A detective ball landing impact acceleration discrimination and self-protection system

Abstract

The application relates to the technical field of intelligent sensing systems, and discloses a self-protection system for judging the landing impact acceleration of a detective ball. The system collects three-axis acceleration and angular velocity, and judges the impact level according to the free-fall state, the acceleration peak value, the duration, the impact direction and the angular velocity mutation. During the throwing stage, the duty cycle of the motor drive is reduced, and the front image is locked. When the landing impact reaches the threshold value, the motor drive is turned off by bypassing the main control program, the auxiliary sensing power supply is controlled according to the impact level, and the main control and image buffer power supply are maintained. After the impact is eliminated, the system determines the stable judgment window and the driving test parameters according to the cumulative impact load, restores the high-definition detection and walking after stable confirmation, main control self-checking and small-current test, and re-locks the drive shutdown in an abnormal state, so that the impact judgment reliability is improved, the damage risk of the driver and the mainboard is reduced, and the service life of the detective ball is prolonged.

Description

Technical Field

[0001] This invention relates to the field of intelligent sensing system technology, and in particular to a detection ball impact acceleration discrimination and self-protection system. Background Technology

[0002] A reconnaissance ball is a mobile reconnaissance device capable of entering indoor spaces, tunnels, ruins, and narrow areas by throwing, and collecting on-site information using imaging equipment, auxiliary sensors, and wireless communication units. During missions, the reconnaissance ball typically endures multiple throws, landings, tumbling, and collisions. The impact of landing is transmitted through the ball's shell and wheels to the motor driver, main control board, imaging equipment, and memory. Upon landing, the motor may experience reverse rotation of the wheels or momentary jamming, potentially generating significant back electromotive force and drive current, subjecting the motor driver and DC bus to additional electrical shocks. Existing reconnaissance balls typically utilize elastic shells, buffer pads, and internal support structures to absorb landing energy, or determine whether the device has been impacted based on a single acceleration value.

[0003] The existing technologies mentioned above and related technologies have the following drawbacks: Existing detection methods for landing impact of reconnaissance balls typically rely solely on comparing the output value of the accelerometer with a fixed threshold. It is difficult to combine the free fall phase, the peak value of the instantaneous acceleration upon landing, the impact direction, the change in angular velocity, and the impact duration to accurately distinguish landing impacts from walking vibrations, rolling collisions, and attitude rollovers. This can easily lead to missed, misjudged, or delayed judgments of impact events, resulting in the inability to obtain reliable landing impact acceleration discrimination results in a timely manner. Consequently, it cannot provide accurate triggering basis for reconnaissance ball drive power cutoff, equipment protection, and impact status recording. Summary of the Invention

[0004] The technical problem to be solved by the present invention is that the existing technology relies solely on a fixed threshold for acceleration to detect the landing of a reconnaissance ball. Due to the lack of integration of multi-dimensional features, it confuses the impact with interference such as walking, rolling, and flipping, resulting in missed judgments and delays, which makes it difficult to provide a reliable basis for protection triggering. To this end, we propose a reconnaissance ball landing impact acceleration discrimination and self-protection system.

[0005] To achieve the above objectives, this application adopts the following technical solution: a detection ball landing impact acceleration discrimination and self-protection system, comprising: an impact state acquisition module for acquiring triaxial acceleration and angular velocity and writing them into a buffer; a throwing prediction protection module for reducing the motor drive duty cycle and locking the front image when the resultant acceleration is lower than the free fall judgment value and the angular velocity increment reaches the rotation judgment value; a hardware power-off latch module for bypassing the main control program and latching the motor drive enable terminal power-off level when the resultant acceleration reaches the first impact threshold; and an impact grading discrimination module for determining first-level or second-level impacts based on peak value, duration, direction, and angular velocity mutation, maintaining auxiliary sensing power supply during first-level impacts. During a level 2 impact, the auxiliary sensing power supply is cut off; during a level 2 impact, the main control and image buffer power supply is maintained. A continuous image storage module stores previous images and low-power recordings. A lifespan load feedback module updates the cumulative impact load based on the impact level, peak over-limit ratio, and impact duration, and increases the number of stability discrimination windows, reduces the drive test current, and prohibits walking recovery according to the load range. A stable state confirmation module generates a recovery signal when acceleration and angular velocity fluctuations continuously meet the conditions. A progressive recovery control module performs main control self-checks, releases the power-off latch, performs small-current drive testing, high-definition detection recovery, and walking recovery; when the test current reaches the protection current value, it re-latches the drive and shuts it off.

[0006] Preferably, the throwing prediction and protection module establishes an acceleration discrimination window and an angular velocity discrimination window that are consistent at the start and end times, and calculates the mean value of the resultant acceleration, the slope of the resultant acceleration descent, and the increment of the angular velocity. When the mean value of the resultant acceleration is lower than the free fall judgment value, the slope of the resultant acceleration descent reaches the descent judgment value, and the increment of the angular velocity reaches the rotation judgment value, a first-level pre-protection signal is generated, and the motor drive duty cycle is reduced. The predicted landing direction is determined based on the gravity direction and the integral result of the angular velocity before throwing. When the predicted landing direction points to the side where the wheel-mounted inertial measurement unit is installed, a second-level pre-protection signal is generated, the motor commutation is stopped, and the image loop buffer is locked.

[0007] Preferably, the impact grading discrimination module extracts the resultant acceleration peak value, peak duration, impact main direction, and angular velocity mutation from the sampled data before and after the hardware interruption; when the resultant acceleration peak value reaches the first impact threshold but is lower than the second impact threshold, the peak duration is lower than the continuous impact judgment value, and the angular velocity mutation is lower than the rollover judgment value, it is judged as a first-level impact; when the resultant acceleration peak value reaches the second impact threshold, the peak duration reaches the continuous impact judgment value, or the angular velocity mutation reaches the rollover judgment value, it is judged as a second-level impact; when the angle between the predicted landing direction and the impact main direction exceeds the direction consistency limit and the current result is a first-level impact, the current result is upgraded to a second-level impact and the attitude mismatch indicator is recorded.

[0008] Preferably, the hardware power-off latch module includes an impact comparison circuit, a drive latch circuit, and a bus power-off circuit. The impact comparison circuit receives the acceleration output from the wheel-mounted inertial measurement unit and synchronously triggers the main control interrupt input and the drive latch circuit when the first impact threshold is reached. The drive latch circuit sets the motor drive enable terminal to the off level before the software classification result and switches the motor phase line to a high-impedance state. The bus power-off circuit connects the DC bus and the power-off branch after the drive is turned off, and disconnects the power-off branch after the DC bus voltage drops to a safe voltage value. The drive latch circuit releases the off level only after receiving the recovery signal and the test permission signal.

[0009] Preferably, the image continuous storage module is set up with an image buffer power supply branch independent of the motor drive power supply branch; when a pre-protection signal is generated, the coverage pointer of the loop buffer is frozen; when a hardware interrupt occurs, the image device is switched from high-definition image transmission state to low-power local recording state, and the pre-buffer frame, impact stage frame and recovery stage frame are written sequentially with the interrupt time as the boundary; after high-definition image transmission is restored, the impact level, impact main direction, cumulative impact load and recovery result are written to the same image event file, so that the image event file and the impact log use the same event sequence number.

[0010] Preferably, the life load feedback module multiplies the ratio of the peak acceleration to the first impact threshold, the ratio of the peak duration to the reference impact duration, and the impact level coefficient to generate a single impact load; the single impact load is written into the corresponding directional load area according to the main impact direction, and accumulated to form a cumulative impact load; when secondary impacts occur consecutively in the same directional load area, the directional concentration coefficient is increased, and the cumulative impact load is corrected using the directional concentration coefficient, so that impacts that frequently act on the same installation side are given priority to enter the protection upgrade state.

[0011] Preferably, the life load feedback module divides the cumulative impact load into a normal zone, a derating zone, and a maintenance zone; when in the normal zone, the number of basic stability discrimination windows and the basic drive test current are used; when entering the derating zone, the number of stability discrimination windows is increased, the drive test current is reduced, and the second impact threshold is lowered; when entering the maintenance zone, the main control and image buffer power supply is maintained, the drive latch is prohibited from being released, and a maintenance mark is output; after the component replacement is completed and the static calibration and low-speed travel calibration are passed, the load zone in the corresponding direction is reset according to the new calibration results, and the historical impact log is retained.

[0012] Preferably, the stable state confirmation module divides the sampled data after the impact into continuous stability discrimination windows, and calculates the mean value of the resultant acceleration, the fluctuation of the resultant acceleration, the mean value of the angular velocity, and the fluctuation of the angular velocity respectively; a gravity stability range is formed based on the static gravity reference value and the upper limit of gravity deviation; a recovery signal is generated only when the mean value of the resultant acceleration is within the gravity stability range, the fluctuation of the resultant acceleration is lower than the acceleration stability limit, the mean value of the angular velocity is lower than the rotational stability limit, and the fluctuation of the angular velocity is lower than the angular velocity stability limit within the continuous stability discrimination window; if any stability discrimination window does not meet the corresponding conditions, the accumulated number of windows is cleared, and the required number of windows is re-determined based on the accumulated impact load.

[0013] Preferably, after receiving the recovery signal, the progressive recovery control module detects the main control power supply voltage, storage read / write status, wheel-mounted inertial measurement unit communication status, and DC bus voltage. If all are passed, a self-test pass signal is generated. The drive test current and the number of test pulses are determined based on the cumulative impact load. The drive latch is released and test pulses are output to the motor. When the test current is lower than the protection current value and the wheel angular acceleration reaches the rotation response value, high-definition detection is restored and the walking command is enabled again. If any condition is not met, the drive is latched again and shut down, low-power recording is maintained, and failed items are recorded.

[0014] Preferably, the system further includes a consistency verification module, which reconstructs the software impact peak based on the triaxial acceleration in the cyclic buffer and compares it with the first impact threshold that triggers hardware power-off latching. When the software impact peak reaches the first impact threshold and a hardware interrupt exists, the impact event is confirmed to be valid. When the software impact peak does not reach the first impact threshold but a hardware interrupt exists, a hardware false trigger flag is recorded. When the software impact peak reaches the first impact threshold but a hardware interrupt is missing, a hardware missed trigger flag is recorded. When a hardware false trigger flag or a hardware missed trigger flag appears, walking recovery is prohibited, and the image event file and original sampling data are retained.

[0015] The technical effects and advantages of this invention are as follows: This invention constructs an intelligent sensing system within the detection ball, comprising impact state acquisition, throwing prediction protection, impact grading discrimination, hardware power-off latching, continuous image storage, lifespan load feedback, stable state confirmation, and progressive recovery control. This system continuously acquires triaxial acceleration and angular velocity, and combines this with free fall state, peak resultant acceleration, peak duration, impact main direction, and angular velocity mutation for comprehensive discrimination. This effectively distinguishes between real landing impacts and walking vibrations, rolling collisions, and attitude rollovers, reducing missed detections, false detections, and response lags caused by fixed threshold detection. During the throwing phase, the system pre-reduces the motor drive duty cycle and locks the preceding image, bypassing the main control program lock when the landing acceleration reaches the first impact threshold. The system shuts down the motor drive, allowing different auxiliary sensing power supply states to correspond to different impact levels, while maintaining power supply to the main control and image buffers. This shortens the protection response time and prevents the loss of critical reconnaissance data due to power failure. After the impact, the system updates the cumulative impact load based on the impact level, peak over-limit ratio, and impact duration. Based on this, it adjusts the number of stability discrimination windows, drive test current, and walking recovery permissions. After acceleration and angular velocity stabilize continuously, the system performs main control self-check, low-current test, high-definition reconnaissance recovery, and walking recovery. If the test is abnormal, the drive shutdown is re-locked, thereby improving the reliability of landing impact discrimination. This provides accurate triggering basis for drive power failure, component protection, impact recording, and life management under frequent throwing conditions, extending the safe service life of the reconnaissance ball. Attached Figure Description

[0016] The disclosure of this invention is illustrated with reference to the accompanying drawings. It should be understood that the drawings are for illustrative purposes only and are not intended to limit the scope of protection of this invention. In the drawings, the same reference numerals are used to refer to the same parts:

[0017] Figure 1 This is an overall architecture diagram of a detection ball landing impact acceleration discrimination and self-protection system according to the present invention; Figure 2 This is a flowchart of the throwing prediction and impact classification of a reconnaissance ball landing impact acceleration discrimination and self-protection system according to the present invention; Figure 3 This is a schematic diagram of the hardware power-off latch and busbar power-off circuit connection of a detection ball landing impact acceleration discrimination and self-protection system according to the present invention; Figure 4 This is a schematic diagram of the graded power supply and continuous image storage structure of a reconnaissance ball landing impact acceleration discrimination and self-protection system according to the present invention; Figure 5 This is a flowchart of the impact life load feedback of a detection ball landing impact acceleration discrimination and self-protection system according to the present invention; Figure 6 This is a flowchart of a stability state confirmation system for a detection ball landing impact acceleration discrimination and self-protection system according to the present invention; Figure 7 This is a flowchart of the progressive recovery control of the landing impact acceleration discrimination and self-protection system of a reconnaissance ball according to the present invention; Figure 8 This is a flowchart illustrating the consistency verification process between the impact acceleration determination of a landing ball and the self-protection system according to the present invention. Detailed Implementation

[0018] It is readily understood that, based on the technical solution of this invention, those skilled in the art can propose various interchangeable structural methods and implementations without altering the essential spirit of the invention. Therefore, the following detailed embodiments and accompanying drawings are merely illustrative examples of the technical solution of this invention and should not be considered as the entirety of the invention or as limitations or restrictions on the technical solution of this invention.

[0019] Reference Figure 1 As shown, this invention provides a technical solution: a reconnaissance ball landing impact acceleration discrimination and self-protection system, including an impact state acquisition module, a throwing prediction and protection module, an impact grading discrimination module, a hardware power-off latching module, an image continuous storage module, a lifespan load feedback module, a stable state confirmation module, and a progressive recovery control module. This system is organically coupled from multiple functional modules, forming a complete closed loop from state perception, pre-judgment, instantaneous hardware protection, to post-event grading assessment, lifespan management, stability confirmation, and progressive recovery. The reconnaissance ball internally houses a main controller, a wheel-mounted inertial measurement unit, a motor driver, a drive motor, an image device, an image storage device, an auxiliary sensing unit, and a power distribution circuit. The wheel-mounted inertial measurement unit is located on the wheel support frame, axle mounting base, or at a position fixed to the impact transmission direction of the wheel, ensuring its installation coordinate system maintains a defined relationship with the reconnaissance ball's coordinate system. The power distribution circuit supplies power from the main power supply to the motor drive power supply branch, the auxiliary sensing power supply branch, the main control power supply branch, and the image buffer power supply branch. The motor drive power supply branch connects to the motor driver; the auxiliary sensing power supply branch connects to the lighting, ranging, environmental detection, and auxiliary positioning components; the main control power supply branch connects to the main controller and the inertial measurement unit; and the image buffer power supply branch connects to the image equipment, image memory, and image continuous storage module.

[0020] The main controller is equipped with an impact state acquisition module, a throwing prediction and protection module, an impact grading discrimination module, an image continuous storage module, a life load feedback module, a stable state confirmation module, a progressive recovery control module, and a discrimination consistency verification module. The hardware power-off latch module is located between the impact output terminal of the wheel-mounted inertial measurement unit and the enable terminal of the motor driver, and its triggering process does not require software judgment by the main control program.

[0021] The information sensing source of this system is the impact state acquisition module. This module relies on a wheel-mounted inertial measurement unit fixed to the reconnaissance ball's wheel or frame structure to continuously acquire the reconnaissance ball's acceleration and angular velocity data in three-dimensional space at a fixed high-frequency sampling rate. These sensor data streams are not only directly fed to the hardware comparison circuit requiring real-time response, but are also continuously written into a first-in-first-out (FIFO) data buffer. This buffer's function is to continuously record the complete sensing history within the most recent time window, thus providing the necessary backtracking analysis basis for the throwing prediction and protection module and the impact grading discrimination module.

[0022] Reference Figure 1 and Figure 2 As shown, the throwing prediction and impact classification process includes triaxial acceleration and angular velocity acquisition, free fall state determination, rotation state determination, generation of primary and secondary pre-protection signals, hardware impact moment latching, impact feature extraction, and output of primary and secondary impact results.

[0023] The core task of the pre-launch protection module is to identify the critical "launching" state in advance during the brief flight period from when the reconnaissance ball is launched by the user until it hits the ground, and to execute preventative protective actions. Its working principle is explained in detail with the accompanying diagram. This module does not simply rely on a single threshold; instead, it establishes an acceleration discrimination window and an angular velocity discrimination window for analysis, with the start and end times of these two windows strictly synchronized. Within each analysis cycle, the module extracts data from the buffer within each window, calculates the arithmetic mean of the combined acceleration, the descent slope reflecting the acceleration trend, and the relative increment of the angular velocity. When the calculation results show that the mean of the combined acceleration has fallen below the preset free-fall threshold, the descent slope of the combined acceleration has reached the set descent threshold, and the increment of the angular velocity has exceeded the rotation threshold—when all three conditions are met simultaneously—the system determines that the reconnaissance ball is in an unsupported, rotating descent state. At this point, a Level 1 pre-protection signal is immediately generated. In response to this signal, the system performs two key operations: First, it forcibly lowers the duty cycle of the pulse-width modulation signal used to drive the walking motor to an extremely low level, even zero, so that the motor is in a state of no torque or low torque output at the moment of landing, thereby avoiding stall current surges or damage to the drive circuit caused by the speed difference between the wheels and the ground. Second, it locks the circular buffer responsible for image recording, preventing new data from overwriting old data, thus firmly preserving the scene image just before the throw, which is crucial for understanding the initial environment of the mission.

[0024] In a preferred embodiment, the throwing prediction protection module also integrates intelligent prediction capabilities for the landing direction. It acquires the reference direction calibrated by the gravity vector just moments before the throw, and combines this with the rotational attitude change derived from the integration of angular velocity data to calculate the predicted landing direction. If this predicted direction points precisely to the physical mounting side of the wheel-mounted inertial measurement unit, it indicates that the stress from the impact may be directly transmitted to the sensors and critical circuit boards via structural components, resulting in a higher risk level. At this point, the system generates a higher-level secondary pre-protection signal. This signal not only triggers the aforementioned reduction of duty cycle and locking of buffer, but also further instructs the motor driver to stop a phase switching operation, placing the motor windings in a completely unexcited free state to achieve maximum electrical protection and ensure the absolute safety of previously locked image data.

[0025] Reference Figure 1 and Figure 3 As shown, the hardware power-off latch and bus power-off circuit is formed by connecting the wheel-load inertial measurement unit, the impact threshold comparison circuit, the drive latch circuit, the motor driver, the motor three-phase bridge, the bus voltage detection unit and the bus power-off circuit. The impact trigger signal can be synchronously sent to the main control interrupt input terminal and the drive latch circuit.

[0026] When the reconnaissance ball actually impacts the ground, the instantaneous high-g impact acceleration is immediately captured and responded to by the hardware interrupt latch module. This module is designed for extreme response speed and includes an impact comparison circuit. At its core is a high-speed voltage comparator, whose input is directly connected to the analog acceleration output signal of the wheel-mounted inertial measurement unit, and whose other input is connected to a precision reference voltage source representing the first impact threshold. Once the voltage corresponding to the actual acceleration signal exceeds this reference, the comparator output immediately flips, generating a hardware interrupt signal. This signal splits into two paths: one path goes to the external interrupt pin of the main control chip to wake up the main control program and enter the impact processing flow; the other path directly acts on the drive latch circuit, which consists of logic gates or D-type flip-flops with latching functions. This circuit can bypass any running or potentially stuck program logic, forcibly pulling the enable pin of the motor drive chip to the off state within microseconds, while simultaneously putting all the upper and lower bridge arm switches of the motor's three-phase bridge arm into the off state, i.e., switching to a high-impedance state. This approach ensures that the motor's power source is cut off before the software intervenes in the classification judgment. To ensure complete safety, the module also includes a bus de-energizing circuit. After the drive is turned off, this circuit switches an array of energy-dissipating resistors to the DC bus via a switching transistor, rapidly discharging the residual charge stored in the motor driver bus capacitor until the bus voltage drops below a safe value. Only then is the de-energizing circuit disconnected, preventing any accidental drive caused by residual capacitor energy. The drive latch circuit maintains its state once triggered. It is only unlocked and the enable terminal's control is released in subsequent processes after simultaneously receiving a recovery signal and a trial permission signal from the progressive recovery control module.

[0027] After the hardware protection action is completed, the impact grading and discrimination module is responsible for a refined post-evaluation of the impact event. This module extracts characteristic parameters of the impact event from continuous sampling data before and after the hardware interrupt trigger moment, specifically including the absolute peak value of the resultant acceleration, the duration of the peak value above a high threshold, the principal direction vector of the impact, and the abrupt change in angular velocity. The judgment logic of this module is a decision tree structure. When all the analytical characteristics of an impact event show that: the peak value of the resultant acceleration reaches and exceeds the first impact threshold, but has not yet reached the set higher second impact threshold; the duration of the peak value is lower than the preset sustained impact judgment value; and the abrupt change in angular velocity is less than the rollover judgment value, the impact is judged as a Level 1 impact. This is a relatively concentrated but controllable single impact. If the peak value of the resultant acceleration reaches the more severe second impact threshold, the duration of the peak value exceeds the sustained impact judgment value, or the abrupt change in angular velocity reaches the rollover judgment value that characterizes rollover, and any one of these three conditions is met, it is judged as a Level 2 impact. This is a severe impact that may cause structural damage.

[0028] Level 1 and Level 2 impacts trigger different power supply management strategies. When a Level 1 impact is detected, the system executes a "maintain core, hibernate auxiliary" strategy, ensuring uninterrupted power supply to the main control unit and image buffer while maintaining power for peripheral sensing devices (such as gas sensors and microphone arrays) that may be needed for subsequent tasks. When a Level 2 impact is detected, the system executes a "maintain core only" strategy, cutting off power to these auxiliary sensing devices while maintaining power to the main control unit and image buffer, concentrating all energy reserves on the most fundamental functions.

[0029] The system calculates the angle between the predicted landing direction calculated during the throw prediction phase and the main impact direction obtained from the impact grading discrimination module. If the angle exceeds a preset directional consistency limit, it indicates that the actual impact attitude is significantly different from the expected one. This usually means that the equipment experienced unpredictable tumbling upon landing or underwent complex secondary collisions on irregular terrain such as slopes or rubble piles. In this case, even if the preliminary conclusion based on other characteristic parameters is a Level 1 impact, the discrimination result will be forcibly upgraded to a Level 2 impact, and an "attitude mismatch flag" will be recorded in the system log for subsequent fault analysis and data backtracking.

[0030] Reference Figure 1 and Figure 4 As shown, the graded power supply and continuous image storage structure includes a motor drive power supply branch, an auxiliary sensing power supply branch, a main control power supply branch, and an image buffer power supply branch. The impact grading judgment result controls the on / off state of the corresponding power supply branch. The image circular buffer sequentially stores the pre-buffered frame, the impact stage frame, and the recovery stage frame.

[0031] The preservation of image data is maintained throughout the entire impact process and is handled by the continuous image storage module. This module is designed with an image buffer power supply branch that is physically and logically independent of the motor drive power supply branch. This ensures that even if the motor drive section suffers the most severe impact or even a circuit break, the image system can still complete the final write operation using energy storage capacitors or backup power. When the throw prediction protection module issues any level of pre-protection signal, the image module immediately freezes the overlay pointer of the circular buffer, causing the pointer to stop moving, thus permanently saving the "pre-throw image" at the moment of throw. Immediately afterwards, when the impact comparison circuit triggers a hardware interrupt, the image sensor's operating mode seamlessly switches from normal high-definition image transmission to lower-power local recording. At this time, the image data stream is neatly divided into three parts and written to the storage medium in sequence: first, the frozen pre-throw buffer frames are written in blocks; then, the impact phase frames, including the moment of impact and the subsequent violent tumbling phase, are recorded continuously; and finally, the recovery phase frames are recorded after the reconnaissance ball has come to a stop. Once the system has fully booted up and re-established the high-definition image transmission link, all key information about the impact event, including the impact level, main direction of impact, cumulative impact load, and final recovery result, is not recorded in a separate log file. Instead, it is encapsulated as metadata and written to the same image event file, allowing this image file and the internal impact log to share a unique event number. This provides a complete, one-to-one audio, video, and data record for subsequent task review.

[0032] Reference Figure 1 and Figure 5 As shown, the impact life load feedback process reads the combined acceleration peak value, peak duration, impact level and main impact direction, calculates the single impact load and writes it into the corresponding directional load zone, corrects the cumulative impact load according to the directional concentration factor, and then outputs the corresponding protection parameters according to the normal zone, derating zone and maintenance zone.

[0033] The impact resistance of equipment is not unlimited; each impact leaves irreversible micro-fatigue damage on the structure and components. The life load feedback module is designed to quantify and manage this cumulative damage. Once an impact event is successfully classified, the module considers three factors to generate a single impact load: first, the proportion of the peak resultant acceleration exceeding the first impact threshold, reflecting the degree of impact intensity; second, the ratio of the peak duration to a set baseline impact duration, reflecting the duration of the impact energy; and third, the weighting coefficient corresponding to the impact level. The product of these three factors is the single impact load for that impact. This load is not a general global cumulative value, but rather it is classified according to the main impact direction and accumulated in a specific direction within a corresponding directional load zone. Through this zonal accumulation, the system can identify whether the equipment has specific weak points due to design, counterweight, or throwing habits. For example, if secondary impacts are frequently recorded in the load area facing the motor mounting side, the concentration factor in one direction will dynamically increase. This factor is used as a weighting factor to correct the cumulative impact load in that direction, allowing impacts frequently acting on the same side to accelerate the overall damage assessment value, thereby triggering protection upgrades earlier. This mechanism simulates the accelerated evolution of actual physical damage under repeated stress at the same point.

[0034] Based on the cumulative impact load value, the system divides its health status into three progressive zones: normal zone, derating zone, and maintenance zone. When the cumulative impact load is in the normal low-level zone, system performance is not limited in any way, and a basic number of stability judgment windows and a standard basic drive probe current are used in the subsequent stability confirmation and recovery process. When the cumulative impact load accumulates into the derating zone, the system automatically enters a "sick operation" mode: the number of consecutive windows used to confirm the stable state is required to increase, making the stability judgment more cautious; at the same time, during subsequent recovery, the drive probe current supplied to the motor is reduced, and the second impact threshold used to determine the secondary impact is also reduced accordingly, making the system more sensitive to the next impact and providing more stringent protection. When the cumulative impact load reaches the highest maintenance zone, the system determines that the equipment is close to its safe service life limit. At this time, the system adopts the most conservative strategy: maintaining basic power supply to the main control processor and image buffer for remotely uploading the final diagnostic data, but permanently prohibiting the release of the drive latch circuit, and outputting a clear "maintenance mark" to the rear control console, informing the operator that the equipment cannot be used again without factory repair. After maintenance personnel complete the replacement of structural components or motor repair in the specified direction, they can use a special calibration process, such as having the equipment stand still on a plane and perform a specific low-speed walking action. The system will reset the cumulative value of the load area in the corresponding direction to zero according to the new calibration parameters, but all historical impact log data will still be completely retained for subsequent traceability.

[0035] Reference Figure 1 and Figure 6 As shown, the steady-state confirmation process divides the sampled data after the impact into continuous stability discrimination windows, and sequentially judges whether the mean value of the resultant acceleration, the fluctuation of the resultant acceleration, the mean value of the angular velocity, and the fluctuation of the angular velocity meet the stability conditions. The required number of windows is determined in combination with the cumulative impact load, and a recovery signal is output when the cumulative number of windows reaches the required number.

[0036] After the impact, the reconnaissance ball returns to calm after the initial commotion. The responsibility of the stabilization confirmation module is to accurately determine this moment and initiate recovery. This module divides the sampled data stream after the impact interruption into a series of continuous stability discrimination windows of preset lengths without overlap. Within each window, the system calculates the mean resultant acceleration, the fluctuation of resultant acceleration, the mean angular velocity, and the fluctuation of angular velocity. A key gravity stability range is calculated, centered on the local static gravity reference value, by adding and subtracting a preset upper limit for gravity deviation. For a window to be considered "stable," it must simultaneously meet four conditions: the mean resultant acceleration falls within the gravity stability range; the fluctuation of resultant acceleration is below the acceleration stability limit; the mean angular velocity is below the rotational stability limit; and the fluctuation of angular velocity is below the angular velocity stability limit. The module continuously counts windows that consecutively meet all conditions. Only when the count of consecutively stable windows reaches the required number is a valid "recovery signal" generated. The required number of windows is not fixed, but dynamically determined by the life load feedback module based on the current cumulative impact load range. If any window fails to meet any of the four conditions mentioned above during the counting process, all accumulated window counts are immediately cleared to zero. The system will then redetermine the required total number of windows based on the latest cumulative impact load and start a new round of steady-state assessment from scratch. This mechanism effectively prevents the equipment from being incorrectly judged as recoverable during intermittent calm periods before it has truly stabilized, avoiding secondary failures that may result from premature activation of motion control.

[0037] Reference Figure 1 and Figure 7 As shown, the gradual recovery control process detects the main control power supply voltage, storage read / write status, wheel-mounted inertial measurement unit communication status, and DC bus voltage after receiving the recovery signal. It determines the drive test current and the number of test pulses based on the cumulative impact load, and determines whether to restore high-definition reconnaissance and open the walking command based on the test current and wheel angular acceleration.

[0038] Finally, the progressive recovery control module receives the recovery signal from the stable state confirmation module and is responsible for gradually restoring the equipment to full functionality in a safe, orderly, and reversible manner. The recovery process is broken down into several interconnected stages. The first stage is a complete system health self-check. The module checks one by one whether the power supply voltage of each main controller is within the rated range, whether the read / write verification of the memory chip is normal, whether the communication link with the wheel-mounted inertial measurement unit is unobstructed and returns valid data, and the current voltage value of the DC bus, etc. Only after all the checks have been clearly passed will a "self-check pass signal" be generated internally. The second stage is a very low-power drive probe. Based on the probe current value and number of probe pulses determined by the life load feedback module for the current life range, the module sends a probe permission signal to the drive latch circuit, temporarily releasing part of the latch, and outputting a series of short test pulses with strictly limited current amplitudes to the motor windings. During this process, if the actual test current exceeds a preset protection current value, or if the wheel angular acceleration sensed by the wheel-mounted inertial measurement unit reaches the expected rotational response value, different handling paths will be taken accordingly. If the current exceeds the limit, it is considered that there may be a short circuit or stall in the drive circuit. The system immediately re-latches the drive shutdown, maintains low-power recording mode, and records the relevant failure items. Conversely, if the motor response is normal, it indicates that the drive system is basically intact and enters the next stage, that is, restoring the high-definition detection function. The camera system restarts and begins to transmit high-definition image streams back to the rear. After the operator confirms that the image is normal, the final stage is unlocked, that is, the response to walking commands is restored, and finally the operator is allowed to remotely control the movement of the detection ball. Failure in any part of this process will cause the system to directly jump to the final abnormal handling state: re-latch the drive enable, maintain low-power recording mode, and write the specific items of the detected failure into the log, waiting for further manual diagnosis.

[0039] Reference Figure 1 and Figure 8 As shown, the consistency verification process reconstructs the software impact peak value based on the triaxial acceleration in the circular buffer, and verifies the software impact peak value with the first impact threshold and the hardware interrupt status to confirm the validity of the impact event, identify hardware false triggering or hardware missed triggering, and determine whether to prohibit walking recovery.

[0040] The consistency verification module is used for self-diagnosis of the entire system's perception and judgment link. This module operates independently, retrieving raw triaxial acceleration data from the data buffer before and after the interruption, and recalculating a software impact peak using a software algorithm. This software calculation result is then compared with the first impact threshold of the hardware interrupt latch module, and the presence of the hardware interrupt flag is cross-verified. This cross-verification produces three possible results: First, the software impact peak reaches the threshold and the hardware interrupt exists, proving that the system's hardware and software work in harmony, and the impact event is confirmed valid. Second, the software impact peak reaches the threshold, but the hardware interrupt flag is missing, suggesting a possible fault in the hardware comparison circuit or interrupt line; the system records a "missed hardware trigger flag." Third, the software impact peak does not reach the threshold, but a hardware interrupt occurs, usually indicating a false trigger caused by electromagnetic interference or circuit noise; the system records a "false hardware trigger flag." If the latter two situations occur, i.e., the system is detected as inconsistent, the walking recovery command in the progressive recovery control module will be permanently disabled, regardless of whether subsequent stable state confirmation is successful. Meanwhile, the image event files related to this event, as well as the original inertial measurement unit sampling data for the complete time period before and after the triggering time, will be forcibly retained and marked as protected to prevent them from being overwritten repeatedly, so as to facilitate subsequent in-depth technical troubleshooting and root cause analysis.

[0041] When the reconnaissance ball is in normal reconnaissance and walking state, the impact state acquisition module continuously acquires triaxial acceleration and angular velocity through the wheel-mounted inertial measurement unit, writes the data with the sampling time into the circular buffer, and provides it to the hardware impact comparison path at the same time. After the reconnaissance ball is launched, the launch prediction and protection module identifies the free fall and rotation state based on the average resultant acceleration, descent slope and angular velocity increment within the same time window, reduces the motor drive duty cycle, locks the front image, and predicts the landing direction based on the gravity direction and angular velocity integral result before launch. When the predicted landing direction points to the side where the wheel-mounted inertial measurement unit is installed, the motor commutation is stopped. When the reconnaissance ball lands and the combined acceleration reaches the first impact threshold, the hardware power-off latch module does not wait for the software judgment result, but directly latches the shutdown level of the motor drive enable terminal, causing the three-phase bridge of the motor to enter a high-resistance state, and releases the remaining power of the DC bus through the bus power-off circuit; at the same time, the main controller latches the hardware interruption moment, and the impact classification judgment module extracts the peak value of the combined acceleration, the duration of the peak value, the main impact direction and the change in angular velocity from the cached data before and after the interruption, and outputs the first-level impact result or the second-level impact result based on the consistency between the predicted landing direction and the actual main impact direction, and controls the auxiliary sensing power supply according to the impact level, while maintaining the main control power supply and the image buffer power supply. The image continuous storage module writes the pre-buffered frames, impact phase frames, and recovery phase frames into the same image event file, using the hardware interruption time as the boundary, and makes them use the same event sequence number as the impact log; the life load feedback module generates a single impact load based on the impact level, peak over-limit ratio, impact duration, and main impact direction, writes it into the corresponding directional load area and updates the cumulative impact load, and then adjusts the number of stability discrimination windows, the second impact threshold, the drive test current, and the walking recovery permission according to the normal area, the derating area, and the maintenance area.

[0042] After the impact, the stabilization confirmation module continuously judges the average resultant acceleration, resultant acceleration fluctuation, average angular velocity, and angular velocity fluctuation. When the required number of stabilization windows are reached, a recovery signal is generated. The progressive recovery control module completes main control power supply, storage read / write, inertial measurement unit communication, and DC bus voltage self-check. Based on the accumulated impact load, it outputs a test pulse with a limited current. High-definition detection is restored and the walking command is enabled only when the test current is lower than the protection current value and the wheel angular acceleration reaches the rotation response value. If any condition is not met, the drive is re-latched and shut down, while low-power recording is maintained. The consistency verification module reconstructs the software impact peak value using cached data and cross-verifies it with the hardware interrupt results. When hardware mis-triggers or missed triggers are detected, walking recovery is prohibited, and the original sampling data and image event files are retained. This completes the entire process control of throwing prediction, landing discrimination, instantaneous power cut-off, tiered power supply, image preservation, lifespan feedback, stabilization confirmation, and progressive recovery.

[0043] The technical scope of this invention is not limited to the content described above. Those skilled in the art can make various modifications and variations to the above embodiments without departing from the technical concept of this invention, and all such modifications and variations should fall within the protection scope of this invention.

Claims

1. A detection ball landing impact acceleration discrimination and self-protection system, characterized in that, include: The impact state acquisition module is used to acquire triaxial acceleration and angular velocity and write them to the buffer area; The projectile prediction and protection module reduces the motor drive duty cycle and locks the front-view image when the combined acceleration is lower than the free fall threshold and the angular velocity increment reaches the rotation threshold. The hardware power-off latch module bypasses the main control program and latches the motor drive enable level when the combined acceleration reaches the first impact threshold. The impact grading and discrimination module determines whether an impact is level one or level two based on peak value, duration, direction, and angular velocity change. It maintains auxiliary sensing power supply during level one impact, cuts off auxiliary sensing power supply during level two impact, and maintains power supply to the main control and image buffer during both impacts. The image continuous storage module... The system includes: a storage module for front-view images and low-power video recordings; a life-load feedback module for updating the cumulative impact load based on the impact level, peak over-limit ratio, and impact duration, and for increasing the number of stability discrimination windows, reducing the drive test current, and prohibiting walking recovery according to the load range; a stable state confirmation module for generating a recovery signal when the acceleration fluctuation and angular velocity fluctuation continuously meet the conditions; and a progressive recovery control module for performing main control self-test, releasing the power-off latch, driving small current test, high-definition detection recovery, and walking recovery, and re-latching the drive shutdown when the test current reaches the protection current value.

2. The detection ball landing impact acceleration discrimination and self-protection system according to claim 1, characterized in that: The throwing prediction and protection module establishes an acceleration discrimination window and an angular velocity discrimination window that are consistent with the start and end times, and calculates the mean value of the resultant acceleration, the slope of the resultant acceleration decrease, and the increment of the angular velocity. When the average resultant acceleration is lower than the free fall judgment value, the slope of the resultant acceleration decreases to the descent judgment value, and the angular velocity increment reaches the rotation judgment value, a first-level pre-protection signal is generated to reduce the motor drive duty cycle; the predicted landing direction is determined based on the gravity direction and angular velocity integral results before throwing; when the predicted landing direction points to the side where the wheel-mounted inertial measurement unit is installed, a second-level pre-protection signal is generated to stop the motor commutation and lock the image loop buffer.

3. The detection ball landing impact acceleration discrimination and self-protection system according to claim 2, characterized in that: The impact grading and discrimination module extracts the resultant acceleration peak value, peak duration, impact main direction, and angular velocity mutation from the sampled data before and after the hardware interruption. When the resultant acceleration peak value reaches the first impact threshold but is lower than the second impact threshold, the peak duration is lower than the continuous impact judgment value, and the angular velocity mutation is lower than the rollover judgment value, it is judged as a first-level impact. When the resultant acceleration peak value reaches the second impact threshold, the peak duration reaches the continuous impact judgment value, or the angular velocity mutation reaches the rollover judgment value, it is judged as a second-level impact. When the angle between the predicted landing direction and the impact main direction exceeds the direction consistency limit and the current result is a first-level impact, the current result is upgraded to a second-level impact and the attitude mismatch indicator is recorded.

4. The detection ball landing impact acceleration discrimination and self-protection system according to claim 1, characterized in that: The hardware power-off latch module includes an impact comparison circuit, a drive latch circuit, and a bus power-off circuit. The impact comparison circuit receives the acceleration output from the wheel-mounted inertial measurement unit and synchronously triggers the main control interrupt input and the drive latch circuit when the first impact threshold is reached. The drive latch circuit sets the motor drive enable terminal to the off level before the software classification result and switches the motor phase line to a high-impedance state. The bus power-off circuit connects the DC bus and the power-off branch after the drive is turned off, and disconnects the power-off branch after the DC bus voltage drops to a safe voltage value. The drive latch circuit releases the off level only after receiving the recovery signal and the test permission signal.

5. The detection ball landing impact acceleration discrimination and self-protection system according to claim 1, characterized in that: The image continuous storage module is equipped with an image buffer power supply branch that is independent of the motor drive power supply branch. When generating a pre-protection signal, the overlay pointer of the circular buffer is frozen. When a hardware interrupt is generated, the image device is switched from high-definition image transmission state to low-power local recording state, and the pre-buffered frame, impact phase frame and recovery phase frame are written sequentially with the interrupt time as the boundary. After restoring high-definition image transmission, the impact level, main impact direction, cumulative impact load, and recovery results are written to the same image event file, so that the image event file and the impact log use the same event sequence number.

6. The detection and self-protection system for the impact acceleration of a detection ball upon landing according to claim 1, characterized in that: The life load feedback module multiplies the ratio of the peak acceleration to the first impact threshold, the ratio of the peak duration to the reference impact duration, and the impact level coefficient to generate a single impact load. The single impact load is written into the corresponding directional load area according to the main impact direction and accumulated to form a cumulative impact load. When secondary impacts occur consecutively in the same directional load area, the directional concentration coefficient is increased. The directional concentration coefficient is used to correct the cumulative impact load, so that impacts that frequently act on the same installation side will preferentially enter the protection upgrade state.

7. The detection ball landing impact acceleration discrimination and self-protection system according to claim 6, characterized in that: The life load feedback module divides the cumulative impact load into a normal zone, a derating zone, and a maintenance zone. When in the normal zone, the number of basic stability discrimination windows and the basic drive test current are used. When entering the derating zone, the number of stability discrimination windows is increased, the drive test current is reduced, and the second impact threshold is lowered. When entering the maintenance zone, the main control and image buffer are kept powered, the drive latch is prohibited from being released, and a maintenance mark is output. After the component replacement is completed and the static calibration and low-speed walking calibration are passed, the load zone in the corresponding direction is reset according to the new calibration results, and the historical impact log is retained.

8. The detection ball landing impact acceleration discrimination and self-protection system according to claim 1, characterized in that: The stable state confirmation module divides the sampled data after the impact into continuous stability discrimination windows, and calculates the mean value of the resultant acceleration, the fluctuation of the resultant acceleration, the mean value of the angular velocity, and the fluctuation of the angular velocity respectively. The gravity stability range is formed based on the static gravity reference value and the upper limit of gravity deviation. A recovery signal is generated only when the mean resultant acceleration is within the gravity stability range, the resultant acceleration fluctuation is lower than the acceleration stability limit, the mean angular velocity is lower than the rotational stability limit, and the angular velocity fluctuation is lower than the angular velocity stability limit within the continuous stability discrimination window. If any stability discrimination window does not meet the corresponding conditions, the accumulated number of windows is cleared, and the required number of windows is re-determined based on the accumulated impact load.

9. The detection ball landing impact acceleration discrimination and self-protection system according to claim 8, characterized in that: After receiving the recovery signal, the progressive recovery control module detects the main control power supply voltage, storage read / write status, wheel-mounted inertial measurement unit communication status, and DC bus voltage. Once all are passed, a self-test pass signal is generated. Based on the cumulative impact load, the drive test current and the number of test pulses are determined, the drive latch is released, and test pulses are output to the motor. When the test current is lower than the protection current value and the wheel angular acceleration reaches the rotation response value, high-definition detection is restored and the walking command is enabled again; if either condition is not met, the drive is latched off again, low-power recording is maintained and failed items are recorded.

10. The detection ball landing impact acceleration discrimination and self-protection system according to claim 1, characterized in that: The system also includes a consistency verification module, which reconstructs the software impact peak based on the triaxial acceleration in the circular buffer and compares it with the first impact threshold that triggers the hardware power-off latch. When the software impact peak reaches the first impact threshold and a hardware interrupt exists, the impact event is confirmed to be valid. When the software impact peak does not reach the first impact threshold but a hardware interrupt exists, a hardware false triggering flag is recorded. When the software impact peak reaches the first impact threshold but a hardware interrupt is missing, a hardware missed triggering flag is recorded. When a hardware false trigger flag or a hardware missed trigger flag appears, walking recovery is prohibited, and the image event file and original sampling data are preserved.

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