Climbing device, climbing robot, synchronous-belt abnormality determination method and storage medium

Abstract

The present application relates to the technical field of intelligent warehousing systems. Disclosed are a climbing device, a climbing robot, a synchronous-belt abnormality determination method and a storage medium. The climbing device comprises a climbing portion and a support portion, wherein the climbing portion is arranged on the support portion, and the climbing portion comprises an electric motor, a synchronous belt and a synchronous pulley; the synchronous belt is arranged on the synchronous pulley, and the electric motor is used for driving the synchronous pulley to rotate, so as to drive the synchronous belt to rotate relative to the support portion; a plurality of engagement portions are provided on the synchronous belt, and synchronous pins are correspondingly provided on the plurality of engagement portions on a one-to-one basis; and a sensor is provided on the support portion and is used for detecting the synchronous pins. In this way, whether there is an abnormality occurring in the synchronous belt in an operation state can be detected promptly.

Description

Climbing device, climbing robot, method for determining anomalies in synchronous belt and storage medium

[0001] This application claims priority to Chinese Patent Application No. 202411190831.X, filed on August 27, 2024, entitled "Climbing Device, Climbing Robot, Method for Determining Synchronous Belt Anomalies and Storage Medium", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of intelligent warehousing system technology, specifically to a climbing device, a climbing robot, a method for determining synchronous belt anomalies, and a storage medium. Background Technology

[0003] In warehousing systems within the logistics field, shelves are typically used to store goods. Climbing robots are then used to retrieve, place, and move goods within these shelves, enabling the flow of goods within the warehousing system. In related technologies, the shelves are equipped with tracks, and the climbing device in the climbing robot can climb longitudinally along these tracks, allowing the robot to move goods stored at different heights on the shelves.

[0004] For climbing devices that achieve self-climbing through the movement of an internal synchronous belt, an abnormality in the synchronous belt will prevent the climbing device from climbing normally along the rack track. If the synchronous belt continues to operate after an abnormality, it may even cause deformation of the rack track. Currently, there is no climbing device that can detect whether the synchronous belt is abnormal in a timely manner while the synchronous belt is in operation. Summary of the Invention

[0005] In view of the above problems, this application provides a climbing device, a climbing robot, a method for determining synchronous belt anomalies, and a storage medium to solve the problem that the climbing device in the prior art cannot detect whether the synchronous belt is abnormal in a timely manner when the synchronous belt is in working state.

[0006] According to one aspect of the embodiments of this application, a climbing device is provided, comprising: a climbing part and a supporting part; wherein, the climbing part is disposed on the supporting part, and the climbing part includes a motor, a synchronous belt and a synchronous pulley; the synchronous belt is disposed on the synchronous pulley, and the motor is used to drive the synchronous pulley to rotate, thereby causing the synchronous belt to rotate relative to the supporting part; the synchronous belt is provided with a plurality of meshing parts, and a synchronous pin is provided on each of the plurality of meshing parts; a sensor is disposed on the supporting part, and the sensor is used to sequentially detect the synchronous pins when the synchronous belt rotates.

[0007] In one alternative approach, the sensor is a proximity sensor.

[0008] In one alternative, the plurality of meshing portions are arranged at equal intervals on the timing belt.

[0009] In one alternative, the synchronizing pin is made of a metallic material and the proximity sensor is an inductive proximity sensor; or the synchronizing pin is made of a magnetic material and the proximity sensor is a Hall effect device.

[0010] In one alternative embodiment, the motor includes an encoder.

[0011] According to another aspect of the embodiments of this application, a climbing robot is provided, including a controller and a climbing device as described in any of the preceding claims; wherein the controller is electrically connected to the sensor, and the controller is configured to: acquire detection information of the synchronization pins successively detected by the sensor, and determine the spacing information of two adjacent synchronization pins based on the detection information of the synchronization pins successively detected; and determine whether the synchronization belt is abnormal based on the spacing information of the two adjacent synchronization pins.

[0012] In one alternative embodiment, the motor includes an encoder for determining the displacement of the timing belt; the controller is electrically connected to the encoder, and the controller is further configured to: acquire a first count value of the encoder when the sensor generates first detection information; acquire a second count value of the encoder when the sensor generates second detection information, wherein the first detection information and the second detection information are detection information of the sensor detecting the timing pin twice in succession; determine the absolute value of the difference between the first count value and the second count value; and determine that the timing belt is abnormal if the absolute value of the difference is greater than a preset difference threshold.

[0013] In one alternative embodiment, the climbing robot includes a plurality of equally spaced synchronization pins, and the preset difference threshold is determined based on the initial spacing between adjacent synchronization pins.

[0014] In one alternative embodiment, the climbing section further includes a speed reducer for changing the output speed of the motor, wherein the preset difference threshold is NormalValue + Δ; where NormalValue = p * (i / d / π) * a * b, Δ is proportional to (i / d / π) * a * b, p is the initial spacing, i is the transmission ratio of the speed reducer, d is the pitch circle diameter of the synchronous pulley, a is the number of lines of the encoder, and b is the counting multiplier of the encoder.

[0015] In an optional embodiment, the controller is further configured to: acquire a first moment when the sensor generates first detection information, acquire a second moment when the sensor generates second detection information, wherein the first detection information and the second detection information are detection information of the sensor detecting the synchronization pin twice in succession; determine the duration between the first moment and the second moment; and if the duration is greater than a preset duration threshold, determine that the synchronization band is abnormal.

[0016] In an optional embodiment, the controller is further configured to: determine that the synchronization belt is in a first abnormal state when the absolute value of the difference falls within a first preset difference range, wherein the first abnormal state is that the synchronization belt is deformed; determine that the synchronization belt is in a second abnormal state when the absolute value of the difference falls within a second preset difference range, wherein the second abnormal state is that the synchronization belt is broken; and determine that the synchronization belt is in a third abnormal state when the absolute value of the difference falls within a third preset difference range, wherein the third abnormal state is that the synchronization pin has fallen off, wherein the minimum value of the first preset difference range is greater than or equal to the preset difference threshold, the minimum value of the second preset difference range is greater than the minimum value of the first preset difference range, and the minimum value of the third preset difference range is greater than the minimum value of the second preset difference range.

[0017] According to another aspect of the embodiments of this application, a method for determining synchronous belt anomalies is provided, applied to a climbing robot. The climbing robot includes: a climbing device and a controller; the climbing device includes a climbing part and a support part; wherein, the climbing part is disposed on the support part, and the climbing part includes a motor, a synchronous belt, and a synchronous pulley; the synchronous belt is disposed on the synchronous pulley, and the motor is used to drive the synchronous pulley to rotate, thereby causing the synchronous belt to rotate relative to the support part; the synchronous belt is provided with a plurality of meshing parts, and a synchronous pin is provided on each of the plurality of meshing parts; a sensor is disposed on the support part, and the sensor is used to sequentially detect the synchronous pins when the synchronous belt rotates; the controller is electrically connected to the sensor, and the method includes: acquiring detection information of the synchronous pins successively detected by the sensor; determining the spacing information of two adjacent synchronous pins based on the detection information of the successively detected synchronous pins; and determining whether the synchronous belt is abnormal based on the spacing information of the two adjacent synchronous pins.

[0018] In one optional embodiment, the climbing robot further includes an encoder for determining the displacement of the transmission unit, and the controller is electrically connected to the encoder. The step of acquiring the detection information of the synchronization pins successively detected by the sensors includes: acquiring a first count value of the encoder when the sensor generates first detection information; acquiring a second count value of the encoder when the sensor generates second detection information, wherein the first detection information and the second detection information are detection information of the synchronization pins detected by the sensor twice consecutively. The step of determining the spacing information between two adjacent synchronization pins based on the successively detected detection information includes: determining the absolute value of the difference between the first count value and the second count value. The step of determining whether the synchronization belt is abnormal based on the spacing information between two adjacent synchronization pins includes: if the absolute value of the difference is greater than a preset difference threshold, then the synchronization belt is determined to be abnormal.

[0019] In one alternative embodiment, the climbing robot includes a plurality of equally spaced synchronization pins, and the preset difference threshold is determined based on the initial spacing between adjacent synchronization pins.

[0020] In one alternative embodiment, the climbing section further includes a speed reducer for changing the output speed of the motor, wherein the preset difference threshold is NormalValue + Δ; where NormalValue = p * (i / d / π) * a * b, Δ is proportional to (i / d / π) * a * b, p is the initial spacing, i is the transmission ratio of the speed reducer, d is the pitch circle diameter of the synchronous pulley, a is the number of lines of the encoder, and b is the counting multiplier of the encoder.

[0021] In one optional approach, acquiring the detection information of the synchronization pins successively detected by the sensor includes: acquiring a first moment when the sensor generates first detection information, and acquiring a second moment when the sensor generates second detection information, wherein the first detection information and the second detection information are detection information of the synchronization pins detected by the sensor twice in succession; determining the spacing information between two adjacent synchronization pins based on the detection information of the synchronization pins successively detected includes: determining the duration between the first moment and the second moment; determining whether the synchronization band is abnormal based on the spacing information of the two adjacent synchronization pins includes: if the duration is greater than a preset duration threshold, then determining that the synchronization band is abnormal.

[0022] In an optional embodiment, the method further includes: when the absolute value of the difference falls within a first preset difference range, determining the synchronization belt as a first abnormal state, wherein the first abnormal state is deformation of the synchronization belt; when the absolute value of the difference falls within a second preset difference range, determining the synchronization belt as a second abnormal state, wherein the second abnormal state is breakage of the synchronization belt; when the absolute value of the difference falls within a third preset difference range, determining the synchronization belt as a third abnormal state, wherein the third abnormal state is detachment of the synchronization pin, wherein the minimum value of the first preset difference range is greater than or equal to the preset difference threshold, the minimum value of the second preset difference range is greater than the minimum value of the first preset difference range, and the minimum value of the third preset difference range is greater than the minimum value of the second preset difference range.

[0023] According to another aspect of the embodiments of this application, a computer-readable storage medium is provided, on which a computer program is stored, which, when executed by a processor, implements the synchronization band anomaly determination method as described above.

[0024] In this embodiment, if the timing belt is stretched, the distance between two adjacent meshing parts will increase. In this case, the detection data obtained by the sensor detecting the timing pins located on the meshing parts will differ from the detection data obtained when the timing belt is in a normal state. Therefore, the detection data obtained by the sensor detecting the timing pins can be used to determine whether the timing belt has been abnormally stretched.

[0025] Furthermore, if one or more meshing parts on the timing belt detach, the synchronizing pins on those parts will also detach. Since the sensor detects these synchronizing pins, when the timing belt is in operation, a detached synchronizing pin cannot pass through the sensor's detection area as the belt rotates. Therefore, the sensor cannot detect the detached pin, and the detection data obtained from this method will not include data related to the detached pin. Thus, the detection data obtained from the sensor's detection of the synchronizing pin can be used to determine whether an abnormal detachment has occurred at the meshing part on the timing belt.

[0026] The above description is merely an overview of the technical solutions of the embodiments of this application. In order to better understand the technical means of the embodiments of this application and to implement them in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the embodiments of this application more obvious and understandable, specific implementation methods of this application are described below. Attached Figure Description

[0027] The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0028] Figure 1 shows a schematic diagram of the warehousing system provided in an embodiment of this application;

[0029] Figure 2 shows a schematic diagram of a climbing robot, according to an embodiment of this application, moving a cargo box to a shelf;

[0030] Figure 3 shows a schematic diagram of the climbing device provided in an embodiment of this application;

[0031] Figure 4 shows a partial schematic diagram of the climbing device provided in an embodiment of this application;

[0032] Figure 5 shows a structural block diagram of the climbing robot provided in an embodiment of this application;

[0033] Figure 6 shows a schematic flowchart of the steps executed by the controller according to an embodiment of this application;

[0034] Figure 7 shows a schematic diagram of a portion of the timing belt and the meshing part provided in an embodiment of this application;

[0035] Figure 8 shows a schematic flowchart of the steps performed by the controller according to another embodiment of this application;

[0036] Figure 9 shows a schematic diagram of the detection information generated by the sensor provided in an embodiment of this application;

[0037] Figure 10 shows a schematic flowchart of the steps performed by the controller according to another embodiment of this application.

[0038] The reference numerals in the detailed embodiments are as follows: 10, shelf; 11, shelf track; 20, climbing robot; 21, climbing device; 22, controller; 211, climbing part; 2111, motor; 2112, synchronous belt; 2113, synchronous pulley; 212, meshing part; 213, synchronous pin; 214, support part; 215, sensor; 30, material bin. Detailed Implementation

[0039] Exemplary embodiments of the present application will now be described in more detail with reference to the accompanying drawings. Although exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application may be implemented in various forms and should not be limited to the embodiments set forth herein.

[0040] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0041] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0042] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0043] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, representing any combination of the listed objects. For example, "A and / or B" can represent three possibilities: A exists, A and B exist simultaneously, or B exists. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0044] In the description of the embodiments of this application, the term "multiple" refers to two or more (including two), similarly, "multiple sets" refers to two or more (including two sets), and "multiple pieces" refers to two or more (including two pieces).

[0045] In the description of the embodiments of this application, the technical terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0046] In the description of the embodiments of this application, unless otherwise expressly specified and limited, technical terms such as "installation," "connection," "joining," and "fixing" 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 or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0047] Figure 1 shows a schematic diagram of the warehousing system provided in an embodiment of this application. As shown in Figure 1, the warehousing system includes a shelf 10, a climbing robot 20, and multiple storage bins 30. The storage bins 30 can store goods. The shelf 10 is equipped with shelf rails 11. The shelf 10 has multiple storage locations for storing the storage bins 30. The climbing robot 20 can move vertically up and down along the shelf rails 11 to transport the storage bins 30 on the shelf 10.

[0048] Figure 2 illustrates a scenario where a climbing robot, according to an embodiment of this application, moves a cargo box to a shelf. As shown in Figure 2, the climbing robot 20 includes a climbing device 21. In Figure 2(a), the bottom of the shelf track 11 is at a certain height from the support surface (e.g., the ground). Before the climbing robot 20 connects with the shelf track 11, it needs to move to the connection position of the shelf 10 (i.e., the position where the climbing device 21 is opposite to the bottom of the shelf track 11). At this time, the climbing device 21 is not connected to the bottom of the shelf track 11. In Figure 2(b), when the climbing robot 20 is at the connection position of the shelf 10, it controls the climbing device 21 to rise vertically and connects with the shelf track 11. At this time, the chassis of the climbing robot 20 is still located on the support surface. In Figure 2(c), after the climbing robot 20 is connected to the shelf track 11, the climbing device 21 can move vertically up and down along the shelf track 11 so that the climbing robot 20 can place the material box 30 in the target storage location of the shelf 10 (the target storage location is located on the sixth layer of the shelf 10).

[0049] In order for the climbing robot 20 to autonomously move up and down vertically along the shelf track 11, the climbing device 21 in the climbing robot 20 usually has a motor, a synchronous belt and a synchronous pulley. The motor is used to drive the synchronous pulley to rotate, thereby driving the synchronous belt to rotate along the shelf track 11, which in turn drives the climbing device 21 to move up and down, and then drives the climbing robot 20 to move up and down vertically along the shelf track 11.

[0050] Synchronous belts consist of a flexible belt body and reinforcing members. The flexible belt body is the main part of the synchronous belt and is usually made of rubber or other elastic materials, giving it a certain degree of flexibility and wear resistance. The reinforcing members are embedded inside the flexible belt body, which can improve the strength and durability of the synchronous belt and prevent the flexible belt body from being excessively stretched or deformed during rotation. The reinforcing members are made of materials with a certain strength, such as steel wire, nylon, or polyester.

[0051] To ensure the synchronous belt can rotate stably along the rack track 11, it typically has multiple meshing parts, such as protrusions or teeth. Correspondingly, the rack track 11 has multiple mating parts, such as grooves, that match the meshing parts. During the climbing process of the climbing device 21, it drives the synchronous belt to rotate via a motor-driven synchronous pulley. As the synchronous belt rotates, the multiple meshing parts correspond one-to-one with the multiple mating parts on the rack track 11, engaging and locking with each other to ensure the synchronous belt rotates stably along the rack track 11, thereby enabling the climbing device 21 to vertically rise and fall along the rack track 11.

[0052] To ensure accurate engagement between the meshing and mating parts, the distance between two adjacent meshing parts must match the distance between two adjacent mating parts, for example, these two distances must be the same. Only when the distances match can the meshing parts on the synchronous belt engage and lock with the corresponding mating parts during rotation. However, during use, the lifting device 21 often experiences tension on the synchronous belt due to the weight of the goods and itself, leading to deformation or breakage. If the synchronous belt continues to rotate, it will be stretched, increasing the distance between adjacent meshing parts. If the distance between two adjacent meshing parts is greater than the distance between two adjacent mating parts, the meshing parts on the synchronous belt and the mating parts on the shelf track 11 will not be able to engage effectively, preventing the synchronous belt from rotating stably along the shelf track 11 and thus hindering the stable lifting and lowering of the lifting device 21 along the shelf track 11. If the synchronous belt is not detected and the above abnormalities are not identified in time while it is in operation, continuing to control the synchronous belt to rotate along the shelf track 11 will damage the meshing parts on the synchronous belt.

[0053] Furthermore, multiple meshing parts on the synchronous belt engage with mating parts on the rack track 11, thereby providing climbing force to the synchronous belt so that it can rotate along the rack track 11. If one or more meshing parts on the synchronous belt disengage, the synchronous belt may be unable to overcome gravity or other resistance, causing it to be unable to rotate along the rack track 11, and thus the climbing device 21 will be unable to climb vertically along the rack track 11. If this abnormality cannot be detected and handled in time while the synchronous belt is in operation, climbing will fail, the handling robot 20 will be unable to complete its task, and the climbing robot 20 may even fall and be damaged.

[0054] Based on the above considerations, in order to promptly detect whether the timing belt is abnormal while it is in operation, this application proposes a climbing device. This device involves arranging timing pins one-to-one on multiple meshing parts, and installing sensors within the device to sequentially detect these pins as the timing belt rotates. If the timing belt is stretched, causing a larger gap between two adjacent meshing parts, the data detected by the sensors on these two meshing parts will differ from normal data. If one or more meshing parts become dislodged, the sensors will not detect the timing pins on the dislodged parts, meaning the detection data will not include data on the dislodged pins. Therefore, through the above arrangement, the abnormality of the timing belt can be determined based on the data detected by the sensors.

[0055] Figure 3 shows a structural schematic diagram of the climbing device provided in an embodiment of this application. Figure 4 shows a partial schematic diagram of the climbing device provided in an embodiment of this application. As shown in Figures 3 and 4, the climbing device 21 includes a climbing part 211, an engaging part 212, a synchronizing pin 213, a supporting part 214, and a sensor 215. The climbing part 211 is disposed on the supporting part 214.

[0056] The support portion 214 is mainly used to fix and house the climbing portion 211. It can be a housing, which houses the climbing portion 211 and provides fixed support for it. The motor 2111 and the synchronous pulley 2113 of the climbing portion 211 can be at least partially fixed inside the housing. The synchronous belt 2112 is partially housed inside the housing, and the exposed meshing part 212 of the synchronous belt 2112 meshes with the mating part on the external shelf track 11. The support portion 214 can also be a support frame or any other support structure, as long as it can provide support for the climbing portion 211.

[0057] The climbing section 211 includes a motor 2111, a synchronous belt 2112, and a synchronous pulley 2113. The synchronous belt 2112 is mounted on the synchronous pulley 2113, and the motor 2111 drives the synchronous pulley 2113 to rotate, thereby causing the synchronous belt 2112 to rotate relative to the support section 214. Multiple meshing parts 212 are spaced apart on the synchronous belt 2112, wherein the meshing parts 212 are mainly used to mesh with the mating parts on the rack track 11.

[0058] Each meshing part 212 is provided with a synchronizing pin 213. The synchronizing pin 213 is mainly used to mark the position of the meshing part 212 so that the sensor 215 can identify its position. It can be a magnetic part or a metal part. The spacing between two adjacent meshing parts 212 can be set as needed and is not limited here.

[0059] In this embodiment, the engaging part 212 can be a protrusion, and the mating part on the shelf track 11 that engages with the engaging part 212 can be a groove. When the synchronous belt 2112 rotates along the shelf track 11, the protruding side of the protrusion engages with the groove on the shelf track 11, thereby enabling the engaging part 212 to engage with the mating part on the shelf track 11, so that the synchronous belt 2112 can rotate stably along the shelf track. If the engaging part 212 is a protrusion, the synchronous pin 213 can be placed inside the protrusion to prevent the synchronous pin 213 from contacting other components and being damaged during the rotation of the synchronous belt 2112.

[0060] Sensor 215 is mounted on support 214 and is used to sequentially detect timing pins 213 as the timing belt 2112 rotates. When support 214 is a housing, sensor 215 can be mounted inside the housing opposite to the timing belt 2112 to detect timing pins 213 on the meshing part 212. Sensor 215 can be mounted inside the housing by snap-fit ​​or drilling, and the housing protects sensor 215 from damage.

[0061] Once the sensor 215 is positioned on the support 214, its detection area is also determined. When the synchronous belt 2112 rotates along the shelf track 11, the synchronous pins 213 on the meshing part 212 rotate with it, allowing them to pass sequentially through the sensor 215's detection area. This enables the sensor 215 to detect multiple synchronous pins 213 sequentially. By using the sensor 215 to detect the synchronous pins 213, the detection data can be used to determine whether the synchronous belt 2112 is malfunctioning. Since the sensor 215 is primarily used to detect the synchronous pins 213, its type can be determined based on the material of the synchronous pins 213.

[0062] In this embodiment, if a segment of the synchronous belt 2112 is stretched, the distance between two adjacent meshing portions 212 will increase. For example, if the belt between meshing portion A and meshing portion B is stretched, the distance between them will increase accordingly. The detection data obtained by the sensor 215 detecting the synchronizing pins 213 on the meshing portions 212 will differ from the detection data obtained when the synchronous belt 2112 is in a normal state. For instance, if the synchronous belt between meshing portions A and B is stretched, the interval between the synchronizing pins 213 detected by the sensor 215 on these two meshing portions 212 will also increase, even with the synchronous belt 2112 rotating at a constant speed. Therefore, the detection data obtained by the sensor 215 detecting the synchronizing pins 213 can be used to determine whether the synchronous belt 2112 has experienced abnormal stretching.

[0063] Furthermore, if one or more engagement portions 212 on the timing belt 2112 become dislodged, the timing pins 213 on the engagement portions 212 will also become dislodged along with them. Since the sensor 215 is used to detect the timing pins 213 on the timing belt 2112, when the timing belt 2112 is in operation, the dislodged timing pins 213 cannot pass through the detection area of ​​the sensor 215 as the timing belt 2112 rotates. Therefore, the sensor 215 cannot detect the dislodged timing pins 213, and the detection data obtained by the sensor 215 will not include the detection data for the dislodged timing pins 213. Therefore, the detection data obtained by the sensor 215 from detecting the timing pins 213 can be used to determine whether the engagement portions 212 on the timing belt 2112 have become dislodged abnormally.

[0064] It should be noted that in this application example, only the climbing device 21 is provided with two meshing parts 212 and two synchronizing pins 213 as an example. The number of meshing parts 212 and synchronizing pins 213 is not limited. The number of meshing parts 212 and synchronizing pins 213 can also be three or more.

[0065] To enable sensor 215 to effectively detect synchronizer pin 213, sensor 215 can be a proximity sensor, which is a sensor that can detect the object without contact. In this embodiment, by using a proximity sensor to detect synchronizer pin 213, detection can be performed without contact with synchronizer pin 213, avoiding wear and measurement accuracy reduction caused by contact between sensor 215 and synchronizer pin 213.

[0066] In some embodiments, the synchronizing pin 213 is made of metal, and the sensor 215 is an inductive proximity sensor. The metal material is robust and durable, and the inductive proximity sensor has high sensitivity and high measurement accuracy, thus meeting the requirements for the engineering implementation of the climbing device 21.

[0067] In other embodiments, the synchronization pin 213 is made of a magnetic material, and the sensor 215 is a Hall device. Hall devices have high measurement accuracy, good stability, long life and fast response speed, which can also meet the requirements of the climbing device 21 engineering implementation.

[0068] In some embodiments, a plurality of meshing portions 212 are equally spaced on the synchronous belt 2112. In this embodiment, since the plurality of meshing portions 212 are equally spaced on the synchronous belt 2112, the distance between any two adjacent synchronous pins 213 is also the same. Therefore, when the synchronous belt 2112 is in a normal state, it is convenient to determine whether the synchronous belt is abnormal by using the detection data obtained by the sensor 215. For example, if the distance between any two adjacent synchronous pins 213 is the same, then when the rotation speed of the synchronous belt 2112 remains constant, the sensor 215 detects that the interval between the two adjacent synchronous pins 213 is the same. When the rotation speed of the synchronous belt 2112 changes, the actual distance between the two adjacent synchronous pins 213 can also be calculated by using the speed change curve and the detected interval between the two adjacent synchronous pins 213.

[0069] In some embodiments, the motor 2111 further includes an encoder. The encoder is used to determine the displacement of the synchronous belt 2112. Specifically, the rotational distance of the synchronous belt 2112 can be determined based on the count value output by the encoder. In motor control systems, the use of encoders and determining the rotational distance of the synchronous belt based on encoder count values ​​is prior art and will not be elaborated further here.

[0070] In this embodiment of the application, by setting an encoder in the climbing device 21, the two count values ​​of the encoder corresponding to the two adjacent detections of the synchronization pin 213 by the sensor 215 can be used to determine whether the synchronization belt 2112 is abnormal. The judgment method is simple and convenient to judge the state of the synchronization belt 2112.

[0071] Figure 5 shows a structural block diagram of the climbing robot provided in an embodiment of this application. Figure 6 shows a flowchart illustrating the steps executed by the controller provided in an embodiment of this application. As shown in Figure 5, the climbing robot 20 includes a climbing device 21 and a controller 22, wherein the controller 22 is electrically connected to the sensor 215. The structure and implementation of the climbing device 21 can be referred to the aforementioned embodiment of the climbing device 21, and will not be repeated here.

[0072] The controller 22 can be a microcontroller, microcontroller unit (MCU), programmable logic controller (PLC), digital signal processor (DSP), field-programmable gate array (FPGA), system on chip (SoC), etc.

[0073] The steps executed by the controller are explained below with reference to Figure 6.

[0074] The controller 22 is used to acquire the detection information (1001) of the synchronization pins obtained by the sensors in succession. As described above, when the timing belt 2112 rotates, the synchronization pins 213 set on the meshing part 212 will pass through the detection area of ​​the sensor 215 in sequence. Therefore, the sensor 215 will detect the synchronization pins 213 passing through the detection area in succession, thereby generating detection information.

[0075] The controller 22 is also used to determine the spacing information of two adjacent synchronous pins based on the detection information of the synchronous pins obtained by successive detection (1002), and to determine whether the synchronous belt is abnormal based on the spacing information of two adjacent synchronous pins (1003).

[0076] Figure 7 shows a schematic diagram of a portion of the timing belt and the meshing part provided in an embodiment of this application. As shown in Figure 7, in Figure 7(a), the timing belt 2112 is in a normal state, and the initial distance between two adjacent meshing parts 212 is p. In Figure 7(b), after the timing belt 2112 is stretched, the distance between two adjacent meshing parts 212 becomes p+m, where m is the distance by which the timing belt 2112 is stretched. That is to say, stretching the timing belt 2112 will lead to an increase in the distance between two adjacent meshing parts 212, that is, an increase in the distance between two adjacent timing pins 213.

[0077] If the meshing part 212 disengages, the spacing information between two adjacent synchronizer pins 213 determined by the controller 22 based on the detection information will differ from that under normal conditions. For example, suppose there are three meshing parts 212, namely meshing part A, meshing part B, and meshing part C, with meshing part B located between meshing parts A and meshing part C. If meshing part B disengages, the spacing information between two adjacent synchronizer pins 213 determined by the controller 22 based on the detection information of the synchronizer pins 213 obtained from subsequent detections will be the spacing information between the synchronizer pins 213 located on meshing part A and the synchronizer pins 213 located on meshing part B. However, if meshing part B does not disengage, the spacing information between two adjacent synchronizer pins 213 determined by the controller 22 should be the spacing information between the synchronizer pins 213 located on meshing part A and the synchronizer pins 213 located on meshing part B. Therefore, the spacing information between two adjacent synchronizing pins determined by the controller 22 when the meshing part 212 falls off is different from the spacing information determined when the meshing part 212 does not fall off.

[0078] Therefore, in this embodiment, the controller 22 determines the spacing information between two adjacent synchronizer pins based on the detection information, and can accurately determine whether the synchronizer belt 2112 has been stretched and whether the engagement part 212 has disengaged based on the spacing information. For example, by determining the actual spacing between two adjacent synchronizer pins 213 based on the detection information, if the actual spacing between the two adjacent synchronizer pins 213 is slightly larger than the initial spacing, it is determined that the synchronizer belt 2112 has been stretched; if the actual spacing between the two adjacent synchronizer pins is much larger than the initial spacing, for example, the actual spacing is greater than or equal to twice the initial spacing, it is determined that the engagement part 212 has disengaged.

[0079] In this embodiment, the motor 2111 further includes an encoder, which is used to determine the displacement of the synchronous belt 2112. The controller 22 is electrically connected to the encoder. Figure 8 shows a flowchart of the steps executed by the controller according to another embodiment of this application. As shown in Figure 8, the controller 22 is also used to acquire a first count value (2001) of the encoder when the sensor 215 generates first detection information, and to acquire a second count value of the encoder when the sensor 215 generates second detection information. The first detection information and the second detection information are detection information (2002) of the sensor 215 detecting the synchronous pin 213 twice in succession. The detection information generated by the sensor 215 when it detects the synchronous pin 213 is different from the detection information generated when it does not detect the synchronous pin 213.

[0080] Figure 9 illustrates a schematic diagram of the detection information generated by the sensor according to an embodiment of this application. As shown in Figure 9, when the sensor 215 does not detect the synchronization pin 213, the sensor 215 generates a low-level signal, and when the synchronization pin 213 is detected, it generates a high-level signal (or, the sensor 215 generates a high-level signal when the synchronization pin 213 is not detected, and a low-level signal when the synchronization pin 213 is detected, depending on the interface circuit, trigger mode, etc., which is not limited here). A and B are the detection times when the sensor 215 detects two adjacent synchronization pins 213. In this embodiment, the first encoder count value obtained by the controller 22 is the encoder count value at time A, and the second encoder count value obtained is the encoder count value at time B.

[0081] The controller 22 is also used to determine the absolute value of the difference between the first count value and the second count value (2003). If the absolute value of the difference is greater than a preset difference threshold, a synchronization belt anomaly is determined (2004). As mentioned earlier, the relative position of the synchronization pin 213 on the shelf track 11 can be determined based on the count value output by the encoder. Therefore, the absolute value of the difference between the first count value and the second count value determined by the controller 22 corresponds to the distance between the two relative positions of the corresponding two adjacent synchronization pins 213 on the shelf track 11, that is, it corresponds to the distance between the corresponding two adjacent synchronization pins 213.

[0082] Therefore, in this embodiment, if the absolute value of the difference is greater than a preset difference threshold, it indicates that the distance between the two successively detected synchronization pins 213 is greater than the initial distance, thus confirming that the synchronization band 2112 is abnormal. The preset difference threshold can be set according to the initial distance and is not limited here.

[0083] In some embodiments, the climbing robot 20 includes a plurality of equally spaced synchronization pins 213, and a preset difference threshold is determined based on the initial spacing between adjacent synchronization pins 213. For example, if the initial spacing is length A, and each increment of the encoder's count represents a rotation length B of the synchronization belt 2112, then the preset difference threshold can be A / B, where A and B have the same unit. If A / B is a decimal, it can be rounded up or down.

[0084] In this embodiment, in the initial state of the synchronization belt 2112, since the initial spacing between any two adjacent synchronization pins 213 is the same, the controller 22 can use the same preset difference threshold to determine the relationship between the absolute value of the difference between the two count values ​​when the synchronization pins 213 are detected twice in succession and the preset difference threshold, thereby improving the efficiency of the judgment.

[0085] Furthermore, since the absolute value of the difference between the first count value and the second count value corresponds to the spacing between the two adjacent synchronous pins 213, as shown in Figure 9, under the premise that the rotation speed of the synchronous belt 2112 is the same, if the initial spacing between adjacent synchronous pins 213 is larger, the interval between time A and time B will be longer, and the absolute value of the difference between the corresponding first count value and the second count value will also be larger. Therefore, in this embodiment, since the preset difference threshold is determined based on the initial spacing between adjacent synchronous pins 213, the accuracy of the determined preset difference threshold is improved, which in turn improves the accuracy of judging whether the synchronous belt 2112 is abnormal.

[0086] Based on the foregoing embodiments, in this embodiment of the application, the climbing part 211 further includes a speed reducer, which is used to change the speed output by the motor 2111, and the preset difference threshold is NormalValue+Δ.

[0087] Where NormalValue = p*(i / d / π)*a*b, Δ is proportional to (i / d / π)*a*b, p is the initial pitch, i is the transmission ratio of the reducer, d is the pitch circle diameter of the synchronous pulley 2113, a is the number of lines of the encoder, and b is the counting multiplier of the encoder.

[0088] In order to improve the accuracy of the determined Δ, experiments or analyses can be conducted on the synchronous belt 2112 to determine the length m of the synchronous belt 2112 being stretched. Then, Δ can be quickly determined according to Δ=m*(i / d / π)*a*b.

[0089] In this embodiment of the application, since the accuracy of the preset difference threshold determined by the above method is high, it is possible to accurately determine whether the synchronization band 2112 is abnormal based on the preset difference threshold.

[0090] Figure 10 shows a schematic flowchart of the steps executed by the controller according to another embodiment of this application. As shown in Figure 10, in this embodiment of the application, the controller 22 is further configured to acquire a first moment (3001) when the sensor generates the first detection information, acquire a second moment when the sensor generates the second detection information, wherein the first detection information and the second detection information are detection information of the sensor detecting the synchronization pin twice in succession (3002), and determine the duration between the first moment and the second moment (3003). If the duration is greater than a preset duration threshold, then the synchronization band is determined to be abnormal (3004).

[0091] Specifically, a preset time threshold required for the synchronous belt 2112 to rotate an initial distance can be determined based on the rotational speed of the synchronous belt 2112 and the initial distance between two adjacent synchronous pins 213. When the synchronous belt 2112 rotates at the same speed, a larger distance between two adjacent synchronous pins 213 results in a longer time required for the synchronous belt 2112 to rotate that distance. Therefore, in this embodiment, the presence or absence of an abnormality in the synchronous belt 2112 can be accurately determined based on the time interval between the first and second moments.

[0092] For example, as shown in Figure 9, the first time point is time A, and the second time point is time B. If the synchronization belt 2112 does not experience any abnormalities, the duration between time A and time B is equal to the preset duration threshold. If the synchronization belt 2112 is stretched or the meshing part 212 falls off, the distance between two adjacent synchronization pins 213 increases, and the interval between these two synchronization pins 213 is detected to be longer, that is, the interval duration is longer than the preset duration threshold.

[0093] In some embodiments, the controller 22 is further configured to determine that the synchronization belt 2112 is in a first abnormal state when the absolute value of the difference falls within a first preset difference range, wherein the first abnormal state is that the synchronization belt 2112 is deformed; to determine that the synchronization belt 2112 is in a second abnormal state when the absolute value of the difference falls within a second preset difference range, wherein the second abnormal state is that the synchronization belt 2112 is broken; and to determine that the synchronization belt 2112 is in a third abnormal state when the absolute value of the difference falls within a third preset difference range, wherein the third abnormal state is that the synchronization pin 213 is detached. The minimum value of the first preset difference range is greater than or equal to a preset difference threshold, the minimum value of the second preset difference range is greater than the minimum value of the first preset difference range, and the minimum value of the third preset difference range is greater than the minimum value of the second preset difference range.

[0094] The first, second, and third preset difference ranges are three different threshold intervals. When the timing belt 2112 deforms, it is slightly stretched, and the increase in the distance between the two adjacent timing pins 213 is relatively small. When the timing belt 2112 breaks, it indicates that the deformation of the timing belt 2112 has exceeded its maximum tolerable deformation, meaning that the timing belt 2112 has been stretched a large distance, and the increase in the distance between the two adjacent timing pins 213 is also relatively large. When the engaging part 212 disengages, causing the timing pins 213 to disengage, the increase in the distance between the two adjacent timing pins 213 is the largest, at least doubling the initial distance.

[0095] When the synchronization belt 2112 is in different health states (i.e., when the synchronization belt 2112 is deformed, broken, or the synchronization pin 213 is detached), the corresponding abnormal handling methods are also different. Therefore, in this embodiment, by setting different threshold ranges and then determining which threshold range the absolute value of the difference falls into, the current health state of the synchronization belt 2112 can be accurately determined, so that the abnormal handling method can be quickly determined and abnormal handling can be performed, thereby reducing losses.

[0096] It is worth noting that the first, second, and third preset difference ranges can be determined as needed and are not limited here. For example, the maximum value in the threshold interval corresponding to the first preset difference range is less than the minimum value in the threshold interval corresponding to the second preset difference range, and the maximum value in the threshold interval corresponding to the second preset difference range is less than the minimum value in the threshold interval corresponding to the third preset difference range.

[0097] This application provides a method for determining synchronous belt anomalies, applied to a climbing robot. The climbing robot includes a climbing device and a controller. The climbing device includes a climbing section and a support section. The climbing section is mounted on the support section and includes a motor, a synchronous belt, and a synchronous pulley. The synchronous belt is mounted on the synchronous pulley, and the motor drives the pulley to rotate, thereby causing the synchronous belt to rotate relative to the support section. The synchronous belt has multiple meshing parts, each with a corresponding synchronous pin. A sensor is mounted on the support section, used to sequentially detect the synchronous pins as the synchronous belt rotates. The controller is electrically connected to the sensor. The specific structure of the climbing robot can be found in the preceding embodiments. This method is executed by the controller in the climbing robot. Referring to Figure 6, the method includes:

[0098] Step 1001: Obtain the detection information of the synchronization pin obtained by the sensor in succession.

[0099] Step 1002: Determine the spacing information between two adjacent synchronization pins based on the detection information of the synchronization pins obtained from successive detections.

[0100] Step 1003: Determine whether the timing belt is abnormal based on the spacing information of two adjacent timing pins.

[0101] Referring to Figure 8, in some embodiments, the climbing robot also includes an encoder for determining the displacement of the transmission unit, and the controller is electrically connected to the encoder. Step 1001 includes steps 2001 to 2002, step 1002 includes step 2003, and step 1003 includes step 2004.

[0102] Step 2001: When the sensor generates the first detection information, obtain the first count value of the encoder.

[0103] Step 2002: When the sensor generates the second detection information, the second count value of the encoder is obtained, wherein the first detection information and the second detection information are the detection information of the sensor detecting the synchronization pin twice in succession.

[0104] Step 2003: Determine the absolute value of the difference between the first count value and the second count value.

[0105] Step 2004: If the absolute value of the difference is greater than the preset difference threshold, then the synchronization band is determined to be abnormal.

[0106] In some embodiments, the climbing robot includes a plurality of equally spaced synchronization pins, and a preset difference threshold is determined based on the initial spacing between adjacent synchronization pins.

[0107] In some embodiments, the climbing section further includes a speed reducer, which is used to change the speed output by the motor, and the preset difference threshold is NormalValue+Δ.

[0108] Where NormalValue = p*(i / d / π)*a*b, Δ is proportional to (i / d / π)*a*b, p is the initial pitch, i is the transmission ratio of the reducer, d is the pitch circle diameter of the synchronous pulley, a is the number of lines of the encoder, and b is the counting rate of the encoder.

[0109] Please refer to Figure 10. In some embodiments, step 1001 includes the following steps 3001 to 3002, step 1002 includes step 3003, and step 1003 includes step 3004.

[0110] Step 3001: Obtain the first moment when the sensor generates the first detection information.

[0111] Step 3002: Obtain the second moment when the sensor generates the second detection information, wherein the first detection information and the second detection information are the detection information of the sensor detecting the synchronization pin twice in succession.

[0112] Step 3003: Determine the duration between the first and second time points.

[0113] Step 3004: If the duration exceeds the preset duration threshold, then the synchronization band is determined to be abnormal.

[0114] In some embodiments, the synchronization band anomaly determination method further includes:

[0115] Step a01: When the absolute value of the difference falls within the first preset difference range, the synchronization belt is determined to be in the first abnormal state, which is synchronous belt deformation.

[0116] Step a02: When the absolute value of the difference falls within the second preset difference range, the synchronization belt is determined to be in the second abnormal state, which is a breakage of the synchronization belt.

[0117] Step a03: When the absolute value of the difference falls into the third preset difference range, the synchronization belt is determined to be in the third abnormal state, which is the synchronization pin falling off.

[0118] Among them, the minimum value of the first preset difference range is greater than or equal to the preset difference threshold, the minimum value of the second preset difference range is greater than the minimum value of the first preset difference range, and the minimum value of the third preset difference range is greater than the minimum value of the second preset difference range.

[0119] The specific implementation process and beneficial effects of the above-described method for determining synchronous belt anomalies can be found in the aforementioned embodiments of the climbing robot, and will not be described in detail here.

[0120] This application embodiment also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described synchronization band anomaly determination method embodiment.

[0121] This application provides a computer program that can be executed by a processor to implement the above-described method for determining synchronization band anomalies.

[0122] This application provides a computer program product, which includes a computer program that, when executed by a processor, implements the above-described method for determining synchronization band anomalies.

[0123] In the several embodiments provided in this application, any function, if implemented as a software functional module / unit and sold or used as an independent product, can be stored in a computer-readable storage medium. Based on this understanding, all or part of the technical solution of this application can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or other electronic device) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing computer program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0124] The algorithms or displays provided herein are not inherently related to any particular computer, virtual system, or other device. Various general-purpose systems can also be used in conjunction with the teachings herein. The required structure for constructing such systems is apparent from the above description. Furthermore, the embodiments of this application are not directed to any particular programming language. It should be understood that the content of this application described herein can be implemented using various programming languages, and the above description of specific languages ​​is for the purpose of disclosing the best mode of implementation of this application.

[0125] It should be noted that the above embodiments are illustrative of this application and not restrictive, and those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. This application can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In claims enumerating several means, several units or modules of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names. The steps in the above embodiments, unless otherwise specified, should not be construed as limiting the order of execution.

[0126] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A climbing device, characterized in that, include: A climbing section and a supporting section; wherein the climbing section is disposed on the supporting section, and the climbing section includes a motor, a synchronous belt and a synchronous pulley; The timing belt is mounted on the timing pulley, and the motor is used to drive the timing pulley to rotate, thereby causing the timing belt to rotate relative to the support portion. The synchronous belt is provided with multiple meshing parts, and a synchronous pin is provided on each of the multiple meshing parts. A sensor is provided on the support part, and the sensor is used to detect the timing pins sequentially when the timing belt rotates.

2. The climbing device according to claim 1, characterized in that, The sensor is a proximity sensor.

3. The climbing device according to claim 1, characterized in that, The plurality of meshing parts are arranged at equal intervals on the synchronous belt.

4. The climbing device according to claim 2, characterized in that, The synchronizing pin is made of metal, and the proximity sensor is an inductive proximity sensor; or The synchronizing pin is made of a magnetic material, and the proximity sensor is a Hall effect device.

5. The climbing device according to claim 1, characterized in that, The motor includes an encoder.

6. A climbing robot, characterized in that, Includes a controller and a climbing device as described in any one of claims 1-5; wherein the controller is electrically connected to the sensor, and the controller is used to: The detection information of the synchronization pins obtained by the sensors in succession is obtained, and the spacing information of two adjacent synchronization pins is determined based on the detection information of the synchronization pins obtained in succession. The timing belt is determined to be abnormal based on the spacing information between two adjacent timing pins.

7. The climbing robot according to claim 6, characterized in that, The motor includes an encoder for determining the displacement of the timing belt; The controller is electrically connected to the encoder, and the controller is further configured to: When the sensor generates first detection information, the first count value of the encoder is obtained; when the sensor generates second detection information, the second count value of the encoder is obtained, wherein the first detection information and the second detection information are detection information of the sensor detecting the synchronization pin twice in succession; Determine the absolute value of the difference between the first count value and the second count value; If the absolute value of the difference is greater than a preset difference threshold, then the synchronization band is determined to be abnormal.

8. The climbing robot according to claim 7, characterized in that, The climbing robot includes a plurality of synchronization pins arranged at equal intervals, and the preset difference threshold is determined based on the initial spacing between adjacent synchronization pins.

9. The climbing robot according to claim 8, characterized in that, The climbing section also includes a speed reducer, which is used to change the speed output by the motor, and the preset difference threshold is NormalValue+Δ; Wherein, NormalValue = p*(i / d / π)*a*b, Δ is proportional to (i / d / π)*a*b, p is the initial spacing, i is the transmission ratio of the reducer, d is the pitch circle diameter of the synchronous pulley, a is the number of lines of the encoder, and b is the counting multiplier of the encoder.

10. The climbing robot according to claim 6, characterized in that, The controller is also used for: The first moment when the sensor generates the first detection information is obtained, and the second moment when the sensor generates the second detection information is obtained, wherein the first detection information and the second detection information are detection information of the sensor detecting the synchronization pin twice in succession; Determine the duration between the first time point and the second time point; If the duration exceeds a preset duration threshold, then the synchronization band is determined to be abnormal.

11. The climbing robot according to claim 7, characterized in that, The controller is also used for: When the absolute value of the difference falls within the first preset difference range, the synchronization belt is determined to be in a first abnormal state, and the first abnormal state is that the synchronization belt is deformed. When the absolute value of the difference falls within the second preset difference range, the synchronization belt is determined to be in a second abnormal state, and the second abnormal state is that the synchronization belt is broken. When the absolute value of the difference falls within the third preset difference range, the synchronization belt is determined to be in a third abnormal state, which is the synchronization pin falling off. The minimum value of the first preset difference range is greater than or equal to the preset difference threshold, the minimum value of the second preset difference range is greater than the minimum value of the first preset difference range, and the minimum value of the third preset difference range is greater than the minimum value of the second preset difference range.

12. A method for determining synchronization belt anomalies, applied to a climbing robot, characterized in that, The climbing robot includes: a climbing device and a controller; the climbing device includes a climbing section and a support section; wherein, the climbing section is disposed on the support section, and the climbing section includes a motor, a synchronous belt, and a synchronous pulley; the synchronous belt is disposed on the synchronous pulley, and the motor is used to drive the synchronous pulley to rotate, thereby causing the synchronous belt to rotate relative to the support section; the synchronous belt is provided with multiple meshing parts, and a synchronous pin is provided on each of the multiple meshing parts; a sensor is disposed on the support section, and the sensor is used to sequentially detect the synchronous pins when the synchronous belt rotates; the controller is electrically connected to the sensor, and the method includes: Obtain the detection information of the synchronization pin obtained by the sensors in succession; The spacing information between two adjacent synchronization pins is determined based on the detection information of the synchronization pins obtained from successive detections. The timing belt is determined to be abnormal based on the spacing information between two adjacent timing pins.

13. The method according to claim 12, characterized in that, The climbing robot also includes an encoder for determining the displacement of the transmission unit, and the controller is electrically connected to the encoder. The step of obtaining the detection information of the synchronization pin obtained successively by the sensor includes: When the sensor generates first detection information, the first count value of the encoder is obtained; when the sensor generates second detection information, the second count value of the encoder is obtained, wherein the first detection information and the second detection information are detection information of the sensor detecting the synchronization pin twice in succession; The step of determining the spacing information between two adjacent synchronization pins based on the detection information of the synchronization pins obtained from successive detections includes: Determine the absolute value of the difference between the first count value and the second count value; The step of determining whether the synchronization belt is abnormal based on the spacing information of the two adjacent synchronization pins includes: If the absolute value of the difference is greater than a preset difference threshold, then the synchronization band is determined to be abnormal.

14. The method according to claim 13, characterized in that, The climbing robot includes a plurality of synchronization pins arranged at equal intervals, and the preset difference threshold is determined based on the initial spacing between adjacent synchronization pins.

15. The method according to claim 14, characterized in that, The climbing section also includes a speed reducer, which is used to change the speed output by the motor, and the preset difference threshold is NormalValue+Δ; Wherein, NormalValue = p*(i / d / π)*a*b, Δ is proportional to (i / d / π)*a*b, p is the initial spacing, i is the transmission ratio of the reducer, d is the pitch circle diameter of the synchronous pulley, a is the number of lines of the encoder, and b is the counting multiplier of the encoder.

16. The method according to claim 12, characterized in that, The step of obtaining the detection information of the synchronization pin obtained successively by the sensor includes: The first moment when the sensor generates the first detection information is obtained, and the second moment when the sensor generates the second detection information is obtained, wherein the first detection information and the second detection information are detection information of the sensor detecting the synchronization pin twice in succession; The step of determining the spacing information between two adjacent synchronization pins based on the detection information of the synchronization pins obtained from successive detections includes: Determine the duration between the first time point and the second time point; The step of determining whether the synchronization belt is abnormal based on the spacing information of the two adjacent synchronization pins includes: If the duration exceeds a preset duration threshold, then the synchronization band is determined to be abnormal.

17. The method according to claim 13, characterized in that, The method further includes: When the absolute value of the difference falls within the first preset difference range, the synchronization belt is determined to be in a first abnormal state, and the first abnormal state is that the synchronization belt is deformed. When the absolute value of the difference falls within the second preset difference range, the synchronization belt is determined to be in a second abnormal state, and the second abnormal state is that the synchronization belt is broken. When the absolute value of the difference falls within the third preset difference range, the synchronization belt is determined to be in a third abnormal state, which is the synchronization pin falling off. The minimum value of the first preset difference range is greater than or equal to the preset difference threshold, the minimum value of the second preset difference range is greater than the minimum value of the first preset difference range, and the minimum value of the third preset difference range is greater than the minimum value of the second preset difference range.

18. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the synchronization band anomaly determination method according to any one of claims 12-17.

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