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EP-4697121-B1 - RISK CONTROL METHOD AND DEVICE FOR DEMOLITION ROBOT

EP4697121B1EP 4697121 B1EP4697121 B1EP 4697121B1EP-4697121-B1

Inventors

  • JIAO, QIANQIAN
  • YANG, Yuqiang
  • LIANG, Kang

Dates

Publication Date
20260513
Application Date
20240926

Claims (10)

  1. A risk control method for demolition robots, comprising a first method implemented in real time during a walking process of a demolition robot, wherein the first method comprises: determining a posture of the demolition robot and corresponding posture parameters according to posture information of the demolition robot; characterized in that the first method further comprises: according to the posture parameters, the posture information and environmental information of the demolition robot, using a trained neural network to determine a risk category associated with the demolition robot; in response to the risk category comprising solely walking path risks, re-planning a walking path according to the environmental information of the demolition robot, and controlling the demolition robot according to the re-planned walking path; in response to the risk category comprising solely tipping risks, determining a tipping direction of the demolition robot according to the posture information of the demolition robot and a tipping line, and adjusting the posture of the demolition robot according to the tipping direction; and in response to the risk category comprising tipping risks and walking path risks, determining a tipping direction of the demolition robot according to the posture information of the demolition robot and a tipping line, adjusting the posture of the demolition robot according to the tipping direction, re-planning a walking path according to the environmental information of the demolition robot after the tipping risks are removed, and controlling the demolition robot according to the re-planned walking path.
  2. The risk control method for demolition robots according to claim 1, further comprising a second method implemented in real time in operation of the demolition robot, wherein the second method comprises: determining the posture of the demolition robot according to the posture information of the demolition robot; determining whether the demolition robot has tipping risks according to the posture of the demolition robot, the posture information of the demolition robot and the tipping line; and in response to the presence of tipping risks, determining the tipping direction of the demolition robot according to the posture information of the demolition robot and the tipping line, and adjusting the posture of the demolition robot according to the tipping direction.
  3. The risk control method for demolition robots according to claim 1 or 2, wherein determining the tipping direction of the demolition robot according to the posture information of the demolition robot and the tipping line comprises: according to tipping angles on tipping lines in the posture information, calculating the probability that each tipping angle exceeds a corresponding angle threshold; and according to a tipping line corresponding to a maximum probability, determining the tipping direction of the demolition robot.
  4. The risk control method for demolition robots according to claim 1, further comprising a third method for implementing an emergency stop in operation or during the walking process of the demolition robot, wherein the third method comprises: determining the posture of the demolition robot according to the posture information of the demolition robot; determining whether the demolition robot has tipping risks according to the posture of the demolition robot, the posture information of the demolition robot during the emergency stop and the tipping line; and in response to the presence of tipping risks, determining the tipping direction of the demolition robot according to the posture information of the demolition robot during the emergency stop, and adjusting the posture of the demolition robot according to the tipping direction.
  5. The risk control method for demolition robots according to claim 2 or 4, wherein determining whether the demolition robot has tipping risks comprises: calculating a stability coefficient of the demolition robot according to a moment arm length between a center of mass of components of the demolition robot in the posture information and a corresponding tipping line, the stability coefficient of the demolition robot being a ratio of a stabilizing moment of the demolition robot to a tipping moment, and the corresponding tipping line being a tipping line corresponding to the posture of the demolition robot; and in response to the stability coefficient of the demolition robot being less than a stability threshold, determining that the demolition robot has tipping risks.
  6. The risk control method for demolition robots according to claim 5, wherein a formula for calculating the stability coefficient of the demolition robot is: K = M 1 / M 0 ; M 1 = G 7 × L 7 + G 6 × L 6 + G 5 × L 5 + G 3 × L 3 + G 2 × L 2 + G 1 × L 1 ; M 0 = G 4 × L 4 ; where K is the stability coefficient of the demolition robot, M1 is the stabilizing moment of the demolition robot, M0 is the tipping moment of the demolition robot, G7-G1 represent gravitational forces of a cabin, a mechanical arm, a hydraulic system, an electrical system, a power system, a rotary platform and a track chassis of the demolition robot respectively, and L7-L1 represent a distance between a center of mass of the cabin and the corresponding tipping line, a distance between a center of mass of the mechanical arm and the corresponding tipping line, a distance between a center of mass of the hydraulic system and the corresponding tipping line, a distance between a center of mass of the electrical system and the corresponding tipping line, a distance between a center of mass of the power system and the corresponding tipping line, a distance between a center of mass of the rotary platform and the corresponding tipping line, and a distance between a center of mass of the track chassis and the corresponding tipping line respectively.
  7. The risk control method for demolition robots according to claim 1, 2 or 4, wherein determining the posture of the demolition robot and the corresponding posture parameters according to the posture information of the demolition robot comprises: calculating front and rear height differences of tracks on two sides at the same moment in the posture information; in response to the front and rear height differences of the tracks on two sides being both greater than 0 and greater than a first height difference threshold, determining that the demolition robot is in an uphill posture, the front and rear height differences of the tracks on two sides being parameters for the uphill posture; in response to the front and rear height differences of the tracks on two sides being both less than 0 and less than a negative value of the first height difference threshold, determining that the demolition robot is in a downhill posture, the front and rear height differences of the tracks on two sides being parameters for the downhill posture; calculating a height difference between a left track and a right track at the same moment in the posture information; in response to the height difference between the left track and the right track being greater than a second height difference threshold, determining that the demolition robot is in a tilted posture, the height difference between the left track and the right track being a parameter for the tilted posture; and in response to the front and rear height differences of the tracks on two sides being within the range of the first threshold and the negative value of the first threshold, and the height difference between the left track and the right track being not greater than the second height difference threshold, determining that the demolition robot is in a horizontal posture, a parameter for the horizontal posture being 0.
  8. A risk control apparatus for demolition robots, comprising a first apparatus configured to work in real time during a walking process of a demolition robot, wherein the first apparatus comprises: a working condition module configured to determine a posture of the demolition robot and corresponding posture parameters according to posture information of the demolition robot; characterized in that the first apparatus further comprises: a risk category module configured to, according to the posture parameters, the posture information and environmental information of the demolition robot, use a trained neural network to determine a risk category associated with the demolition robot; a path planning module configured to, in response to the risk category comprising solely walking path risks, re-plan a walking path according to the environmental information of the demolition robot, and control the demolition robot according to the re-planned walking path; a stability control module configured to, in response to the risk category comprising solely tipping risks, determine a tipping direction of the demolition robot according to the posture information of the demolition robot and a tipping line, and adjust the posture of the demolition robot according to the tipping direction; and a sequential control module configured to, in response to the risk category comprising tipping risks and walking path risks, determine a tipping direction of the demolition robot according to the posture information of the demolition robot and a tipping line, adjust the posture of the demolition robot according to the tipping direction, re-plan a walking path according to the environmental information of the demolition robot after the tipping risks are removed, and control the demolition robot according to the re-planned walking path.
  9. A computer-readable storage medium, wherein the computer-readable storage medium stores one or more programs, and the one or more programs comprise instructions which, when executed by a computing device, cause the computing device to implement the method according to any one of claims 1-7.
  10. A computer device, comprising: one or more processors and one or more memories, wherein one or more programs are stored in the one or more memories and configured to be executed by the one or more processors, and the one or more programs comprise instructions for implementing the method according to any one of claims 1-7.

Description

TECHNICAL FIELD The invention relates to a risk control method and apparatus for demolition robots, and belongs to the field of mechanical engineering. BACKGROUND With the development of industrial automation and robotic technology, the use of unmanned three-arm demolition robots in complex environments is growing rapidly, particularly in situations that demand high-precision positioning, minimal energy consumption, efficiency in multi-task operations, and obstacle avoidance. In operation, the three-arm demolition robot is rarely at risk of tipping over thanks to its support legs. However, it may face tipping and walking path risks in complex environments (such as being obstructed by obstacles or falling into pits). US9475193B2 discloses systems and methods for providing a robotic vehicle with tip over prevention. The methods involve: determining a stability footprint, attitude and orientation of the robotic vehicle; computing a center of gravity of the robotic vehicle; projecting the center of gravity onto the stability footprint; determining whether the center of gravity is within an acceptable region of the stability footprint; calculating a new desired configuration for a movable component of the robotic vehicle when a determination is made that the center of gravity is within the acceptable region of the stability footprint; and commanding the movable component to the new desired configuration. CA3049695C discloses a multi-terrain inspection robotic device and methods for configuring and guiding the same. MEGHDARI ET AL ("Neural-network-based observer for real-time tipover estimation", MECHATRONICS, PERGAMON PRESS, OXFORD, GB, vol. 15, no. 8, 1 October 2005, pages 989-1004) disclose a neural-network-based algorithm that enables autonomous mobile manipulator to detect its instable situations. LUPOY MARK LAWRENCE D ET AL ("Design and implementation of an intelligent monitoring system for real-time tip-over assessment of mobile manipulator", 2022 IEEE 14TH INTERNATIONAL CONFERENCE ON HUMANOID, NANOTECHNOLOGY, INFORMATION TECHNOLOGY, COMMUNICATION AND CONTROL, ENVIRONMENT, AND MANAGEMENT (HNICEM), IEEE, 1 December 2022, pages 1-6) discloses a real-time tip-over monitoring system that can be applied to avoid a mobile manipulator tip-over. SUMMARY The invention provides a risk control method and apparatus for demolition robots, solving the problems disclosed in the background art. According to one aspect of the disclosure, a risk control method for demolition robots is provided, comprising a first method implemented in real time during a walking process of a demolition robot, wherein the first method comprises: determining a posture of the demolition robot and corresponding posture parameters according to posture information of the demolition robot;according to the posture parameters, the posture information and environmental information of the demolition robot, using a trained neural network to determine a risk category associated with the demolition robot;in response to the risk category comprising solely walking path risks, re-planning a walking path according to the environmental information of the demolition robot, and controlling the demolition robot according to the re-planned walking path;in response to the risk category being comprising tipping risks, determining a tipping direction of the demolition robot according to the posture information of the demolition robot and a tipping line, and adjusting the posture of the demolition robot according to the tipping direction; andin response to the risk category comprising tipping risks and walking path risks, determining a tipping direction of the demolition robot according to the posture information of the demolition robot and a tipping line, adjusting the posture of the demolition robot according to the tipping direction, re-planning a walking path according to the environmental information of the demolition robot after the tipping risks are removed, and controlling the demolition robot according to the re-planned walking path. In some embodiments of the disclosure, the risk control method for demolition robots further comprises a second method implemented in real time in operation of the demolition robot, wherein the second method comprises: determining a posture of the demolition robot according to posture information of the demolition robot;determining whether the demolition robot has tipping risks according to the posture of the demolition robot, the posture information of the demolition robot and the tipping line; andin response to the presence of tipping risks, determining the tipping direction of the demolition robot according to the posture information of the demolition robot and the tipping line, and adjusting the posture of the demolition robot according to the tipping direction. In some embodiments of the disclosure, determining the tipping direction of the demolition robot according to the posture information of the demolition robot and the