introducing a linkage control mechanism between the length sensor and the controller, this invention achieves multi-level safety assurance during the traction process. Performing length judgment before force determination effectively prevents excessive pulling caused by the traction object moving too far away, enhancing the device's active protection capabilities. It also avoids unnecessary motor operation, extends equipment lifespan, and improves the stability and safety of traction control.

[0085] Based on the above embodiments, in one embodiment of this specification, such as Figure 13 As shown, the controller is also connected to a second drive mechanism, and the rotating part of the second drive mechanism abuts against the second winding reel on which the rope is wound. The method further includes: 302. Determine whether the rope extension length corresponding to the length signal is greater than a preset second length threshold, wherein the preset second length threshold is greater than the preset first length threshold; Specifically, after completing the initial length determination (such as determining whether it is greater than a preset first length threshold), the controller further determines whether the current rope extension length is greater than a preset second length threshold.

[0086] If the preset second length threshold is greater than the preset first length threshold, it indicates that the towing object has moved far away and entered a high-risk area; this judgment is used to identify whether there is a possibility that the towing object has escaped the control range.

[0087] If the controller determines that the current rope extension length is less than or equal to the preset second length threshold, it will continue to execute other traction control procedures. If the judgment result is greater than the preset second length threshold, proceed to the next step and make a comprehensive judgment by combining the tension signal.

[0088] 304. If the rope extension length corresponding to the length signal is greater than a preset second length threshold, determine whether the tension value corresponding to the tension signal is greater than a preset second tension value and less than a preset third tension value; Specifically, after confirming that the rope has extended a considerable distance, the controller further receives tension signals from the force sensor and determines whether the corresponding tension value falls within a specific range: If the pulling force value is greater than the preset second pulling force value and less than the preset third pulling force value, it indicates that the traction object (such as a pet) has not only moved away from the intelligent traction control device, but also applied a large pulling force, but is still within the controllable range; this range is set as a higher pulling force response level to trigger higher-level traction intervention measures.

[0089] If the tension value does not fall within this range, subsequent high-intensity traction control actions will not be executed to prevent malfunctions.

[0090] 306. If the tension value corresponding to the tension signal is greater than a preset second tension value and less than a preset third tension value, then a rotation signal is sent to the first drive mechanism and the second drive mechanism simultaneously to control the first drive mechanism and the second drive mechanism to rotate synchronously along the retraction direction, so that the first drive mechanism and the second drive mechanism jointly apply a second torque, and the difference between the tension value corresponding to the tension signal and the second torque is less than a preset tension difference value.

[0091] Specifically, when both of the above conditions are met, the controller simultaneously sends rotation signals to the first and second drive mechanisms, controlling the two motors to rotate synchronously in the recovery direction. The first and second drive mechanisms drive the first and second winding reels respectively, working together on the rope to form a stronger recovery traction force. Through the coordinated operation of the two motors, the system can provide higher recovery efficiency and stability without significantly increasing the load on a single motor.

[0092] Through this closed-loop feedback mechanism, the system can ensure a smooth and gentle traction process, avoiding discomfort to the traction object or overload of the equipment due to excessive traction force, while also preventing control failure due to insufficient traction force.

[0093] Based on the above embodiments, in one embodiment of this specification, such as Figure 14 As shown, the controller is also connected to the robot; If the rope extension length corresponding to the length signal is greater than a preset second length threshold, the method further includes: 402. Determine whether the tension value corresponding to the tension signal is greater than a preset third tension value; Specifically, after completing the initial tension and length judgment process, the controller further analyzes the received tension signal to determine whether the corresponding tension value is greater than a preset third tension value. The preset third tension value is the highest tension response threshold set by the system, typically indicating that the traction object (such as a pet) is violently struggling; this judgment is used to identify whether there is any behavior that may cause equipment overload, loss of traction control, or safety risks. If the controller determines that the current tension value is less than or equal to the preset third tension value, it continues to execute other conventional traction control procedures; if the judgment result is greater than the preset third tension value, it proceeds to the next step, initiating a higher-level traction intervention mechanism.

[0094] 404. If the tension value corresponding to the tension signal is greater than the preset third tension value, then a rotation signal is sent to the first drive mechanism, the second drive mechanism and the robot at the same time to control the first drive mechanism and the second drive mechanism to rotate synchronously along the recovery direction, and to control the robot to brake, so that the first drive mechanism, the second drive mechanism and the robot jointly apply the third torque, and the difference between the tension value corresponding to the tension signal and the third torque is less than the preset tension difference value.

[0095] Specifically, when it is confirmed that the pulling force has exceeded the safety threshold, the controller simultaneously sends rotation signals or control commands to the first drive mechanism, the second drive mechanism, and the external robot equipment: controlling the first drive mechanism and the second drive mechanism to rotate synchronously along the recovery direction to quickly recover the rope and apply traction; at the same time, it sends a braking control command to the robot to immediately stop moving and enter the braking state, thereby enhancing the stability of the overall system.

[0096] This linkage control mechanism ensures that the system can react quickly when extreme tension is applied to the towing object, preventing the towing object from moving further away or becoming out of control.

[0097] Under the control of the controller, the first drive mechanism, the second drive mechanism, and the robot output the set third torque. The braking resistance of the three works together to form a stronger reverse traction force.

[0098] It should be noted that the third torque is dynamically adjusted based on the current tension value, ensuring that the difference between the tension value corresponding to the tension signal and the third torque is less than a preset tension difference. By introducing a three-level judgment mechanism for tension signals and achieving coordinated control of the first drive mechanism, the second drive mechanism, and the robot under the highest level of tension, this invention effectively addresses extreme traction behavior.

[0099] On the other hand, such as Figure 15 As shown, this application provides an electronic device, including: Memory; Processor; and Computer programs; The computer program is stored in the memory and configured to be executed by the processor to implement the method described above.

[0100] On the other hand, this application provides a computer-readable storage medium having a computer program stored thereon; the computer program is executed by a processor to implement the method described above.

[0101] Those skilled in the art will understand that embodiments of this application can be provided as methods or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code. The solutions in the embodiments of this application can be implemented in various computer languages, such as C, VHDL, Verilog, the object-oriented programming language Java, and the interpreted scripting language JavaScript.

[0102] This application is described with reference to flowchart illustrations and / or block diagrams of methods and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0103] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0104] These computer program instructions can also be loaded onto a computer or other programmable data processing equipment, such as Figure 9 As shown, this causes a series of operational steps to be performed on a computer or other programmable device to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable device for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0105] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0106] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0107] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0108] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0109] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. An intelligent traction control device, characterized in that, The device includes: First drive mechanism; The first winding reel is disposed in the rotating part of the first driving mechanism so as to drive the first winding reel to rotate synchronously when the first driving mechanism rotates. The first elastic element is fixedly disposed inside the first winding reel to provide a rebound force when the first winding reel rotates in the release direction; The rope is wound around the first winding spool; A force sensor is used to detect the tension force on the rope; The controller, connected to the force sensor and the first drive mechanism, is used to receive the tension signal sent by the force sensor in real time, and when the tension value corresponding to the tension signal is greater than a preset first tension value and less than a preset second tension value, it sends a rotation signal to the first drive mechanism to control the first drive mechanism to rotate in the retraction direction and apply a first torque, wherein the difference between the tension value corresponding to the tension signal and the first torque is less than a preset tension difference. The device further includes: Second drive mechanism; The second winding disk is disposed in the rotating part of the second driving mechanism so that when the second driving mechanism rotates, it drives the second winding disk to rotate synchronously. The rope includes: a first rope and a second rope, wherein the first rope is wound on the first winding spool; and the second rope is wound on the second winding spool.

2. The intelligent traction control device according to claim 1, characterized in that, The device further includes a second elastic element, fixedly disposed inside the second winding reel, to provide a restoring force when the second winding reel rotates in the release direction.

3. The intelligent traction control device according to claim 1, characterized in that, The device further includes a length sensor connected to the controller for detecting the extended length of the rope; Accordingly, the controller is also configured to control the first drive mechanism and / or the second drive mechanism to stop rotating in the release direction when the length value corresponding to the length signal sent by the length sensor is greater than a preset first length threshold and less than a preset second length threshold.

4. The intelligent traction control device according to claim 3, characterized in that, The controller is further configured to send rotation signals to the first drive mechanism and the second drive mechanism simultaneously when the length value corresponding to the length signal sent by the length sensor is greater than a preset second length threshold, and the tension value corresponding to the tension signal is greater than the preset second tension value and less than a preset third tension value, so as to control the first drive mechanism and the second drive mechanism to rotate synchronously along the retraction direction and jointly apply a second torque, wherein the difference between the tension value corresponding to the tension signal and the second torque is less than a preset tension difference. Wherein, the preset second tension value is greater than the preset first tension value.

5. The intelligent traction control device according to claim 3 or 4, characterized in that, The controller is connected to the robot; The controller is further configured to simultaneously send rotation signals to the first drive mechanism, the second drive mechanism, and the robot when the length value corresponding to the length signal received from the length sensor is greater than a preset second length threshold and the tension value corresponding to the tension signal is greater than a preset third tension value, so as to control the first drive mechanism and the second drive mechanism to rotate synchronously along the recovery direction and control the robot to brake, so that the first drive mechanism, the second drive mechanism, and the robot jointly apply a third torque, and the difference between the tension value corresponding to the tension signal and the third torque is less than a preset tension difference value.

6. An intelligent traction control method, characterized in that, The intelligent traction control method is applied in the controller of the intelligent traction control device according to any one of claims 1 to 5, wherein the controller is connected to a first drive mechanism and a force sensor, and the rotating part of the first drive mechanism abuts against a first winding reel for winding the rope, and the method includes: Receive the tension signal sent by the force sensor, the tension signal being used to characterize the tension acting on the rope; Determine whether the tension value corresponding to the tension signal is greater than a preset first tension value and less than a preset second tension value; If the tension value corresponding to the tension signal is greater than a preset first tension value and less than a preset second tension value, a rotation signal is sent to the first drive mechanism to control the first drive mechanism to rotate in the retraction direction and apply a first torque. The difference between the tension value corresponding to the tension signal and the first torque is less than a preset tension difference.

7. The intelligent traction control method according to claim 6, characterized in that, The controller is also connected to a length sensor; Before determining whether the tension value corresponding to the tension signal is greater than a preset first tension value, the method further includes: Receive the length signal, representing the extended length of the rope, sent by the length sensor; Determine whether the rope extension length corresponding to the length signal is greater than a preset first length threshold; If the rope extension length corresponding to the length signal is greater than a preset first length threshold, a stop rotation command is sent to the first drive mechanism to stop rotating in the release direction, so that the first drive mechanism stops rotating in the release direction.

8. The intelligent traction control method according to claim 7, characterized in that, The controller is also connected to a second drive mechanism, the rotating part of which abuts against a second winding reel on which the rope is wound. The method further includes: Determine whether the rope extension length corresponding to the length signal is greater than a preset second length threshold, wherein the preset second length threshold is greater than the preset first length threshold; If the rope extension length corresponding to the length signal is greater than a preset second length threshold, determine whether the tension value corresponding to the tension signal is greater than a preset second tension value and less than a preset third tension value; If the tension value corresponding to the tension signal is greater than a preset second tension value and less than a preset third tension value, then a rotation signal is sent to the first drive mechanism and the second drive mechanism simultaneously to control the first drive mechanism and the second drive mechanism to rotate synchronously along the retraction direction, so that the first drive mechanism and the second drive mechanism jointly apply a second torque, and the difference between the tension value corresponding to the tension signal and the second torque is less than a preset tension difference.

9. The intelligent traction control method according to claim 8, characterized in that, The controller is also connected to the robot; If the rope extension length corresponding to the length signal is greater than a preset second length threshold, the method further includes: Determine whether the tension value corresponding to the tension signal is greater than a preset third tension value; If the tension value corresponding to the tension signal is greater than the preset third tension value, then a rotation signal is sent to the first drive mechanism, the second drive mechanism, and the robot simultaneously to control the first drive mechanism and the second drive mechanism to rotate synchronously along the recovery direction, and to control the robot to brake, so that the first drive mechanism, the second drive mechanism, and the robot jointly apply a third torque, and the difference between the tension value corresponding to the tension signal and the third torque is less than the preset tension difference value.

10. An electronic device, characterized in that, include: Memory; processor; as well as Computer programs; The computer program is stored in the memory and configured to be executed by the processor to implement the method as described in any one of claims 6-9.

11. A computer-readable storage medium, characterized in that, It stores a computer program thereon; the computer program is executed by a processor to implement the method as described in any one of claims 6-9.

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