Method for preventing robot from falling and slipping, and robot

Abstract

Disclosed in the present invention are a method for preventing a robot from falling and slipping, and a robot. The method comprises the steps of: S1, detecting the pose of a robot; S2, determining whether the pose of the robot is a correct pose; and S3, detecting whether the horizontal pose of the robot is abnormal, wherein if the horizontal pose is normal, step S1 is executed, and if the horizontal pose is abnormal, a slipping determination step is executed; and detecting whether the vertical pose of the robot is abnormal, wherein if the vertical pose is normal, step S1 is executed, and if the vertical pose is abnormal, a falling determination step is executed. In the present invention, by means of the method for preventing falling and slipping, the problem of a risk caused by a robot falling and slipping is avoided.

Description

Method and robot for preventing robot from falling and sliding TECHNICAL FIELD

[0001] The present application relates to the field of robot technology, in particular to the field of robot for preventing falling and sliding. BACKGROUND

[0002] In the prior art, during the use of a robot on a table top or ground, if the weight is not enough or the frictional force with the panel is not enough, the robot is prone to falling or sliding. Taking a rehabilitation robot as an example, the rehabilitation robot generally uses an electric suction cup or a common suction cup to fix on a table top or ground, but if the suction cup leaks and causes unstable fixation, the robot device is prone to falling or sliding, which may cause injury to a person and damage to the robot device.

[0003] Therefore, it is necessary to detect the state of the robot device during operation to prevent the robot device from falling or sliding. SUMMARY

[0004] Therefore, the present application aims to provide a robot for preventing falling and sliding.

[0005] To achieve the above-mentioned purpose, the present application provides a method for preventing a robot from falling and sliding, which comprises the following steps:

[0006] S1, detecting a posture of the robot;

[0007] S2, judging whether the posture of the robot is correct;

[0008] S3, detecting whether the horizontal posture of the robot is abnormal, if not, executing step S1, and if yes, executing a sliding confirmation step;

[0009] detecting whether the vertical posture of the robot is abnormal, if not, executing step S1, and if yes, executing a falling confirmation step.

[0010] Optionally, in the step S1, the posture of the robot is detected by a posture sensor.

[0011] Optionally, in the step S2, whether the posture of the robot is correct is judged, if yes, executing step S3, and if not, executing step S1 and executing an action of issuing a prompt information.

[0012] Optionally, in the step S2, the correct posture is a pre-set posture.

[0013] Optionally, the correct posture is to horizontally place the robot.

[0014] Optionally, in the step S3, the confirming sliding step is: judging whether the fixing state of the fixing component of the robot is normal, if yes, executing the action of issuing a reminding information; if no, executing the action of detecting whether the horizontal posture of the robot is abnormal in the step S3, and executing the action of reinforcing the fixing of the robot by the fixing component.

[0015] Optionally, in the step S3, the confirming falling step is: judging whether the acceleration of the robot exceeds a threshold, if no, executing the action of issuing a reminding information; if yes, executing the action of judging whether the fixing state of the fixing component of the robot is normal.

[0016] Optionally, judging whether the fixing state of the fixing component of the robot is normal comprises: if yes, executing the action of issuing a reminding information; if no, executing the action of stopping the running of the robot, and executing the action of issuing an emergency information.

[0017] Optionally, the action of issuing a reminding information comprises: issuing a reminding information through the buzzer of the robot and / or issuing a reminding information through a communication terminal.

[0018] Optionally, the action of issuing an emergency information comprises: issuing an emergency information through the buzzer of the robot and / or issuing an emergency information through a communication terminal.

[0019] Optionally, the fixing component is a suction cup, and the fixing state is a suction cup suction state, and the action of reinforcing the fixing of the robot by the fixing component is the action of fixing the suction cup by a gas pump of the suction cup.

[0020] Optionally, in the step S3, the action of detecting whether the horizontal posture of the robot is abnormal and the action of detecting whether the vertical posture of the robot is abnormal are performed simultaneously; or the action of detecting whether the horizontal posture of the robot is abnormal is performed first, and then the action of detecting whether the vertical posture of the robot is abnormal is performed; or the action of detecting whether the vertical posture of the robot is abnormal is performed first, and then the action of detecting whether the horizontal posture of the robot is abnormal is performed.

[0021] The application further provides a robot, which is controlled by the robot anti-falling and sliding method.

[0022] Compared with the prior art, the application has the following beneficial effects:

[0023] The robot anti-falling and sliding method provided by the application can effectively judge whether the robot is in a sliding and / or falling state through the air pressure sensor and the posture sensor, and can avoid false alarms caused by errors of the sensors and risks. Meanwhile, the double-sensor detection and the reminding information can avoid false alarms caused by errors of a single sensor and excessive alarms and risks. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to make the technical solutions of the embodiments of the present application or the prior art clearer, the accompanying drawings needed in the embodiments or prior art description will be briefly introduced. Obviously, the accompanying drawings in the following description only need to be some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort.

[0025] Fig. 1 is a structural schematic diagram of the robot of the present application;

[0026] Fig. 2 is an assembly schematic diagram of the robot of the present application;

[0027] Fig. 3 is a method schematic diagram of the robot of the present application for preventing falling and sliding;

[0028] Fig. 4 is a posture schematic diagram of the present application. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without any creative effort are within the scope of protection of the present application.

[0030] Fig. 1 shows a structural schematic diagram of the robot of the present application. Taking a rehabilitation robot as an example, as shown in Fig. 1, the robot 100 comprises an application module, a body 110 and a fixing assembly 120. The body 110 is connected with the fixing assembly 120. Optionally, the fixing assembly 120 is arranged below the body 110, and is used for fixing the robot 100 on a table top, a bed surface or a ground surface. Preferably, the fixing assembly 120 is a suction cup. The body 110 is connected with the application module. The application module is replaceable, and can be replaced according to different rehabilitation requirements. A uniform end interface is arranged on the application module, so as to realize quick detachable connection with the body 110. Optionally, the application module is a handle, an arm support, a rope or a foot pedal, etc. Therefore, a user can realize different rehabilitation actions by replacing different application modules.

[0031] Figure 2 shows the schematic diagram of the assembly structure of the application. As shown in Figure 2, the robot 100 further comprises: an air pressure sensor 103, a posture sensor 105, an air pump 107, a sound reminding device 109, a transmission device 102, a communication module 104, a power supply and a controller 101. The controller 101 is connected with the air pressure sensor 103, the posture sensor 105, the air pump 107, the sound reminding device 109, the transmission device 102, the communication module 104 and the power supply respectively. The power supply is used to provide power for the robot. The air pressure sensor 103 and the air pump 107 are arranged on the suction cup. The posture sensor 105, the sound reminding device 109, the transmission device 102, the communication module 104, the power supply and the controller 101 are arranged on the body 110. The transmission device 102 is used to transmit power to the application module, so as to drive the application module to work. The posture sensor 105 is a six-axis gyroscope. Optionally, the communication module 104 is a wireless communication module or a Bluetooth communication module, which is used to connect the robot with a communication terminal of a user. The communication terminal is any one of a mobile phone, a tablet computer, a notebook computer, a smart watch or a smart bracelet. An APP which is in communication connection with the robot is installed on the communication terminal.

[0032] Figure 3 shows the schematic diagram of the method for preventing the robot from falling and sliding according to the application. The method is applied to the robot 100 described above. As shown in Figure 3, the method comprises the following steps:

[0033] S1, detecting the posture of the robot 100;

[0034] S2, judging whether the posture of the robot 100 is in a correct posture;

[0035] S3, detecting whether the horizontal posture of the robot is abnormal. If not, step S1 is executed. If yes, a sliding confirmation step is executed.

[0036] detecting whether the vertical posture of the robot is abnormal. If not, step S1 is executed. If yes, a falling confirmation step is executed.

[0037] Optionally, in the step S1, the posture of the robot is detected by the posture sensor 105.

[0038] Optionally, in the step S2, whether the posture of the robot is in a correct posture is judged. If yes, step S3 is executed. If not, step S1 is executed and a reminding information sending action is performed. Optionally, the correct posture is a pre-set posture. For example, Figure 4 shows that the correct posture is horizontal placement, and the incorrect postures are vertical, inclined and inverted placement. Of course, the correct posture is pre-set according to the rehabilitation action, and the pre-set correct posture may be different for different rehabilitation actions.

[0039] With reference back to FIG. 3, in the step S3, the confirming sliding step is to determine whether the fixing state of the fixing component of the robot is normal, if yes, execute the action of sending a prompt information; if no, execute the action of detecting whether the horizontal posture of the robot is abnormal in the step S3, and execute the action of reinforcing the fixing component to fix the robot. Specifically, the fixing component is a suction cup, the fixing state is a suction cup suction state, and the fixing component reinforcing the fixing of the robot is that the air pump 107 fixes the suction cup, that is, the air pump 107 provides negative pressure, and the robot is fixed by the suction cup and the ground, table or bed surface. Whether the fixing state of the fixing component of the robot is normal is determined by whether the air pressure of the suction cup is normal through the air pressure sensor 103. In the above step, if the fixing state of the fixing component of the robot is normal, the action of sending a prompt information is executed, which can efficiently eliminate false alarms caused by sensor errors, and further includes the subsequent step of confirming whether the horizontal posture of the robot is abnormal, specifically, the user manually confirms whether the robot is in a sliding state, if no, manually closes the button on the robot to close the prompt information, or closes the prompt information through APP operation, thereby realizing manual confirmation, ensuring the correctness of the judgment, and avoiding risks.

[0040] In the step S3, the confirming falling step is to determine whether the acceleration of the robot exceeds a threshold, if no, execute the action of sending a prompt information; if yes, execute the action of determining whether the fixing state of the fixing component of the robot is normal. Optionally, determining whether the fixing state of the fixing component of the robot is normal includes: if yes, executing the action of sending a prompt information; if no, executing the action of stopping the robot from running, and executing the action of sending an emergency information. In this step, the action of sending a prompt information can efficiently eliminate false alarms caused by sensor errors, and further includes the subsequent step of confirming whether the horizontal posture of the robot is abnormal, specifically, the user manually confirms whether the robot is in a sliding state, if no, manually closes the button on the robot to close the prompt information, or closes the prompt information through APP operation, thereby realizing manual confirmation, ensuring the correctness of the judgment, and avoiding risks. In addition, the emergency information can be distinguished from the prompt information, or can not be distinguished. Preferably, the emergency information is distinguished from the prompt information, for example, the sound of the emergency information is more urgent and sharp, and the sound of the prompt information is relatively soothing, thereby marking different levels of risks, and facilitating the user to determine. The acceleration is obtained through the posture sensor.

[0041] Optionally, the sending of the reminding information comprises sending the reminding information through the sound reminding device 109 of the robot and / or sending the reminding information through the communication module 104. Optionally, the sending of the emergency information comprises sending the emergency information through the sound reminding device 109 of the robot and / or sending the emergency information through the communication module 104. The sound reminding device 109 is a buzzer. The communication module 104 can send information to the communication terminal of the user.

[0042] Optionally, in the step S3, the detection of whether the horizontal posture of the robot is abnormal and the detection of whether the vertical posture of the robot is abnormal are performed simultaneously, or the detection of whether the horizontal posture of the robot is abnormal is performed first and then the detection of whether the vertical posture of the robot is abnormal is performed, or the detection of whether the vertical posture of the robot is abnormal is performed first and then the detection of whether the horizontal posture of the robot is abnormal is performed.

[0043] In the above method, the logical operation is realized by the controller 101 in the robot.

[0044] The robot anti-falling and sliding method provided by the application can effectively determine whether the robot is in a sliding and / or falling state through the air pressure sensor 103 and the posture sensor 105, and can avoid false alarms caused by errors of the sensors, thereby avoiding risks.

[0045] The above description of disclosed embodiments enables a person skilled in the art to implement or use the application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the application. Therefore, the application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method of robot fall and slip prevention, characterized by, The method comprises steps of: S1, detecting a robot posture; S2, judging whether the posture of the robot is correct; S3, detecting whether the horizontal posture of the robot is abnormal, if not, executing step S1; if yes, executing a confirmation sliding step; detecting whether the vertical posture of the robot is abnormal, if not, executing step S1; if yes, executing a confirmation falling step.

2. The method of robot anti-falling and slipping according to claim 1, wherein, In the step S1, the posture of the robot is detected by a posture sensor.

3. The method of robot anti-falling and slipping according to claim 2, wherein, In the step S2, whether the posture of the robot is correct is judged, if yes, executing step S3; if not, executing step S1 and executing an action of sending a prompt information.

4. The method of robot anti-falling and slipping according to claim 1, wherein, In the step S2, the correct posture is a pre-set posture.

5. The method of robot anti-falling and slipping according to claim 4, wherein, The correct posture is to horizontally place the robot.

6. The method of robot anti-falling and slipping according to claim 1, wherein, In the step S3, the confirmation sliding step is to judge whether the fixing state of a fixing component of the robot is normal, if yes, executing an action of sending a prompt information; if not, executing the action of detecting whether the horizontal posture of the robot is abnormal in the step S3 and executing an action of reinforcing the fixing of the robot by the fixing component.

7. The method of robot anti-falling and slipping according to claim 1, wherein, In the step S3, the confirmation falling step is to judge whether the acceleration of the robot exceeds a threshold, if not, executing an action of sending a prompt information; if yes, executing an action of judging whether the fixing state of a fixing component of the robot is normal.

8. The method of robot anti-falling and slipping according to claim 7, wherein, The action of judging whether the fixing state of the fixing component of the robot is normal comprises: if yes, executing an action of sending a prompt information; if not, executing an action of stopping the running of the robot and executing an action of sending an emergency information.

9. The method of robot fall and slip prevention according to any of claims 3, 6-8, characterized in that, The action of sending a prompt information comprises sending a prompt information by a buzzer of the robot and / or sending a prompt information by a communication terminal.

10. The method of robot anti-falling and slipping according to claim 8, wherein, The action of sending an emergency information comprises sending an emergency information by a buzzer of the robot and / or sending an emergency information by a communication terminal.

11. The method of robot anti-falling and slipping according to claim 6, wherein, The fixing component is a suction cup, the fixing state is a suction state of the suction cup, and the action of reinforcing the fixing of the robot by the fixing component is to fix the suction cup by a gas pump of the suction cup.

12. The method of robot anti-falling and slipping according to claim 1, wherein, In the step S3, the action of detecting whether the horizontal posture of the robot is abnormal and the action of detecting whether the vertical posture of the robot is abnormal are performed simultaneously; or the action of detecting whether the horizontal posture of the robot is abnormal is performed first, and then the action of detecting whether the vertical posture of the robot is abnormal is performed; or the action of detecting whether the vertical posture of the robot is abnormal is performed first, and then the action of detecting whether the horizontal posture of the robot is abnormal is performed.

13. A robot, characterized in that The robot is controlled by the method for preventing the robot from falling and sliding according to any one of claims 1-12.

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