A wall detection and rescue robot and its control method
A control method and robot technology, applied in the field of rescue machinery, can solve the problems of limited movement direction, large size of crawler type, complex foot type structure, etc., and achieve the effect of small movement resistance, reducing overall size and weight, and improving detection efficiency.
Inactive Publication Date: 2018-06-26
CHANGAN UNIV
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Problems solved by technology
However, the crawler type has a large volume, complex structure and is not easy to turn; the foot type structure is complex, the walking speed is slow, and the control is difficult; the frame type structure is complex and the walking speed is slow; the track type wall needs to be laid with guide rails, and the moving direction is limited.
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Embodiment Construction
[0040] The present invention will be described in detail below in conjunction with the accompanying drawings.
[0041] The walls of high-rise buildings are paved with ceramic tiles, etc., and there are grooves in the middle. Under the working conditions of uneven walls, the existing two-wheel differential drive mechanism or the combination mechanism of driving wheels and universal wheels , the other driving wheel is difficult to move forward, and when a single wheel of the four-wheel driving wheel sinks, driven by the other three driving wheels, it can easily jump out of the groove and continue to move forward normally.
[0042] Such as figure 1 As shown, the present invention provides a wall surface detection and rescue machine, including a wall climbing robot body 1, an upper computer monitoring system 12 and a lower computer PLC control system;
[0043] The chassis of the wall-climbing robot body 1 is provided with a four-wheel drive device and a negative pressure suction ...
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The invention discloses a wall detection and rescue robot and a control method thereof. The overall structure includes a robot body, a control system, and a roof safety protection system. The robot body includes a rotating table, driving wheels, driving motor, suction cup, mechanical arm, camera, spraying device, etc.; the roof safety protection device includes a follower car, hoisting mechanism, and wire rope, etc., which bear part of the system's own weight and move with the robot . The invention can realize the real-time detection of the lamination and crack status of ceramic tiles and glass on the surface of high-rise buildings by the robot, and when the ceramic tiles or glass become loose, the spraying device carried by itself can automatically paint and mark the loose parts, which is convenient for maintenance In addition, when an emergency occurs, the window can be broken to enter the room and start rescue.
Description
technical field [0001] The invention relates to the field of rescue machinery, in particular to a wall detection rescue robot and a control method thereof. Background technique [0002] With the rapid development of modern society, the number of high-rise and super high-rise buildings above 100 meters is increasing, and most of the high-rise buildings have smooth surfaces and are difficult to climb. While these high-rise buildings allow people to experience technological progress, they also bring about life and property safety problems—prevention of high-rise super-high-rise walls falling off and fire rescue problems during fires, but there is still no very good solution. [0003] The emergence of wall-climbing robots has brought hope for the solution of this problem. At present, a variety of robot types have been developed, including crawler type, foot type, frame type, track type and wheel type. However, the crawler type has a large volume, complex structure and is not ea...
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IPC IPC(8): B62D57/024A62B5/00
Inventor 陈涛许利峰余经历李栋刘卡王杰
Owner CHANGAN UNIV