Wall detection system and detection method based on robotic arm

Abstract

The present invention discloses a wall detection system and method based on a robotic arm, comprising several wall-climbing robots and a control terminal. The wall-climbing robot comprises a wall-climbing robot body, a power supply, a drive unit, a walking unit, an arm unit, a control component, and a detection component. A drive unit is rotatably provided in the middle of the wall-climbing robot body to drive the wall-climbing robot to vertically take off and land or climb a wall. Two pairs of walking units and a pair of arm units are symmetrically provided on both sides of the wall-climbing robot body. A power supply, a detection component, and a control component are provided within the wall-climbing robot body. The power supply is electrically connected to the drive unit, the arm unit, the control component, and the detection component. The control component receives operating instructions from the control terminal and regulates the operating state of the wall-climbing robot. The detection component receives operating instructions from the control component and detects the wall surface. The present invention can realize a flight detection mode, a climbing detection mode, a vertical aerial arrival detection mode, and multi-machine coordinated operation, thereby improving detection safety.

Description

Technical Field

[0001] The present invention relates to the technical field of robots and engineering quality inspection, and in particular to a wall inspection system and inspection method based on a robotic arm. Background Art

[0002] my country currently has over 100,000 dams of all types, with rapid growth in dam construction occurring from the mid-1950s to the mid-to-late 1960s. However, due to a lack of understanding of factors influencing dam safety, such as natural forces (such as floods and earthquakes), material properties, structural mechanisms (such as building instability), construction controls (such as concrete temperature control and fill density), and human damage, many dams, now 30 to 50 years old or even exceeding their designed service life, present serious safety hazards. Due to the complex operating conditions of dams, the actual working conditions of dams and foundations are difficult to accurately predict using calculation formulas or model tests. To monitor these hazards in a timely manner, effective monitoring methods are urgently needed to ensure the safe operation of all types of dams.

[0003] Considering the numerous hazards associated with dam inspections, automated inspections are safer and less expensive than traditional manual inspections. Traditional wall inspection robots mostly use vacuum or magnetic suction. While vacuum-based wall inspection robots offer strong suction capabilities and are relatively stable, their suction methods limit them to employing multiple suction cups and / or multiple robotic arms, resulting in a complex mechanical structure, slow movement, and bulky build. Furthermore, when inspecting large targets, these robots are limited by their energy reserves, making it difficult to reach the inspection site. On the other hand, while magnetic-based wall inspection robots can achieve high speeds, they require the inspected wall to be ferromagnetic. Furthermore, most magnetic-based wall inspection robots utilize tracked electric or permanent magnets, making them difficult to navigate around corners or encounter right-angled surfaces, resulting in poor mobility. Consequently, existing traditional wall inspection robots are unsuitable for efficient inspection of large, non-magnetic walls, including dams. Summary of the Invention

[0004] The object of the present invention is to provide a wall detection system and detection method based on a robotic arm, which are used to efficiently detect non-magnetic and large-target walls including dams.

[0005] In order to solve the above technical problems, the present invention provides a wall detection system based on a robotic arm, comprising several wall-climbing robots and a control terminal for regulating the working state of at least one wall-climbing robot, wherein the wall-climbing robot comprises a wall-climbing robot body, a power supply, a driving part, a walking part, an arm part, a control component and a detection component; a driving part is rotatably installed on the middle part of the wall-climbing robot body, and the driving part is used to drive the wall-climbing robot to take off and land vertically or climb a wall; two pairs of walking parts are symmetrically and detachably installed on both sides of the wall-climbing robot body, and the walking parts are used to assist the wall-climbing robot to climb a wall; a pair of arm parts are symmetrically and detachably installed on both sides of the wall-climbing robot body, and the arm parts are used to assist the wall-climbing robot in fixed-point detection; the power supply, detection component and control component are installed in the wall-climbing robot body, and the power supply is electrically connected to the driving part, the arm part, the control component and the detection component; the control component receives the working instructions of the control terminal and regulates the working state of the wall-climbing robot, and the detection component receives the working instructions of the control component and detects the wall.

[0006] Furthermore, the driving part includes a coaxial twin-propeller rotor assembly, which includes a motor, an upper rotor, a lower rotor, a motor ring, a motor fixing frame, four hollow rods and two first servos. The motor fixing frame is fixedly installed in the middle of the motor ring, and the motor is fixedly installed in the center of the motor ring through the motor fixing frame. The upper rotor and the lower rotor are symmetrically installed at both ends of the motor, and four hollow rods are evenly distributed around the circumference of the motor ring, wherein two adjacent hollow rods are respectively connected to the wall-climbing robot body through two first servos and the other two hollow rods are rotationally connected to the wall-climbing robot body. The motor receives the working instructions of the control component and adjusts the rotation speed of the upper rotor and the lower rotor. The first servo receives the working instructions of the control component and adjusts the working angle of the motor ring relative to the wall-climbing robot body.

[0007] Furthermore, the first servo can drive the motor ring to perform a compound rotational motion relative to the wall-climbing robot body.

[0008] Furthermore, the arm part includes a robotic arm assembly, a suction cup and a vacuum pump. The robotic arm assembly includes a second servo, a first connecting arm, a third servo, a second connecting arm, a fourth servo, a third connecting arm, a fifth servo and a fourth connecting arm connected in sequence. The first connecting arm is detachably connected to the wall-climbing robot body through the second servo, and the fourth connecting arm is fixedly connected to the suction cup. The vacuum pump is installed in the wall-climbing robot body. The second servo, the third servo, the fourth servo and the fifth servo receive the working instructions of the control assembly and adjust the height and / or position of the wall-climbing robot body relative to the wall. The vacuum pump receives the working instructions of the control assembly and adjusts the negative pressure of the suction cup on the wall.

[0009] Furthermore, the control component includes a robot controller, the detection component includes an image detection component, a crack detection component, a pressure sensor, a speed sensor and an angular displacement sensor, the image detection component includes a high-definition camera for capturing wall images, the crack detection component includes an infrared imaging detection device, an X-ray scattering imaging detection device and a laser radar for detecting wall crack conditions, the pressure sensor, the speed sensor and the angular displacement sensor are used to respectively detect the negative pressure of the suction cup, the speed of the upper rotor and the lower rotor and the working angle of the motor ring, the robot controller receives the working instructions of the control terminal and the feedback signal of the detection component and performs data fusion to send corresponding working instructions.

[0010] Furthermore, the walking part includes a walking wheel and a connecting shaft, one end of the connecting shaft is fixedly connected to the walking wheel and the other end is detachably connected to the wall-climbing robot body.

[0011] The present invention also provides a wall detection method based on a robotic arm, which includes the following three working modes:

[0012] 1) Flight Inspection Mode: The control terminal controls at least one wall-climbing robot with its walking and arm sections removed to inspect wall sections, thereby constructing a 3D real-world model of the wall and planning the optimal climbing route required for the climbing inspection mode.

[0013] 2) Climbing detection mode: The control terminal controls at least one wall-climbing robot to detect wall partitions along the optimal climbing route;

[0014] 3) Vertical aerial arrival detection mode: The control terminal controls at least one wall-climbing robot to vertically arrive at the vicinity of the designated wall area to be detected in the air, and coordinates the control of the drive unit and the arm unit to keep the wall-climbing robot in the designated wall area to be detected for detection.

[0015] Furthermore, the flight detection mode specifically includes the following steps:

[0016] 11) Dismantling the walking unit and the arm unit of at least one of the wall-climbing robots;

[0017] 12) The control terminal sends a flight detection mode working instruction to at least one control component of the wall-climbing robot;

[0018] 13) After receiving the flight detection mode working instruction, any of the control components sends a flight working instruction to the driving unit of the wall-climbing robot to drive the wall-climbing robot to fly to the vicinity of the designated wall area to be detected, and sends a detection working instruction to the detection component of the wall-climbing robot to detect the designated wall area to be detected;

[0019] 14) Any of the control components receives the feedback signal from the detection component in real time, and transmits the data to the control terminal after data fusion;

[0020] 15) The control terminal constructs a three-dimensional real-scene model of the wall and plans the optimal climbing route required for the climbing detection mode based on the feedback signal of the control component on at least one of the wall-climbing robots.

[0021] Furthermore, the climbing detection mode specifically includes the following steps:

[0022] 21) The control terminal sends a climbing detection mode working instruction to at least one control component of the wall-climbing robot;

[0023] 22) After receiving the climbing detection mode working instruction, any of the control components sends a climbing working instruction to the driving unit of the wall-climbing robot to drive the wall-climbing robot to climb to the designated wall area to be detected along the optimal climbing route with the help of the walking unit of the wall-climbing robot;

[0024] 23) Any of the control components sends a fixed-point work instruction to the arm of the wall-climbing robot to fix the wall area to be detected, and sends a detection work instruction to the detection component of the wall-climbing robot to perform fixed-point detection on the designated wall area to be detected.

[0025] Furthermore, the vertical air arrival detection mode specifically includes the following steps:

[0026] 31) The control terminal sends a vertical aerial arrival detection mode operation instruction to at least one control component of the wall-climbing robot;

[0027] 32) After receiving the vertical aerial arrival detection mode working instruction, any of the control components sends the vertical aerial arrival working instruction to the driving unit of the wall-climbing robot to drive the wall-climbing robot to vertically arrive near the designated wall area to be detected;

[0028] 33) Any of the control components sends a fixed-point work instruction to the arm of the wall-climbing robot to fix the wall area to be detected, and sends a detection work instruction to the detection component of the wall-climbing robot to perform fixed-point detection on the designated wall area to be detected.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] 1. By adopting a coaxial twin-propeller rotor assembly that can generate reverse thrust and adjusting the posture of the coaxial twin-propeller rotor assembly, that is, according to actual work needs (vertical take-off and landing or wall climbing), the first servo is used to make the coaxial twin-propeller rotor assembly perform compound rotational motion relative to the wall-climbing robot body, so that the wall-climbing robot can quickly achieve lifting, flying, climbing, and landing. That is, the posture adjustment response is more sensitive and fast, and the adaptability is strong;

[0031] 2. By using an arm with multiple degrees of freedom, the wall-climbing robot can be assisted to stay stably on the designated wall area to be inspected for fixed-point inspection, and the height and / or position of the wall-climbing robot relative to the wall can be adjusted. At the same time, the arm is only equipped with two groups of suction cups, which can achieve flexible displacement and rapid fixed-point inspection, and can achieve a simpler structure, smaller size, and lighter weight.

[0032] 3. By adopting a detachable walking part and arm part, it is possible to switch between flight detection mode, climbing detection mode and vertical air arrival detection mode, making wall detection more convenient and quick, and enabling multi-machine coordinated work, greatly improving detection efficiency and detection safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 Schematic diagram of the structure of the wall-climbing robot in the wall detection system based on the robotic arm of the present invention;

[0034] Figure 2 This is a schematic structural diagram of a coaxial twin-propeller rotor assembly in the wall detection system based on a robotic arm of the present invention;

[0035] Figure 3 This is a schematic structural diagram of the arm portion of the wall detection system based on the robotic arm of the present invention;

[0036] Figure 4 This is a flow chart of the flying detection mode in the wall detection method based on the robotic arm of the present invention;

[0037] Figure 5 Schematic diagram of the working mode of the flying detection method of the wall detection method based on the robot arm of the present invention;

[0038] Figure 6 This is a flow chart of the climbing detection mode in the wall detection method based on the robotic arm of the present invention;

[0039] Figure 7 Schematic diagram of the working mode of the climbing detection method based on the robot arm of the present invention;

[0040] Figure 8 This is a flow chart of the vertical aerial arrival detection mode in the robot-based wall detection method of the present invention;

[0041] Description of the numbers in the figure:

[0042] 100-wall-climbing robot, 10-wall-climbing robot body, 20-coaxial twin-propeller rotor assembly, 30-walking unit, 40-arm unit;

[0043] 21-motor, 22-upper rotor, 23-lower rotor, 24-motor ring, 25-motor fixing bracket, 26-hollow rod;

[0044] 31-travel wheel, 32-connecting shaft;

[0045] 41-second servo, 42-first connecting arm, 43-third servo, 44-second connecting arm, 45-fourth servo, 46-third connecting arm, 47-fifth servo, 48-fourth connecting arm, 49-suction cup. DETAILED DESCRIPTION

[0046] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present invention.

[0047] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top / bottom" and the like indicate positions or location relationships based on the positions or location relationships shown in the accompanying drawings. They are only used to facilitate the description of the present invention and simplify the description. They do not indicate or imply that the system or component referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, they should not be understood as limiting the present invention.

[0048] In addition, the terms “first” and “second” are used for descriptive purposes only and should not be understood as indicating or implying relative importance.

[0049] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "provided with," "mounted / connected," and "connected" should be understood in a broad sense. For example, "connected" can mean a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be internal communication between two components. Those skilled in the art will be able to understand the specific meanings of the above terms in the present invention in specific circumstances.

[0050] The present invention provides a wall detection system based on a robotic arm. The wall detection system based on the robotic arm adopts a combination of vacuum adsorption and thrust structure assistance. In this way, it can achieve perfect adsorption and stable movement and stay on some non-ferromagnetic, large-target, and uneven walls including dam walls, thereby enabling high-efficiency detection of the above-mentioned walls.

[0051] To achieve efficient and safe inspection of walls, such as dam walls, the present invention provides a robotic arm-based wall inspection system. The system includes several wall-climbing robots 100 and a control terminal (not shown) that controls the operating state of at least one of the robots. The number of robots 100 can be adjusted based on factors such as wall size and quality, enabling zoned inspections to improve inspection efficiency. The control terminal, located on the ground, can collectively or individually control the operating state of each robot 100, such as controlling its rise, flight, climbing, and landing.

[0052] At the same time, if Figures 1 to 3As shown, the present invention provides a structural schematic diagram of the above-mentioned wall-climbing robot, and the wall-climbing robot 100 includes a wall-climbing robot body 10, a power supply (not shown in the figure), a driving part, a walking part 30, an arm part 40, a control component (not shown in the figure) and a detection component (not shown in the figure). Among them, a driving part is rotatably installed in the middle of the wall-climbing robot body 10, and the driving part is used to drive the wall-climbing robot 100 to take off and land vertically or climb on the wall, that is, the driving part can drive the wall-climbing robot 100 to rise vertically, land vertically, fly to the vicinity of the designated wall to be detected, and climb to the designated position on the wall to be detected; two pairs of walking parts 30 are symmetrically and detachably installed on both sides of the wall-climbing robot body 10, that is, the walking parts 30 can be removed from the wall-climbing robot body 10 to reduce the weight of the wall-climbing robot 100, or the walking parts 30 can be used to assist the wall-climbing robot 100 to climb on the wall to climb to the designated position; a pair of machine arms 40 are also symmetrically and detachably installed on both sides of the wall-climbing robot body 10, that is, the machine arms 40 can be removed from the wall-climbing robot body 10 to reduce the weight of the wall-climbing robot The weight of the robot 100, or the arm part 40 is used to assist the wall-climbing robot 100 to perform fixed-point stopping and stable detection; the power supply, detection component and control component are installed inside the wall-climbing robot body 10 by a plug-in method, and the power supply is electrically connected to the drive part, the arm part 40, the control component and the detection component respectively, so as to provide the required voltage and current for the drive part, the arm part 40, the control component and the detection component through the power supply, and the power supply is monitored by the detection component to ensure that the wall-climbing robot 100 can work normally; the control component is used to receive various working instructions from the control terminal and the feedback signal of the detection component and perform data fusion so as to be able to timely adjust the working state of the wall-climbing robot 100, and the detection component is used to receive various working instructions from the control component so as to be able to detect cracks, diseases, etc. on the wall to be detected.

[0053] As one embodiment of the present invention, the wall-climbing robot body 10 is a hollow box-shaped structure with a through-hole in the middle. A power supply, a vacuum pump (not shown), a control component, and a detection component are mounted within this hollow box-shaped structure. This protects the power supply, vacuum pump, control component, and detection component from harsh external environments such as humidity and reduces resistance encountered by the wall-climbing robot during movement, thereby ensuring the robot's safety and reducing energy consumption. In other embodiments, other detection devices may be mounted within the robot body as needed to enhance the robot's detection capabilities and improve its applicability.

[0054] As an embodiment of the present invention, the above-mentioned driving part is configured as a coaxial twin-propeller rotor assembly 20 installed in a through hole in the middle of the wall-climbing robot body 10. The coaxial twin-propeller rotor assembly 20 includes a motor 21, an upper rotor 22, a lower rotor 23, a motor ring 24, a motor fixing frame 25, four hollow rods 26 and two first servos (not shown in the figure). Among them, a motor fixing frame 25 is fixedly installed across the motor ring 24 in the middle of the motor ring 24, and a motor 21 is fixedly installed in the center of the motor ring 24 and the motor fixing frame 25 through the motor fixing frame 25, and the upper rotor 22 and the lower rotor 23 are symmetrically installed at both ends of the motor 21; at the same time, four hollow rods 26 are evenly distributed in the circumference of the motor ring 24, that is, the hollow rods 26 are opposite to each other and the two pairs of hollow rods 26 are respectively on mutually perpendicular rotation axes, and one end of two adjacent hollow rods 26 can be connected to the wall-climbing robot body 10 through two first servos respectively, and the other two hollow rods 26 are rotationally connected to the wall-climbing robot body 10.

[0055] Furthermore, the above-mentioned motor 21 can be electrically connected to the control component to receive various working instructions of the control component, and adjust the speed of the synchronous rotation of the upper rotor 22 and the lower rotor 23 according to the working instructions of the control component (such as deceleration, acceleration, and constant speed); at the same time, the above-mentioned first servo can be electrically connected to the control component to receive various working instructions of the control component, and adjust the working angle of the motor ring 24 relative to the wall-climbing robot body 10 according to the working instructions of the control component (such as the motor ring is parallel, inclined, or vertical relative to the wall-climbing robot body).

[0056] Furthermore, the above-mentioned first servo adopts a 360° servo, so that the motor ring 24 can be driven by the first servo to perform a compound rotational motion around mutually perpendicular rotation axes relative to the wall-climbing robot body 10, thereby enabling the wall-climbing robot 100 to reach any specified position in the space where the wall to be inspected is located, so as to facilitate the inspection of the entire wall.

[0057] In addition, the motor 21 is a brushless motor and adopts a coaxial twin-propeller structure to provide lift greater than that of a single motor in a limited space and maximize lift. At the same time, the upper rotor 22 and the lower rotor 23 are mounted at both ends of the same motor 21 to ensure that the upper rotor 22 and the lower rotor 23 rotate at the same speed and that the torques generated by them offset each other. Furthermore, the upper rotor 22, the lower rotor 23, the motor ring 24, the motor mounting bracket 25, and the hollow rod 26 are all made of composite materials such as carbon fiber to reduce the weight of the coaxial twin-propeller rotor assembly 20, increase its power, and reduce energy consumption. The motor ring 24 and the motor mounting bracket 25 can adopt a hollow sandwich structure to improve the strength and rigidity of the coaxial twin-propeller rotor assembly 20 and further reduce its weight.

[0058] The coaxial twin-propeller rotor assembly 20 (driving unit) of the present invention receives various working instructions of the control assembly through the motor 21, which can not only drive the upper rotor 22 and the lower rotor 23 to start synchronous operation, so that the driving unit generates an upward lift and drives the wall-climbing robot 100 to move upward, or fly to the vicinity of the wall to be detected, or vertically arrive at the vicinity of the designated position in the air, or climb to the designated position by attaching to the wall, but also can detect the wall partition by gradually reducing the rotation speed of the upper rotor 22 and the lower rotor 23 when flying to the vicinity of the wall to be detected, or by gradually reducing the rotation speed of the upper rotor 22 and the lower rotor 23 when arriving near the designated position or at the designated position (upper rotor 22 and lower rotor 23). The rotational speeds of the rotors 22 and 33 can even be reduced to zero (i.e., the upper rotors 22 and 33 are inoperative), allowing the wall-climbing robot 100 to remain stably at a designated location via the arm 40 and inspect a wall surface area. Simultaneously, based on factors such as the weight of the wall-climbing robot 100, its operational state (lifting, flying, climbing, landing, etc.), and the adhesion between the robot 100 and the wall, the first servo in the drive unit receives operating instructions from the control component to adjust the operating angle of the motor ring 24 relative to the robot body 10, enabling the robot 100 to vertically take off and land, or to cling to a wall and inspect the wall. In other words, the present invention can change the operational state of the wall-climbing robot 100 by controlling the rotational speeds of the upper rotors 22 and 23, as well as the operating angle of the motor ring 24 relative to the robot body 10.

[0059] As one embodiment of the present invention, the arm portion 40 includes a robotic arm assembly, a suction cup 49, and a vacuum pump. The robotic arm assembly includes a second servo 41, a first connecting arm 42, a third servo 43, a second connecting arm 44, a fourth servo 45, a third connecting arm 46, a fifth servo 47, and a fourth connecting arm 48, which are connected in sequence. The first connecting arm 42 is detachably connected to the wall-climbing robot body 10 via the second servo 41, the fourth connecting arm 48 is fixedly connected to the suction cup 49, and the vacuum pump is installed in the wall-climbing robot body 10.

[0060] Furthermore, the second servo 41, the third servo 43, the fourth servo 45 and the fifth servo 47 can all be electrically connected to the control component to receive various working instructions of the control component, and adjust the angles between the first connecting arm 42 and the second connecting arm 44, the second connecting arm 44 and the third connecting arm 46, and the third connecting arm 46 and the fourth connecting arm 48 according to the working instructions of the control component, so as to adjust the height and / or position of the wall-climbing robot body 10 relative to the wall, so as to facilitate "obstacle avoidance" or fine-tuning the detection range; at the same time, the above-mentioned vacuum pump can be electrically connected to the control component to receive various working instructions of the control component, and adjust the negative pressure of the suction cup 49 on the wall, so as to keep the wall-climbing robot 100 stably on the wall to be detected.

[0061] The arm portion 40 in the present invention can not only selectively adsorb the wall through the suction cup 49 for fixed-point stay and stable detection, but also fine-tune the wall-climbing robot 100 through the mechanical arm assembly to expand its detection range, reduce energy consumption and improve detection efficiency. It can also be used to compensate for the detection error caused by the instability of the driving part (coaxial twin-propeller rotor assembly 20). That is, through the coordinated work of the arm portion 40 (vacuum adsorption) and the driving part (thrust structure assistance), the gravity of the wall-climbing robot 100 can be well balanced and sufficient adhesion pressure can be generated on the wall, so that the wall-climbing robot 100 can stably stay at a fixed point on the wall to be detected for detection.

[0062] As an embodiment of the present invention, the above-mentioned control component includes a robot controller, which can be used to receive various work instructions from the control terminal, and perform data fusion based on the various work instructions of the control terminal and the feedback signal of the detection component, and then send corresponding work instructions to the drive part, the arm part 40 and the detection component to enable the wall-climbing robot 100 to perform the work tasks of the control terminal.

[0063] As one embodiment of the present invention, the detection assembly includes an image detection assembly, a crack detection assembly, a pressure sensor, a speed sensor, and an angular displacement sensor. The image detection assembly includes a high-definition camera for capturing images of the wall surface and transmitting them to the robot controller. The crack detection assembly includes an infrared imaging device, an X-ray scattering imaging device, and a laser radar for detecting the internal crack conditions and three-dimensional coordinates of the wall surface and transmitting them to the robot controller. The pressure sensor detects the air pressure within the suction cup 49 (i.e., detects the negative pressure exerted by the suction cup on the wall) and feeds the detection result back to the control assembly to control the power of the vacuum pump. The speed sensor detects the synchronous rotation speed of the upper rotor 22 or the lower rotor 23 and feeds the detection result back to the control assembly to control the speed of the motor 21. The angular displacement sensor detects the operating angle of the motor ring 24 relative to the wall-climbing robot body 10 and feeds the detection result back to the control assembly to control the operating angle of the first servo.

[0064] As an embodiment of the present invention, the walking part 30 includes a walking wheel 31 and a connecting shaft 32, wherein one end of the connecting shaft 32 is fixedly connected to the walking wheel 31 and the other end is detachably connected to the wall-climbing robot body 10, so that the wall-climbing robot looks like a "car" and can climb on the wall.

[0065] The present invention not only provides the aforementioned robotic arm-based wall detection system but also, based on this, provides a robotic arm-based wall detection method, which includes a flight detection mode, a climbing detection mode, and a vertical aerial arrival detection mode. Compared to existing wall detection robots that only have one or two of these detection modes, the present invention not only adds additional wall detection modes but also offers greater adaptability, lower energy consumption, and a smaller size and weight. The following details the three wall detection modes of the present invention.

[0066] The first working mode, flight detection mode:

[0067] The so-called flight inspection mode means that before the regular inspection, the control terminal controls at least one wall-climbing robot with its walking and arm parts removed to inspect the wall partitions, thereby constructing a three-dimensional real-life model of the wall and planning the optimal climbing route required for the climbing inspection mode. The inspection steps of the flight inspection mode are as follows:

[0068] 11) Before inspecting a dam wall or other wall surface, remove the walking unit and arm of at least one wall-climbing robot. This means that only the robot body, the drive unit installed in the middle of the robot body, and the power supply, control components, and detection components installed inside the robot remain. This reduces the robot's weight and improves the flexibility and efficiency of wall inspection.

[0069] 12) The control terminal sends a flight detection mode work instruction to a control component of at least one wall-climbing robot whose walking part and arm part have been removed;

[0070] 13) After receiving the flight detection mode working instruction from the control terminal, any of the above control components sends a flight working instruction to the driving unit of the wall-climbing robot to drive the wall-climbing robot to fly to the vicinity of the designated wall area to be detected, and sends a detection working instruction to the detection component of the wall-climbing robot to detect the designated wall area to be detected;

[0071] 14) Any control component receives the feedback signal from the detection component in real time, and transmits the data to the control terminal after data fusion;

[0072] 15) The control terminal constructs a three-dimensional real-life model of the wall (including the wall crack status) based on the feedback signal of the control component on at least one wall-climbing robot, plans the optimal climbing route required for the climbing detection mode, and divides the wall to be inspected into sections to allocate them to multiple wall-climbing robots for one-to-one corresponding section detection.

[0073] The second working mode, climbing detection mode:

[0074] The so-called climbing detection mode refers to the control terminal controlling at least one wall-climbing robot to detect wall sections along the optimal climbing route during regular or routine detection. The detection steps of the climbing detection mode are as follows:

[0075] 21) The control terminal sends a climbing detection mode work instruction to a control component on at least one wall-climbing robot;

[0076] 22) After receiving the climbing detection mode working instruction from the control terminal, any of the above control components sends a climbing working instruction to the driving unit of the wall-climbing robot to drive the wall-climbing robot, and with the help of the walking unit of the wall-climbing robot, it climbs along the optimal climbing route to the designated wall area to be detected; at this time, the rotation speed of the upper and lower rotors in the driving unit and the working angle of the motor ring relative to the wall-climbing robot body can well balance the gravity of the wall-climbing robot and generate sufficient adhesion pressure on the wall to support the wall-climbing robot to climb the wall;

[0077] 23) At the same time, any of the aforementioned control components sends a fixed-point work instruction to the arm of the wall-climbing robot to cause the wall-climbing robot to stay fixedly at a designated area of the wall to be inspected, and sends a detection work instruction to the detection component of the wall-climbing robot to perform fixed-point detection on the designated area of the wall to be inspected; at this time, the drive unit will accordingly adjust the speed of the upper and lower rotors and the working angle of the motor ring relative to the wall-climbing robot body, or even stop operation, as long as the suction cup pressure in the arm can ensure that the wall-climbing robot can stay stably at the designated position;

[0078] 24) Any of the above detection components feeds back the detection results to the control component so that the control component can make corresponding judgments and send corresponding work instructions.

[0079] The third working mode, vertical air arrival detection mode:

[0080] The so-called vertical aerial arrival inspection mode refers to the control terminal controlling at least one wall-climbing robot to vertically fly to the vicinity of the wall area to be inspected for obvious cracks and urgent inspection. The control terminal also coordinates the control of the drive unit and the arm unit to dock the wall-climbing robot at the wall area to be inspected for inspection. The specific inspection steps of the vertical aerial arrival inspection mode are as follows:

[0081] 31) The control terminal sends a vertical aerial arrival detection mode operation instruction to a control component on at least one wall-climbing robot;

[0082] 32) After receiving the vertical aerial arrival detection mode working instruction from the control terminal, any of the above control components sends the vertical aerial arrival working instruction to the drive unit on the wall-climbing robot to drive the wall-climbing robot to vertically arrive near the designated wall area to be detected. At this time, the drive unit will accordingly adjust the speed of the upper and lower rotors and the working angle of the motor ring relative to the wall-climbing robot body to enable the wall-climbing robot to stay near the designated location;

[0083] 33) At the same time, any of the above control components sends a fixed-point work instruction to the arm of the wall-climbing robot to make the wall-climbing robot stay at a fixed point on the designated wall area to be inspected, and sends a detection work instruction to the detection component of the wall-climbing robot to perform fixed-point detection on the designated wall area to be inspected. At this time, the drive unit will accordingly adjust the speed of the upper and lower rotors and the working angle of the motor ring relative to the wall-climbing robot body, or even stop working, as long as the suction cup pressure in the arm can ensure that the wall-climbing robot can stay stably at the designated position;

[0084] 34) Any of the above detection components feeds back the detection results to the control component so that the control component can make corresponding judgments and send corresponding work instructions.

[0085] The present invention can not only realize the switching among the flight detection mode, the climbing detection mode and the vertical air arrival detection mode, but also makes the wall detection more convenient and quick, coordinates the work of multiple machines, and improves the detection efficiency and detection safety.

[0086] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes based on the technical solutions and improved concepts of the present invention within the technical scope disclosed by the present invention, and these changes should be covered by the scope of protection of the present invention.

Claims

1. A wall detection system based on a robotic arm, comprising several wall-climbing robots and a control terminal for regulating the working state of at least one wall-climbing robot, characterized by: The wall-climbing robot includes a wall-climbing robot body, a power supply, a driving part, a walking part, an arm part, a control component and a detection component; the driving part is rotatably installed in the middle of the wall-climbing robot body, and the driving part is used to drive the wall-climbing robot to take off and land vertically or climb a wall; two pairs of walking parts are symmetrically and detachably installed on both sides of the wall-climbing robot body, and the walking parts are used to assist the wall-climbing robot in climbing a wall; a pair of arm parts are symmetrically and detachably installed on both sides of the wall-climbing robot body, and the arm parts are used to assist the wall-climbing robot in fixed-point detection; the power supply, detection component and control component are installed in the wall-climbing robot body, and the power supply is electrically connected to the driving part, the arm part, the control component and the detection component, the control component receives the working instructions of the control terminal and regulates the working state of the wall-climbing robot, and the detection component receives the working instructions of the control component and detects the wall surface; the working states include flight detection mode, climbing detection mode and vertical aerial arrival detection mode; The flight detection mode is specifically as follows: the control terminal controls at least one wall-climbing robot with the walking part and the arm part removed to detect the wall partitions, so as to construct a three-dimensional real-scene model of the wall and plan the optimal climbing route required for the climbing detection mode; The climbing detection mode is specifically as follows: the control terminal controls at least one of the wall-climbing robots to detect the wall partitions along the optimal climbing route; The vertical aerial arrival detection mode is specifically as follows: the control terminal controls at least one of the wall-climbing robots to vertically arrive near a designated wall area to be detected in the air, and coordinates and controls the driving unit and the arm unit to stop the wall-climbing robot at the designated wall area to be detected for detection; The flight detection mode specifically includes the following steps: 11) Dismantling the walking unit and the arm unit of at least one of the wall-climbing robots; 12) The control terminal sends a flight detection mode working instruction to at least one control component of the wall-climbing robot; 13) After receiving the flight detection mode working instruction, any of the control components sends a flight working instruction to the driving unit of the wall-climbing robot to drive the wall-climbing robot to fly to the vicinity of the designated wall area to be detected, and sends a detection working instruction to the detection component of the wall-climbing robot to detect the designated wall area to be detected; 14) Any of the control components receives the feedback signal from the detection component in real time, and transmits the data to the control terminal after data fusion; 15) The control terminal constructs a three-dimensional real-scene model of the wall and plans the optimal climbing route required for the climbing detection mode based on the feedback signal of the control component on at least one of the wall-climbing robots; The climbing detection mode specifically includes the following steps: 21) The control terminal sends a climbing detection mode working instruction to at least one control component of the wall-climbing robot; 22) After receiving the climbing detection mode working instruction, any of the control components sends a climbing working instruction to the driving unit of the wall-climbing robot to drive the wall-climbing robot to climb to the designated wall area to be detected along the optimal climbing route with the help of the walking unit of the wall-climbing robot; 23) Any of the control components sends a fixed-point work instruction to the arm of the wall-climbing robot to fix the designated wall area to be inspected, and sends a detection work instruction to the detection component of the wall-climbing robot to perform fixed-point detection on the designated wall area to be inspected; The vertical air arrival detection mode specifically includes the following steps: 31) The control terminal sends a vertical aerial arrival detection mode operation instruction to at least one control component of the wall-climbing robot; 32) After receiving the vertical aerial arrival detection mode working instruction, any of the control components sends the vertical aerial arrival working instruction to the driving unit of the wall-climbing robot to drive the wall-climbing robot to vertically arrive near the designated wall area to be detected; 33) Any of the control components sends a fixed-point work instruction to the arm of the wall-climbing robot to fix the wall area to be detected, and sends a detection work instruction to the detection component of the wall-climbing robot to perform fixed-point detection on the designated wall area to be detected.

2. The wall detection system based on a robotic arm according to claim 1, characterized in that: The driving part includes a coaxial twin-propeller rotor assembly, which includes a motor, an upper rotor, a lower rotor, a motor ring, a motor fixing frame, four hollow rods and two first servos. The motor fixing frame is fixedly installed in the middle of the motor ring, and the motor is fixedly installed in the center of the motor ring through the motor fixing frame. The upper rotor and the lower rotor are symmetrically installed at both ends of the motor, and four hollow rods are evenly distributed around the circumference of the motor ring, wherein two adjacent hollow rods are respectively connected to the wall-climbing robot body through two first servos and the other two hollow rods are rotationally connected to the wall-climbing robot body, the motor receives the working instructions of the control component and adjusts the rotation speed of the upper rotor and the lower rotor, and the first servo receives the working instructions of the control component and adjusts the working angle of the motor ring relative to the wall-climbing robot body.

3. The wall detection system based on a robotic arm according to claim 2, characterized in that: The first servo can drive the motor ring to perform compound rotational motion relative to the wall-climbing robot body.

4. The wall detection system based on a robotic arm according to claim 2, characterized in that: The arm part includes a robotic arm assembly, a suction cup and a vacuum pump. The robotic arm assembly includes a second servo, a first connecting arm, a third servo, a second connecting arm, a fourth servo, a third connecting arm, a fifth servo and a fourth connecting arm connected in sequence. The first connecting arm is detachably connected to the wall-climbing robot body through the second servo, and the fourth connecting arm is fixedly connected to the suction cup. The vacuum pump is installed in the wall-climbing robot body. The second servo, the third servo, the fourth servo and the fifth servo receive the working instructions of the control assembly and adjust the height and / or position of the wall-climbing robot body relative to the wall. The vacuum pump receives the working instructions of the control assembly and adjusts the negative pressure of the suction cup on the wall.

5. The wall detection system based on a robotic arm according to claim 4, characterized in that: The control component includes a robot controller, the detection component includes an image detection component, a crack detection component, a pressure sensor, a speed sensor and an angular displacement sensor, the image detection component includes a high-definition camera for capturing wall images, the crack detection component includes an infrared imaging detection device, an X-ray scattering imaging detection device and a laser radar for detecting wall crack conditions, the pressure sensor, the speed sensor and the angular displacement sensor are used to respectively detect the negative pressure of the suction cup, the speed of the upper rotor and the lower rotor and the working angle of the motor ring, the robot controller receives the working instructions of the control terminal and the feedback signal of the detection component and performs data fusion to send corresponding working instructions.

6. The wall detection system based on a robotic arm according to any one of claims 1 to 5, characterized in that: The walking part includes a walking wheel and a connecting shaft, one end of the connecting shaft is fixedly connected to the walking wheel and the other end is detachably connected to the wall-climbing robot body.

Images