Building Structure Crossing Method Based on Robot Cluster System

Abstract

The present invention discloses a building structure spanning method based on a robot cluster system. The robot cluster system includes three or more robots operating on a working surface and cables. All the robots are powered and communicate through the cables and are sequentially connected to the cables along the extension direction of the cables. Along the extension direction of the cables, among the multiple robots are the first robot, the second robot... and the Nth robot in sequence. The building structure spanning method includes: Step S1, the first robot spans to the opposite side of the building structure; Step S2, the first robot and the third robot are respectively anchored to the current working surface in a vacuum adsorption manner, and the cables extending between them and the second robot are tightened; Step S3, synchronously change the lengths of the cables between the first robot and the third robot and the second robot, so that the second robot gradually approaches the first robot, and correspondingly the second robot gradually moves away from the third robot until the second robot moves to the opposite side of the building structure in a suspended manner, and the first robot and the third robot release the anchoring to the current working surface; Step S4, repeat Steps S1 to S3. The two robots adjacent to both sides of the current robot to be spanned serve as the anchoring support structure during its spanning to assist it in spanning the building structure until all the robots in the robot cluster system sequentially span to the opposite side of the building structure. It can achieve the mutual cooperation of multiple robots and the spanning of relatively large building structures.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a building structure crossing method based on a robot cluster system. Background Art

[0002] When conducting outdoor operations such as surveying and exploration, unmanned aerial vehicles (UAVs) and other types of robotic exploration equipment are widely used. For example, the patent document with the publication number CN114379777B discloses a tilt-rotor UAV structure and its working method. This multi-rotor UAV can enhance the adaptability of the UAV and the flexibility of movement control through the vector control of the tilt-rotor.

[0003] In the case of a relatively large working area, in order to improve work efficiency, multiple exploration devices may be deployed to carry out operations simultaneously. In actual operations, the exploration devices need to cross building structures with a large span. Once adverse conditions such as strong crosswinds and eddies occur, it will increase the difficulty for the exploration devices to cross the building structure, and it is also difficult for multiple exploration devices to cooperate with each other. Summary of the Invention

[0004] The object of the present invention is to provide a building structure crossing method based on a robot cluster system, which can achieve the cooperation of multiple robots and the crossing of large building structures.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] A building structure crossing method based on a robot cluster system, wherein the robot cluster system includes three or more robots operating on a working surface and cables. All the robots are powered and communicate through the cables, and are sequentially connected to the cables along the extension direction of the cables;

[0007] Along the extension direction of the cable, among the multiple robots are the first robot, the second robot,..., and the Nth robot in sequence. The building structure crossing method includes:

[0008] Step S1, the first robot crosses to the opposite side of the building structure;

[0009] Step S2, the first robot and the third robot are respectively anchored to the current working surface by vacuum adsorption, and the cable extending between them and the second robot is tightened;

[0010] Step S3, synchronously change the lengths of the cables between the first robot and the third robot and the second robot, so that the second robot gradually approaches the first robot, and correspondingly, the second robot gradually moves away from the third robot until the second robot moves to the opposite side of the building structure in a suspended manner, and the first robot and the third robot release the anchoring to the current working surface;

[0011] Step S4, loop through steps S1 to S3. The two robots adjacent to both sides of the current robot to be spanned serve as the anchoring support structure during its spanning, assisting it to span the building structure until all the robots in the robot cluster system have successively spanned to the opposite side of the building structure.

[0012] Furthermore, the robot cluster system includes a survey robot at the far end of the cable and a cable-carrying robot connected to the survey robot by a cable. Both the survey robot and the cable-carrying robot include:

[0013] A support body;

[0014] A vector rotor system, which is used to provide vector power for the support body;

[0015] Walking wheels, which are arranged below the support body and are used to walk on the working surface;

[0016] Both the survey robot and the cable-carrying robot are powered and communicate via the cable loaded on themselves in the working state.

[0017] Furthermore, an information acquisition device is arranged on the robot. The information acquisition device includes at least one of a laser mapping component, an image acquisition component, and an ultrasonic detection component;

[0018] In step S3, when the robot in the middle position passes by the building structure, it further includes:

[0019] Controlling the robot in the middle position to stop moving, and using the information acquisition device on the robot in the middle position to collect the information data of the building structure.

[0020] Furthermore, in the robot cluster system, the survey robot and the cable-carrying robot are arranged in pairs and continuously along the extension direction of the cable. A cable rack mechanism is configured on the cable-carrying robot to implement cable winding or unwinding to make the adjacent survey robots on both sides approach or move away from the cable-carrying robot;

[0021] In step S3, when the robot in the middle position passes by the building structure, the cable is wound and unwound through the cable rack structure on itself or adjacent robots, and the cable lengths between the three robots are synchronously changed.

[0022] Furthermore, the cable rack mechanism includes:

[0023] A support, which is fixed on the support body. At least a part of the support is a tubular structure and its interior serves as a guide groove, and a cable is movably inserted through the guide groove;

[0024] Wire clamping wheels, which are arranged in pairs, mounted on a support, and used to clamp and drive a cable to move along a guiding groove;

[0025] A wire clamping motor, mounted on the support, and used to be linked with the wire clamping wheels to change the length of the cable between the survey robot and the negative cable robot.

[0026] Furthermore, the cable rack mechanism further includes:

[0027] Two wire winding wheels, respectively mounted on a support body, with the cable wound around the wire winding wheels, and one end of the cable penetrating through the port of a tubular structure and arranged inside the tubular structure;

[0028] Two wire winding motors, each independently driving a corresponding wire winding wheel.

[0029] Furthermore, before implementing the building structure crossing method,

[0030] Based on the working surface map obtained during the historical working process, and using an information acquisition device to obtain the working surface position coordinates of the building structure relative to the working surface map; the first robot first crosses to the opposite side of the building structure.

[0031] Furthermore, connection sleeves are fixed on multiple robots, the cable passes through the connection sleeve and enters the robot interior, and is connected to corresponding circuit components inside the robot; in the connection sleeve, the side where the cable enters from the outside of the robot is the entrance side; a pressure sensor is arranged on the inner wall of the connection sleeve at the entrance side; the pressure sensor is used to detect the pressure signal of the cable.

[0032] Furthermore, a plurality of mounting lugs are evenly arranged at intervals along the circumferential direction of the entrance side of the connection sleeve, and the pressure sensor is correspondingly fixed on the inner side of each mounting lug.

[0033] The building structure crossing method based on the robot cluster system of the present invention has at least the following technical effects:

[0034] The present invention can enable multiple robots to cross the building structure in sequence and orderly; when the robot cluster system crosses the building structure, it can share the cable pressure of each other, and cooperate with each other, reduce interference, and improve the use safety. Description of the Drawings

[0035] Figure 1 is a flowchart of the building structure crossing method based on the robot cluster system in the present invention;

[0036] Figures 2 to 4 is a schematic diagram of the implementation process of the building structure crossing method based on the robot cluster system in the present invention;

[0037] Figure 5 Schematic diagram of the structure of the full-vector survey cluster system;

[0038] Figure 6 is Figure 5 Schematic diagram of the negative cable robot in opening the first housing;

[0039] Figure 7 is Figure 6 Enlarged view of B in ;

[0040] Figure 8 Schematic diagram of the swing frame in the second state;

[0041] Figure 9 is Figure 5 Cross-sectional view of the negative cable robot in ;

[0042] Figure 10 Flowchart of the wellbore detection method in the present invention;

[0043] Figure 11 Schematic diagram of the structure of the survey robot with four-rotor vector drive provided by the present invention;

[0044] Figure 12 is Figure 11 Schematic diagram of the support body in ;

[0045] Figure 13 Schematic diagram of the structure of the survey robot with two-rotor vector drive provided by the present invention;

[0046] Figure 14 is Figure 13 Schematic diagram of the support body in ;

[0047] Figures 15 to 16 Schematic diagram of the structure of the image acquisition component;

[0048] Figure 17 Schematic diagram of the structure of the laser mapping component;

[0049] Figure 18 Schematic diagram of the structure of the medium output head of the ultrasonic detection component in the second position;

[0050] Figure 19 is Figure 18 Cross-sectional view of ;

[0051] Figure 20 Schematic diagram of the structure of the medium output head of the ultrasonic detection component in the first position;

[0052] Figure 21 Exploded view of the supply device;

[0053] Figures 22 to 23 Schematic diagram of the structure of the rotor assembly;

[0054] Figure 24 It is a schematic structural diagram of the static adsorption component;

[0055] Figure 25 is Figure 20 a schematic structural diagram of the static adsorption component in opening the first housing;

[0056] Figure 26 a sectional view of the static adsorption component;

[0057] Figure 27 is a schematic structural diagram of the lifting drive mechanism;

[0058] Figure 28 is Figure 27 a schematic structural diagram of the power split mechanism in ;

[0059] Figure 29 is a sectional view of the survey robot with the support omitted;

[0060] Figure 30 is Figure 29 an enlarged view of A in ;

[0061] Figure 31 is an exploded view of the pressure relief valve;

[0062] Figure 32 is a schematic structural diagram of the suction cup;

[0063] Figure 33 is a schematic structural diagram of the walking wheel;

[0064] Figure 34 is Figure 33 a sectional view of the walking wheel in .

[0065] Figure 35 is a schematic structural diagram of the cleaner inside the third housing;

[0066] Figures 36 to 37 are schematic structural diagrams of the cleaner;

[0067] Figure 38 is a sectional view of the survey robot with the support omitted;

[0068] Figure 39 is Figure 38 an enlarged view of C in .

[0069] The descriptions of the reference numerals in the figures are as follows:

[0070] 100, top side; 101, bottom side; 200, survey robot; 201, first robot; 202, second robot; 203, third robot; 210, working surface;

[0071] 1. Support; 11. Top frame; 12. Bottom frame; 13. Column; 14. Ring part; 15. Wheel seat; 16. Reinforcing rod; 161. Edge rod; 162. Inner rod; 17. Connecting sleeve; 171. Inlet side; 172. Mounting lug; 18. Cable

[0072] 2. Rotor assembly; 21. First flipping frame; 22. First servo; 23. Second flipping frame; 24. Second servo; 25. Main motor; 26. Blade; 28. First pivot; 29. Second pivot

[0073] 3. Traveling wheel; 31. Shock absorption mechanism

[0074] 4. Information acquisition device; 41. Image acquisition component; 411. Camera; 412. First camera; 413. Second camera; 414. Fill light; 415. Ring piece; 416. Spoke; 42. Laser mapping component; 421. Cloud platform; 422. Laser scanner; 423. Support arm; 424. Shock absorption component; 43. Ultrasonic detection component; 431. Ultrasonic probe; 4311. Spring; 432. Moving mechanism; 433. Medium output head; 4331. Output hole; 434. Flipping mechanism; 4341. Flipping motor; 4342. Movable frame; 4343. Micro camera; 435. Supply device; 4351. Cartridge; 4352. Discharge hole; 4353. Pushing piston; 4354. Electric push rod; 436. Medium pipeline

[0075] 5. Static adsorption component; 51. Outer sleeve; 52. Cylinder; 521. External thread; 53. Lifting drive mechanism; 531. Motor; 5311. Output shaft; 532. Power splitting mechanism; 5321. Main bevel gear; 5322. Sub bevel gear; 5323. Intermediate shaft; 5324. Universal joint; 5325. Output shaft; 533. Driving gear; 534. Ring gear; 535. Tooth; 54. Suction cup; 541. Vacuum port; 542. Pressure relief port; 543. Pressure relief valve; 5431. Sealing sleeve; 5432. Valve core; 5433. Valve stem; 5434. Elastic part; 5435. Flange; 544. Limit pad; 545. Substrate; 5451. Third housing; 5452. Expansion area; 5453. First expansion area; 5454. Second expansion area; 5455. First avoidance port; 5456. Second avoidance port; 546a. Sealing ring; 546b. Sealing ring; 546c. Sealing ring; 55. Vacuum pump; 551. Vacuum pipeline; 552. Internal pipeline; 5521a. Rigid pipe; 5521b. Rigid pipe; 553. External pipeline; 56. First housing; 57. Control main board; 58. Second housing; 581. Bridge arm

[0076] 7. Cleaner; 71. Cleaning motor; 711. Guide; 712. Brush head; 713. Spring; 72. Sliding mechanism; 721. Sliding motor; 73. Guide component; 731. Chute

[0077] 8. Full-vector survey cluster system; 81. Negative cable robot; 82. Cable rack mechanism; 821. Support; 8211. Guide groove; 8212. Avoidance opening; 8213. Swing frame; 8214. Tubular structure; 822. Cable clamping wheel; 8221. Driving wheel; 8222. Driven wheel; 823. Cable clamping motor; 824. Pulling spring; 825. Outer gear teeth; 826. Coiled section; 831. Cable winding wheel; 834. Winding motor; 84. Cable releasing mechanism Detailed implementation manners

[0078] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention

[0079] It should be noted that when a component is referred to as being "connected" to another component, it can be directly connected to the other component or there may also be an intermediate component. When a component is considered to be "disposed on" another component, it can be directly disposed on the other component or there may be an intermediate component at the same time

[0080] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which this invention belongs. The terms used in the description of the present invention herein are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items

[0081] See Figures 1 to 4 The present invention provides a building structure spanning method based on a robot cluster system. The robot cluster system includes three or more robots operating on a working surface and cables. All the robots are powered and communicate through the cables and are sequentially connected to the cables along the extension direction of the cables; along the extension direction of the cables, among the multiple robots are the first robot, the second robot,..., and the Nth robot in sequence. The building structure spanning method includes:

[0082] Step S1, the first robot 201 spans to the opposite side of the building structure

[0083] Step S2: The first robot 201 and the third robot 203 are respectively anchored to the current working surface in a vacuum adsorption manner, and the cables extending between them and the second robot 202 are tightened.

[0084] Step S3: Synchronously change the lengths of the cables between the first robot 201 and the third robot 203 and the second robot 202, so that the second robot 202 gradually approaches the first robot 201, and correspondingly, the second robot 202 gradually moves away from the third robot 203 until the second robot 202 moves to the opposite side of the building structure in a suspended manner, and the first robot 201 and the third robot 203 release the anchoring to the current working surface.

[0085] Step S4: Repeat Steps S1 to S3. The two robots adjacent to both sides of the currently to-be-spanned robot serve as the anchoring support structures during its spanning to assist it in spanning the building structure until all the robots in the robot cluster system have successively spanned to the opposite side of the building structure.

[0086] Before implementing the building structure spanning method, it also includes: splicing the image information collected from multiple working positions during the historical working process to obtain a working surface map, and obtaining the position coordinates of the building structure relative to the working surface. For the specific content of obtaining the working surface map and the position coordinates, please refer to the relevant embodiments below.

[0087] After obtaining the working surface map and the position coordinates of the building crack relative to the working surface, the first robot can first span to the opposite side of the building structure by flying, avoiding walking, etc. "Moving in a suspended manner" means that it does not rely on the vector power provided by the robot itself to move forward, but relies on the control of cable winding and unwinding to achieve position adjustment relative to the first robot and the third robot.

[0088] In the natural environment, wireless robots are limited by environmental interference and cannot meet the work requirements. In this embodiment, the robot cluster system can share the cable pressure with each other and coordinate their work with each other to improve the use safety. In this case, when the robot at the head end spans to the opposite side of the building structure, the interference caused by the cable to it is relatively small, that is, a part of the weight of the cable is shared and will not affect the flight of the head end robot. If the robot cluster system is used to fly simultaneously and translate synchronously across the building structure, there will be too much interference at this time, the control algorithm is complex and the damage caused by environmental risks cannot be eliminated. Multiple robots are damaged at the same time and rescue is difficult. If the middle robot uses the flying method to span the structure, there will be simultaneous interference before and after the cable, resulting in difficult flight. If the middle robot avoids spanning the structure, it will not be able to span a relatively large (exceeding the cable length) building structure. To sum up, the building structure spanning method provided in this embodiment can steadily solve the problem of building structure spanning.

[0089] ReferenceFigures 5 to 9 , the present invention further includes a full-vector survey cluster system (also simply referred to as the cluster system, that is, the robot cluster system used to implement the building structure spanning method above), including a survey robot 200 and at least one negative cable robot 81. Both the survey robot 200 and the negative cable robot 81 include:

[0090] A support body 1, having opposite top side 100 and bottom side 101;

[0091] A vector rotor system, including at least two sets of rotor assemblies 2, each rotor assembly 2 is installed on the support body 1 and provides vector power to the support body 1;

[0092] A walking wheel 3, arranged on the bottom side 101 of the support body 1, for walking cooperation with the working surface;

[0093] The survey robot 200 further includes an information collection device 4, and the information collection device 4 is installed on the support body 1 for collecting information data related to the working surface;

[0094] The negative cable robot 81 further includes a cable rack mechanism 82, and the survey robot 200 is powered and communicates via a cable 18 loaded on the cable rack mechanism 82 in the working state.

[0095] The survey robot 200 is equipped with an information collection device 4, while the negative cable robot 81 can choose whether to install an information collection device 4 according to needs. Each negative cable robot 81 needs to carry the cable 18, so a cable rack mechanism 82 is configured for each.

[0096] The cable rack mechanism 82 includes:

[0097] A support 821, fixed to the support body 1, at least a part of the support 821 is a tubular structure 8214 and the inside is used as a guide groove 8211, and the cable 18 is movably threaded through the guide groove 8211;

[0098] A wire clamping wheel 822, installed on the support 821, clamping and driving the cable 18 to move along the guide groove 8211;

[0099] A wire clamping motor 823, installed on the support 821, linked with the wire clamping wheel 822 to change the length of the cable between the survey robot and the negative cable robot.

[0100] When the wire clamping motor 823 works, it drives the wire clamping wheel 822 to rotate. At this time, the cable 18 moves along the guide groove 8211 under the action of the wire clamping wheel 822. In the previous text, the connecting sleeve 17 configured with pressure sensing is butted against the end of the tubular structure 8214, or the end of the tubular structure 8214 also serves as the connecting sleeve 17. In this embodiment, the number of connecting sleeves 17 of each negative cable robot 81 is 2.

[0101] In this embodiment, the wire clamping wheels 822 are arranged in pairs, and at least one of them is a driving wheel 8221 linked to the wire clamping motor 823. To facilitate clamping of the cable 18, a radially penetrating avoidance opening 8212 is provided in the side wall of the tubular structure, and the wire clamping wheels 822 of the same pair clamp the cable 18 through the avoidance opening 8212 on the corresponding side.

[0102] Specifically, a swing frame 8213 is provided on the support 821. Among the wire clamping wheels 822 of the same pair, one is a driven wheel 8222 and is rotatably installed on the support 821; the other is a driving wheel 8221 and is rotatably installed on the swing frame 8213.

[0103] An elastic member is provided between the swing frame 8213 and the support 821, driving the driving wheel 8221 to approach the driven wheel 8222 and clamp the cable 18, that is, the swing frame 8213 is in the first state (i.e., the F1 position).

[0104] The swing frame 8213 further has a second state (i.e., the F2 position), the driving wheel 8221 is away from the driven wheel 8222, and the swing frame 8213 abuts against the support 821 for limiting.

[0105] The elastic member is a tension spring 824, and the two ends of the tension spring 824 are respectively connected to the swing frame 8213 and the support 821. The tension spring 824 restricts the swing frame 8213 in the second state by passing through the dead point.

[0106] The swing frame 8213 can change its state according to actual needs.

[0107] In this embodiment, the wire clamping motor 823 and the driving wheel 8221 are driven by gear meshing.

[0108] Both ends of the tubular structure extend to two opposite sides of the support body 1. In order to be able to separately control the length of the cable 18 on each side of the robot, wire clamping wheels 822 and wire clamping motors 823 are respectively arranged at both ends of the tubular structure.

[0109] Furthermore, an open area or a semi-open area is provided in the middle of the tubular structure 8214. One section of the cable 18 extends out of the guide groove 8211 from this part, and the extended part is a coiled section 826. In order to better coil the cable 18, the negative cable robot 81 further includes:

[0110] Two wire winding wheels 831 are respectively installed on the support body 1, and the cables 18 extending from both ends of the tubular structure 8214 are respectively wound around one of the wire winding wheels 831.

[0111] Two winding motors 834 independently drive a corresponding wire reel 831, which can adaptively adjust the cables 18 on both sides of the negative cable robot 81, making its cluster system more flexible and avoiding the limitation of only being able to adjust simultaneously. Among them, a conventional gear meshing method can be adopted for transmission between the winding motor 834 and the wire reel 831.

[0112] In order to improve the integration degree, the two wire reels 831 can also be encapsulated in the first housing 56. Since the top of the outer sleeve 51 in the static adsorption assembly 5 is also inside the first housing 56, in this embodiment, the two wire reels 831 can also be set as a cylindrical structure and rotatably sleeved on the corresponding outer sleeve 51. There are external gear teeth 825 outside the top edge of the cylindrical structure, and a gear meshing method is adopted for transmission with the winding motor 834.

[0113] The cable 18 extending into the end of the tubular structure 8214 bypasses the corresponding wire reel 831 and is connected to the electrical components in the negative cable robot 81 to form an electrical circuit.

[0114] In the robot cluster system, the survey robots and the negative cable robots are arranged in pairs and continuously along the cable extension direction. The negative cable robot is configured with a cable rack mechanism to take in or pay out the cable so that the adjacent survey robots on both sides approach or move away from the negative cable robot;

[0115] In step S3, when the robot in the middle position passes through the building structure, the cable is taken in or paid out through the cable rack structure on itself or the adjacent robot, and the cable lengths between the three robots are synchronously changed.

[0116] Correspondingly, the survey robot 200 can also be configured with a cable rack mechanism 82, a wire reel 831, and a winding motor 834. If it is at the head of the queue, only one set of wire reel 831 and winding motor 834 can be configured.

[0117] Both the survey robot 200 and the negative cable robot 81 are powered and communicate in a wired manner during the working state. Combining the foregoing, the connection sleeve 17 that can detect the slack or bending of the cable 18 is installed on the cable rack mechanism 82 of the negative cable robot 81, or is part of the cable rack mechanism 82 (which can be regarded as indirectly installed on the support 1). The cable 18 has a certain self-weight, and the survey robot 200 can only carry a limited weight of the cable 18. When the working surface is far away, the negative cable robot 81 can better share the self-weight of the cable 18 and improve the overall survey range. Of course, the number of negative cable robots 81 can be set according to requirements. In this embodiment, the survey robot 200 and the negative cable robot 81 can respectively adopt four-rotor vector drive or two-rotor vector drive.

[0118] The full-vector survey cluster system 8 further includes a cable releasing mechanism 84. One end of the cable 18 is connected to the survey robot 200, and the other end is connected to the cable releasing mechanism 84. The negative cable robot 81 is connected in series between the survey robot 200 and the cable releasing mechanism 84 through the cable 18 in sequence. The cable releasing mechanism 84 can automatically wind and unwind the cable 18. As for the cable releasing mechanism 84 itself, the automatic winding and unwinding of the cable 18 can be achieved by using the existing technology.

[0119] In step S3, synchronously change the cable lengths between the first robot and the third robot and the second robot. Specifically, it includes: driving the second robot towards the cable reel of the first robot to shorten the cable length between the second robot and the first robot; driving the second robot towards the cable reel of the third robot to extend the cable length between the second robot and the third robot.

[0120] In step S3, when the second robot passes by the building structure, it further includes: controlling the winding motor to stop driving the two cable reels, controlling the second robot to stop moving, and using the image acquisition component and / or the ultrasonic detection component to collect relevant information data. The building structure can be, for example, a building ditch, or between two building bodies with a certain span, or a building crack, etc. It may be convenient for the second robot to stay in the middle to collect scene information. For the position setting, function realization, and specific driving method of the cable reel, reference can be made to the relevant embodiments of the cable rack mechanism in this article.

[0121] See Figure 10 , the present invention also provides a wellbore detection method. The robot cluster system includes multiple robots operating on the working face and cables. All the robots are powered and communicate through the cables and are connected to the cables in sequence according to the extension direction of the cables; according to the extension direction of the cables, among three consecutive robots, they are the first robot, the second robot, and the third robot in sequence. The detection method includes:

[0122] Step S931, the first robot and the third robot reach and anchor to the wellbore wall in the way of vacuum adsorption in sequence;

[0123] Step S932, the second robot moves into the wellbore, hangs in the wellbore under the action of the cable, and collects information data related to the wellbore;

[0124] Step S933, use the cable rack mechanisms of the first robot and the third robot to wind and unwind the cable to adjust the depth of the second robot in the wellbore.

[0125] In the scenario where the wellbore serves as a signal shielding area, the robot must be controlled in a wired manner. However, the situation inside the wellbore is unclear, posing a significant risk to high-value electromechanical items such as robots. Considering the implementation scenarios of wellbore detection and building crack crossing, during the movement of the second robot, the operation of the vector rotor system can be stopped. In this embodiment, the second robot in the robot cluster system is used to detect the wellbore, and the detection can be completed by extending and shortening the depth of the second robot underground through the retraction and extension of the cable. The acquisition of wellbore-related information data can be completed by the information acquisition device provided in the relevant embodiments of this article.

[0126] The present invention also provides a queue adjustment method based on a robot cluster system, which can be implemented during the building crack crossing method or the wellbore detection method. The robot cluster system includes multiple robots operating on the working surface and cables. All robots are powered and communicate through the cables and are sequentially connected to the cables along the extension direction of the cables; each robot is fixed with a connecting sleeve, and the cable passes through the connecting sleeve from the outside of the robot and is connected to the corresponding circuit components inside the robot. In the connecting sleeve, the side where the cable enters from the outside is the entrance side, and a pressure sensor configured on the entrance side is provided on the inner wall of the connecting sleeve.

[0127] The queue adjustment method can be implemented in various scenarios to achieve collaborative work. In scenarios such as corridors, space holes, and underground karsts, the robots can also be equipped with searchlights. Through the server, the spatial positions and orientations of the robots are coordinated to direct supplementary lighting to the robots that are working, so as to ensure the acquisition of relevant information data on the working surface.

[0128] In one embodiment, some of the robots are negative cable robots and are configured with a cable rack mechanism. The cable rack mechanism winds or unwinds the cable. The adjustment method includes each negative cable robot collecting signals from the pressure sensor and correspondingly adjusting the control of the cable rack mechanism and / or the rotor assembly according to the sensor signals. The setting methods and quantities of the rotor assembly, the cable rack mechanism, the connecting sleeve, and the pressure sensor can all refer to the relevant embodiments of the cable rack mechanism in this article. For example, when the cable between two adjacent robots becomes taut, loose, or bent, the pressure sensor can provide a detection signal to appropriately adjust the traveling speed or orientation of the robot.

[0129] It should be understood that although the steps in the embodiments of the present invention are described in sequence, these steps are not necessarily executed in the order described. Unless there is a clear description in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, at least some steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least a part of other steps or sub-steps or stages of other steps.

[0130] In one embodiment, the adjustment method includes each robot collecting signals from the pressure sensor and correspondingly adjusting its own moving speed according to the sensor signals. Further, along the extending direction of the cable, another robot on the entrance side of the current robot is an adjacent robot. When adjusting its own moving speed, it includes: when the signal of the pressure sensor is greater than the first set value, reducing the moving speed towards the adjacent robot; when the signal of the pressure sensor is less than the second set value, increasing the moving speed towards the adjacent robot.

[0131] It can be understood that as mentioned in the previous embodiments, the pressure sensor can detect the bending direction of the cable. When multiple pressure sensors are arranged circumferentially around the cable, the bending direction of the cable can be sensed. When the detection signal is greater than the third set value, it is considered that the bending degree of the cable in a certain direction is too large and unnecessary pulling is generated. At this time, the relative moving speed of the two robots can be reduced or the orientations of the two robots can be adjusted to make the overall moving state of the queue balanced and reduce the pulling of the cable on each other.

[0132] The inner wall of the connecting sleeve can also be configured with a Hall sensor on the entrance side to accurately control the winding and unwinding speed of the cable rack mechanism, so that the moving speed of the robot matches the winding and unwinding speed of the cable rack mechanism.

[0133] For field operation sites such as culverts and reservoir dams, especially in the case of vertical surface operations and where there may be large construction defects on the working surface, the traditional unmanned aerial vehicles cannot meet the requirements in terms of both endurance and the stability of the spatial attitude during information collection. Although some prior arts disclose the technology of combining a flight mechanism with a walking mechanism, the power for its movement along the working surface mainly comes from the walking mechanism, which not only makes the device complex but also limits the flexibility of the walking mechanism. In the present invention, the power for the robot to move along the working surface comes from the vector rotor system, which simplifies the control method and the hardware requirements of the walking mechanism instead. In terms of providing vector power itself, it can be achieved through the attitude of the rotor assembly 2 itself and the mutual cooperation among multiple sets, and conventional technologies can also be applied in the control.

[0134] To protect important building installations, there may be active electromagnetic protection or electromagnetic interference from large equipment. Therefore, traditional wireless-based robots will be subject to significant interference during signal transmission and are not applicable.

[0135] Preferably, the robot of the present invention is powered and communicates in a wired manner. Wired power supply not only reduces the load of the robot's self-contained power supply but also enables long-term operation. During communication, whether it is the control command or the transmission of information data, the signal quality and speed can be guaranteed. Especially in complex environments with high magnetic fields, no signals, and high crosswind levels, it can be unaffected by the environment.

[0136] In the present invention, the information data related to the working face may include the two-dimensional image of the working face itself or the three-dimensional terrain data. The information of the internal structure is collected by ultrasound, as well as the on-site climate, lighting conditions, etc. For the information collection method itself, corresponding equipment in the prior art is used. Of course, the specific mounting method and structure of the information collection device 4 are also provided with improved methods in the embodiments of this article.

[0137] In the present invention, the robot can form a survey system with a remote server. The storage of a large amount of data and the data processing that consumes computing power can be completed by the server, and the server sends corresponding commands to the robot. In some scenarios, a on-site handheld terminal can also be configured to be connected to the robot and send commands in real time.

[0138] In one embodiment, a control method is provided, including the establishment of a working face map and the inspection of the working face. The control method is for the way and process of a single robot performing tasks during operation.

[0139] Among them, the establishment of the working face map includes:

[0140] Establishing a coordinate system and dividing sub-regions;

[0141] Obtaining a two-dimensional working face map;

[0142] Obtaining a three-dimensional working face map.

[0143] The inspection of the working face includes:

[0144] Confirming the current position of the robot;

[0145] Identifying and marking building defects on the working face map.

[0146] In one embodiment, for a working face in a relatively large area, the control method further includes:

[0147] Establish a coordinate system, specifically including: the survey robot reaches the origin position, moves along the direction of the predetermined coordinate axis to the reference point, obtains the connection line between the origin and the reference point, maps the connection line to the working face map, and calculates to obtain the direction of the other coordinate axis and the coordinate system formed by the two coordinate axes;

[0148] Divide sub-regions, specifically including: dividing the working face into several rectangular sub-regions within the coordinate system according to the predetermined side length.

[0149] It can be understood that during the working process of the survey robot, the position feedback between the survey robot and the server is completed through the coordinate system. Therefore, the coordinate system needs to be established at the beginning of the survey robot's work. The establishment of the coordinate system relies on the collected and spliced image information. The origin is the position of the survey robot at the beginning of work, and both the reference point and the origin are on the spliced image. Therefore, the establishment of the coordinate system can be achieved to facilitate the command interaction between the survey robot and the server.

[0150] The division of the working sub-regions can be carried out, for example, according to the maximum length of the cables between adjacent robots, or according to the working limit path of the robots. When multiple robots are used, each robot walks synchronously while maintaining a constant relative distance to improve work efficiency. The sub-regions can be squares, for example, with side lengths ranging from ten meters to two hundred meters, such as fifty meters.

[0151] When confirming the current position, matching the surface features, and the user viewing the working face map, the data units of each sub-region can be retrieved one by one to improve work efficiency. The survey robot conducts path planning before work, and the path planning is carried out for each sub-region. By dividing separate sub-regions, the process of path planning is optimized. The division of sub-regions can rely on physical markings or can be carried out by the server on the working face for which the coordinate system has been obtained.

[0152] When storing data during the construction and modification of the working face map, and when retrieving data using the working face map, three clarity levels may be involved. The clarity (or according to the size of the data volume) can be used for display from low to high as follows:

[0153] The overall working face map. The overall working face map with the lowest clarity can also be obtained by the robot taking pictures in flight mode;

[0154] The working face map of a certain sub-region;

[0155] The working face map near the specified coordinate position after specifying the specific coordinate.

[0156] Reference Figures 11 to 14, the support body 1 of the robot is a frame structure. The frame structure is flat as a whole, and the two sides in the thickness direction are the top side 100 and the bottom side 101 respectively. There are a large number of hollow areas in the frame structure, which can better adapt to the application scenarios of the present invention, and reduce the weight as much as possible while ensuring the structural strength. The flat configuration can improve the wind resistance and anti-overturning performance.

[0157] In the present invention, the top side 100 and the bottom side 101 of the support body 1 are relative concepts. For example, when the robot walks along the working surface, the side facing the working surface is the bottom side 101, and the other side is the top side 100.

[0158] The frame structure includes a top frame 11 and a bottom frame 12 that are stacked at intervals and are both sheet-shaped, and a plurality of strengthening members fixed between the top frame 11 and the bottom frame 12. The shapes of the top frame 11 and the bottom frame 12 match each other, and both include a plurality of annular portions 14 and a plurality of wheel seats 15. Each set of rotor assemblies 2 is located within the corresponding annular portion 14. The wheel seats 15 protrude outward relative to the adjacent annular portion 14. The traveling wheels 3 are multiple and are respectively installed on the corresponding wheel seats 15. Considering the problem of simplifying the overall structure, the top frame 11 and the bottom frame 12 are respectively an integral structure. The strengthening members are multiple upright columns 13 arranged at intervals. Each annular portion 14 is directly connected or connected by a strip-shaped strengthening rod 16.

[0159] The frame structure of the present invention is made of carbon fiber material, which has a light weight and relatively high strength, making the survey robot 200 more flexible during operation. In this embodiment, the distance between the top frame 11 and the bottom frame 12 is 2 - 6 cm, and the single-piece thickness of the top frame 11 and the bottom frame 12 is 2 - 5 mm.

[0160] In order to cooperate with the wired method, a connecting sleeve 17 is installed on one side of the support body 1. The cable 18 passes through the connecting sleeve 17 from the outside and is connected to the corresponding circuit components in the survey robot 200. The cable 18 and the connecting sleeve 17 are relatively fixed, and conventional means such as clamping, clamping or gluing can be used.

[0161] Preferably, in the connecting sleeve 17, the side where the cable 18 passes through from the outside is the inlet side 171. The inner wall of the connecting sleeve 17 is provided with a pressure sensor configured on the inlet side 171 to detect the acting force between the cable 18 and the inner wall of the connecting sleeve 17.

[0162] This acting force can indicate information such as the relative slack or tension state of the cable 18, or the turning direction of the cable 18 at the position of the connecting sleeve 17. These information can be used to participate in the control of the robot.

[0163] In order to identify the bending direction of the cable 18 relative to the connecting sleeve 17, the inlet side 171 of the connecting sleeve 17 includes a plurality of (e.g., 4 to 8) mounting lugs 172 evenly spaced along the circumferential direction, and each pressure sensor is fixed on the inner side of each mounting lug 172. In this way, the relative values ​​of each pressure sensor can identify whether the cable 18 is loose or not and the bending direction.

[0164] For example, when the cable 18 tends to be stretched straight, the robot's travel speed is appropriately adjusted to prevent the cable 18 from being subjected to additional pulling force.

[0165] The number of the rotor assemblies 2 can be configured according to their power and the load of the survey robot 200. Considering the rationality of the overall layout and taking into account the control, four sets are preferred. Accordingly, the frame structure has four annular parts 14 distributed at the four corners of the rectangular area (the area surrounded by the four annular parts 14). The reinforcing rod 16 includes:

[0166] Edge rods 161 are arranged around the rectangular area;

[0167] The inner rod 162 connects the two annular portions 14 on the same side of the rectangular area.

[0168] There are four wheel seats 15, which protrude from the four corners of the rectangular area and are connected to the annular portion 14 at the corresponding position.

[0169] As a preferred simplification and taking into account the total amount of onboard equipment, two sets of rotor assemblies 2 may be used.

[0170] There are two annular portions 14 adjacent to each other in an 8-shape, there are two sets of rotor assemblies 2 correspondingly, and there are four wheel seats 15 arranged in pairs on opposite sides of the corresponding annular portions 14 .

[0171] Specifically, the center line of the two annular parts 14 is the reference line, and each annular part 14 is connected to two wheel seats 15, which are located on both sides of the reference line. In particular, in the negative cable state, the cable 18 basically extends along the reference line. This arrangement can make the survey robot 200 more evenly stressed and run more smoothly.

[0172] refer to Figures 15 to 21 The information acquisition device 4 is installed on the support body 1 and is used to collect information data related to the working surface. The information acquisition device 4 includes at least one of an image acquisition component 41, a laser mapping component 42 and an ultrasonic detection component 43:

[0173] The image acquisition component 41 includes:

[0174] A camera 411 is disposed on the support body 1 and located between two adjacent sets of rotor assemblies 2, and is used to capture images;

[0175] A supplementary light 414 for projecting light onto the working surface;

[0176] A mounting bracket, connected to the support 1, for mounting the camera 411 and the supplementary light 414;

[0177] The mounting bracket includes a plurality of spokes 416. One end of each spoke 416 converges at the central position, and the other end bends downward while extending outward until it is fixed to the support 1;

[0178] A ring member 415, located below the central position and connecting all the spokes 416;

[0179] The camera 411 is installed at the middle position of the mounting bracket, and the supplementary light 414 is installed on the ring member 415 and is arranged at intervals at the projection position of the camera 411.

[0180] One or more cameras 411 can be used. The resolution of a single camera 411 is 20 million pixels or higher, the shooting area is 0.12 - 0.24 m², the minimum resolution is 0.01 mm, the seam measurement accuracy is 0.01 mm, the minimum exposure time is 10 ms, and it supports the acquisition of moving images at a maximum speed of 2 m / s. Multiple cameras 411 can be combined.

[0181] In this embodiment, the camera 411 includes a first camera 412 arranged above the central position and a second camera 413 arranged below the central position. Among them, the first camera 412 is used to shoot the overall external working surface (in this embodiment, the first camera 412 is specifically a binocular camera, and a distance sensor for measuring the distance to obstacles, the moving distance, and assisting system positioning is arranged at this position), and the second camera 413 is used to shoot the real-time working surface of the survey robot 200.

[0182] Among them, the binocular camera can be installed on the mounting bracket through a rotating pan-tilt and can be rotated to a suitable shooting angle as needed. Of course, in order to avoid the problem of image noise caused by insufficient light, a supplementary light 414 for providing light to the second camera 413 is arranged in a ring shape on the bottom surface of the ring member 415. This supplementary light 414 is specifically a fluorescent lamp. In order to further enhance the shooting effect, a plurality of spokes 416 enclose a hemispherical space. The second camera 413 is located at the top of the sphere, and the fluorescent lamp is located inside the hemispherical space. The hemispherical space is open towards the working surface. A light-shielding cloth (such as a photographic black cloth) is covered on the mounting bracket to enclose the outer periphery of the hemispherical space, and a nearly enclosed shooting space can be formed in the working surface area photographed by the second camera 413. With the supplementary light effect of the fluorescent lamp, the image acquisition effect can be greatly improved, ensuring the later image stitching and the feature recognition effect of building defects in the image.

[0183] Similarly, in order to ensure the illumination intensity of the first camera 412, a supplementary light 414 (such as an LED light) is also provided at the projection position on the side of the annular member 45 facing the first camera 412.

[0184] The laser mapping assembly 42 includes:

[0185] A pan-tilt head 421, which is arranged on the support body 1 and connected to the support body 1;

[0186] A laser scanner 422, which is installed on the pan-tilt head 421 and used for mapping a three-dimensional space.

[0187] The information collected by the laser scanner 422 can obtain the three-dimensional shape data of the surrounding of the working face after being processed, and three-dimensional modeling can be carried out based on this. After modeling, texture mapping and rendering are performed on the images obtained by the image acquisition assembly 41, so as to vividly express the working face.

[0188] The bottom of the pan-tilt head 421 is provided with a plurality of support arms 423. In this embodiment, the number of support arms 423 is 4, and they are roughly in an X shape. In order to make the laser scanner 422 more stable during mapping, the bottom ends of the support arms 423 are connected to the bottom frame 12 of the support body 1 through shock-absorbing components 424 (such as shock pads). Specifically, screw holes are provided at the bottom ends of the support arms 423. During installation, bolts pass through the screw holes, shock-absorbing components 424 in sequence and are fixedly connected to the bottom frame 12 of the support body 1.

[0189] When the survey robot 200 encounters an obstacle, the shock-absorbing component 424 can greatly relieve the vibration of the support arm 423, achieving a good shock-absorbing effect. The shock-absorbing component 424 can also filter the vibration from the rotor. Among them, the laser scanner 422 can adopt the existing technology and can rotate to a suitable angle with the pan-tilt head 421 according to the actual shooting requirements for three-dimensional space mapping.

[0190] For the convenience of understanding, the first position in the following embodiments is X1, and the second position is X2. The ultrasonic detection assembly 43 can be used to measure the depth of cracks on the working face. Regarding its installation position, the ultrasonic detection assembly 43 can be directly installed on the support body 1. Of course, it can also be arranged on other components, that is, integrated with other components and indirectly installed on the support body 1.

[0191] The ultrasonic detection assembly 43 includes:

[0192] Ultrasonic probes 431, which are arranged in pairs and the distance between the same pair is adjustable;

[0193] A moving mechanism 432, which drives the ultrasonic probes 431 in the same pair to move relative to each other;

[0194] A medium output head 433, which is used to provide a working medium for the ultrasonic probes 431.

[0195] The ultrasonic detection assembly 43 can automatically apply the working medium. Compared with the traditional manual application method, the present invention can perform on-site application and detection at any time according to the actual working surface conditions, improving work efficiency.

[0196] Among the pair of ultrasonic probes 431, one emits detection signals and the other receives the returned signals. The relative positions of the two ultrasonic probes 431 can be adjusted to facilitate detection at different relative positions to obtain more accurate data.

[0197] According to different connection methods between the ultrasonic detection assembly 43 and the support 1, in the preferred method, the ultrasonic probe 431 can also be lifted and lowered in cooperation with the support 1 to adjust the distance from the working surface.

[0198] Among them, the moving mechanism 432 can be driven in various ways, such as including a moving motor and a lead screw-nut pair. The moving motor drives the ultrasonic probe 431 through the lead screw-nut pair. For the convenience of operation, each ultrasonic probe 431 is independently configured with a moving mechanism 432 and a corresponding medium output head 433.

[0199] The medium output head 433 has a first position (X1) adjacent to the ultrasonic probe 431 and a second position (X2) far from the ultrasonic probe 431. After the medium output head 433 supplies the working medium to the ultrasonic probe 431, it can change its position to avoid the ultrasonic probe 431. For example, it is installed on the support 1 through a flipping mechanism 434. The flipping mechanism 434 includes a flipping motor 4341 and a movable frame 4342. The output shaft of the flipping motor 4341 is linked with the movable frame 4342. The medium output head 433 is fixed to the movable frame 4342 and is connected to the supply device 435 through a medium pipeline 436. Among them, the flipping angle of the flipping mechanism 434 is the rotation angle between the first position and the second position, which can be set according to requirements. In this embodiment, the flipping angle is 180°.

[0200] The ultrasonic detection assembly 43 further includes a supply device 435 that supplies the working medium to the medium output head 433. The supply device 435 outputs the working medium. The medium output head 433 is disc-shaped and has an output hole 4331 in the middle that is connected to the medium pipeline 436. The supply device 435 outputs the working medium to the medium output head 433 through the output hole 4331.

[0201] The supply device 435 includes:

[0202] A material cylinder 4351 for storing the working medium. One end of the material cylinder 4351 is closed and has a discharge hole 4352, and the discharge hole 4352 is connected to the medium output head 433 through a medium pipeline 436;

[0203] A pushing piston 4353 that slides inside the material cylinder 4351;

[0204] The electric push rod 4354 extends to the other end of the cartridge 4351 and is connected to the pusher piston 4353.

[0205] Specifically, the ultrasonic detection component 43 uses the supply device 435 to push the working medium in the cartridge 4351 to the medium output head 433 through the electric push rod 4354. Then, using the flipping mechanism, the medium output head 433 in the second position is flipped to the first position to apply the working medium to the ultrasonic probe 431. Then the flipping mechanism works again to flip the medium output head 433 in the first position back to the starting position (i.e., the second position), and at this time the ultrasonic probe 431 starts to work officially.

[0206] The ultrasonic detection component 43 further includes a micro camera 4343. The micro camera 4343 is arranged at the middle position between a pair of ultrasonic probes 431 and can take micro photos of cracks, and its resolution accuracy can reach 0.005 mm. There is a spring 4311 inside the ultrasonic probe 431. When it contacts the working surface, the spring 4311 can buffer and protect, and can also adapt to the ruggedness of the working surface.

[0207] In one embodiment, obtaining the working surface map in two-dimensional form is specifically carried out in the following manner. The working surface map is obtained by splicing based on the image information (such as pictures) collected from multiple working positions during the historical working process. Specifically, it includes: traversing all areas of the working surface, splicing the obtained image information to obtain the working surface map in two-dimensional form. Traversing all areas of the working surface includes traversing one of the divided sub-areas or all sub-areas.

[0208] In this embodiment, the image information is obtained by using an image acquisition component. During the working process, the survey robot transfers between multiple working positions. When it reaches a predetermined working position, it uses the information acquisition device to collect the information data of the working surface, and maintains itself at the current working position in a climbing mode during the collection process.

[0209] Splicing the obtained image information to obtain the working surface map in two-dimensional form specifically includes: using the image texture algorithm to locate the surface features in the image information; when the local areas of the pictures to be spliced have the same surface features, registering and splicing the pictures to be spliced based on the same surface features.

[0210] The textures of building defects are distinctive and remarkable. Just like human fingerprints, no two building defect textures are exactly the same. By collecting, storing in the database, comparing, and splicing the textures of building defects, the server can identify and label building defects (such as cracks, holes, roughness, protrusions, etc.) through image information, and instruct the robot to measure and provide feedback for labeling. High-precision image splicing can also be performed through the same textures of overlapping images. The degree of overlap of adjacent position image information can be set accordingly according to the information collection device and the step length of the survey robot. For example, the overlap degree for image splicing can be more than 20%.

[0211] During the detection process, it also includes using the autonomous determination algorithm in the server to identify the defects on the surface of the working face, using fill lights to reduce image noise, and analyzing surface features in combination with the position of the fill lights to improve the detection accuracy.

[0212] It can be understood that during the surface feature comparison, different building defects can be classified or graded. For example, cracks belong to obvious building defects and their positions can be recorded. In this embodiment, data splicing is used to replace manual and conventional drones to detect the working face. The efficiency of controlling the robot to detect in this embodiment is higher, the safety is higher, the data is more accurate, and the cost is lower.

[0213] In one embodiment, the control method further includes obtaining a working face map in three-dimensional form:

[0214] When traversing all areas of the working face, through the laser scanner included in the information collection device, three-dimensional morphological data is collected and three-dimensional modeling is performed to obtain a three-dimensional model;

[0215] The working face map in two-dimensional form is fitted to the three-dimensional model to obtain a working face map in three-dimensional form.

[0216] The working face map includes a working face map in two-dimensional form or three-dimensional form, both of which can be used for current position confirmation. The working face map in three-dimensional form is three-dimensional terrain data. The three-dimensional form has a better visualization effect, can reflect height changes, provides data guarantee for the survey robot to cross obstacles, and also has an auxiliary effect on the mode adjustment of obstacle crossing and flight state.

[0217] In this embodiment, the surface features in the image information can be obtained, with high detection accuracy and fast operation speed; image splicing can correct and unify the brightness and darkness, etc., and can correct and remove distortion of deformed images; fitting the working face map in two-dimensional form to the three-dimensional model can perform adaptive rendering. In addition, the server can also generate a data report through the captured surface feature information.

[0218] In one embodiment, the control method further includes confirming the current position of the robot:

[0219] Transfer between multiple working positions according to the planned path, compare the image information collected from the current working position with the working face map, and obtain a comparison result. The working face map is obtained by splicing the image information collected from multiple working positions during the historical working process;

[0220] Confirm the current working position according to the comparison result.

[0221] Based on the comparison between the image information collected from the current working position and the working face map, it specifically includes:

[0222] Extract features from the image information to obtain surface features;

[0223] Match the surface features with the working face map to obtain the position coordinates of the surface features relative to the working face map. The position coordinates correspond to the current position of the survey robot.

[0224] The working face map is not limited to a specific plane, but refers to the spatial map composed of all working positions of the survey robot. During the process of collecting image information, the image information of the current working position and the working face map (including the already spliced image information) at least partially overlap, that is, the position can be determined through the image information of the current working position relative to the working face map, which is convenient for data archiving and splicing of the collected image information. When specifically comparing surface features, the surface features of the image information include building defects, and the building defects can be used for feature matching.

[0225] Furthermore, physical identifiers can be pre-set on the working face. When the survey robot reaches the position of the physical identifier or detects a building defect, the current position of the robot is confirmed by matching the corresponding pre-stored images in the server image library, that is, the self-positioning is completed. The physical identifier can be, for example, a QR code, and the server image library stores the relevant information of the QR code accordingly. The physical identifier can also be pre-marked according to the working area, and the working area is divided after identification. A wireless field supervision station can also be set up on the working face to monitor the trajectory and position of the robot and transmit data to the robot in real time to correct the movement direction.

[0226] In one embodiment, the control method further includes:

[0227] Perform surface feature recognition on the image information collected from the working face;

[0228] After the recognition result is a building crack, mark the building crack on the working face map.

[0229] When annotating on the working face map, it can include coordinate identification and simulation display, etc. The surface features can be recognized by using an autonomous learning algorithm, for example, it can be implemented by a neural network model. This autonomous learning algorithm can be continuously optimized in the subsequent process to improve the recognition accuracy. For example, the image information with building cracks is used as a new sample to participate in the update of the autonomous learning algorithm; and the built database of building crack features is updated.

[0230] Reference Figures 22 to 23 , the vector rotor system is used to provide power for the movement of the survey robot 200 such as walking, flying, and obstacle crossing. For the convenience of understanding, in the following embodiments, the first axis and the second axis involved in the rotor assembly 2 are specifically the L1 direction and the L2 direction.

[0231] The rotor assembly 2 includes:

[0232] The first flipping frame 21 is rotatably installed on the annular part 14 around the first axis;

[0233] The first servo 22 acts between the annular part 14 and the first flipping frame 21;

[0234] The second flipping frame 23 is rotatably installed on the first flipping frame 21 around the second axis, and the second axis is perpendicular to the first axis;

[0235] The second servo 24 acts between the second flipping frame 23 and the first flipping frame 21;

[0236] The main motor 25 is installed on the second flipping frame 23;

[0237] The blade 26 is installed on the output shaft of the main motor 25.

[0238] The first servo 22 and the second servo 24 can respectively drive the first flipping frame 21 and the second flipping frame 23 to rotate 360°. In addition, the output shaft of the main motor 25 can also select a model with fine-tunable angle. Therefore, the blade 26 can rotate in all directions to realize the full vector control conversion of spherical vectors, and the survey robot can be modulated into various forms suitable for walking, climbing, and flying. In addition, in the optional control method, it is preferred that the power of each rotor of the survey robot remains constant to simplify the mode control and form switching.

[0239] In this embodiment, the main motor 25 is installed at the middle position of the second flipping frame 23, and the output shaft is substantially perpendicular to the second axis. In order to reduce the force interference between the rotor assemblies 2 when the rotor system works, the first axes of the respective rotor assemblies 2 are parallel to each other and coplanar. In addition, the first axes of all the rotor assemblies 2 are located between the top frame 11 and the bottom frame 12 in the frame structure, so that the robot is more evenly stressed when the rotor assemblies 2 work and is not easily overturned.

[0240] The first flipping frame 21 is circular ring-shaped, and both radial ends of the circular ring are respectively mounted on the annular part 14 through the first pivot shafts 28. The first servo 22 is mounted on the annular part 14 and is linked with at least one first pivot shaft 28. The second flipping frame 23 is strip-shaped, and both ends in the length direction of the strip are respectively mounted on the first flipping frame 21 through the second pivot shafts 29. The second servo 24 is mounted on the second flipping frame 23 and is linked with at least one second pivot shaft 29.

[0241] The first pivot shafts 28 and the first servos 22 of all the rotor assemblies 2 are all mounted on the top frame 11 in the frame structure, or are all mounted on the bottom frame 12 in the frame structure. When all the first flipping frames 21 of the rotor assemblies 2 are in a coplanar state, the second axes of all the rotor assemblies 2 are parallel to each other and coplanar.

[0242] An induction device (such as a gyroscope, a distance sensor, etc.) is arranged inside the survey robot 200 for sensing the current attitude and relative position. When encountering an obstacle surface with an obvious angle with the working surface (such as a right-angle surface, an inclined surface, etc.), it can be identified according to the collected real-time information or historical data. During the full vector control of the rotor, the induction device gives real-time feedback. When crossing an obstacle, the first servo 22 and the second servo 24 start to work, changing the rotation angle of the vector rotor system, so that the front end of the survey robot 200 tilts up and directly climbs onto the obstacle surface. When encountering an obstacle that cannot be climbed over, it can switch to the flight mode to fly over the obstacle, and then switch back to the climbing mode after flying over the obstacle.

[0243] When implementing the control method provided in this article using the robot provided by the present invention, the survey robot has a climbing mode and a flight mode. In the climbing mode, the walking wheels cooperate with the working surface to walk under the action of the vector rotor system. When the working surface is relatively inclined, the vector rotor system provides the downward pressure of the walking wheels on the working surface. In the flight mode, the walking wheels are away from the working surface. If the work task is executed based on a robot cluster system (in addition to the survey robot, it also includes at least one cable-carrying robot), during the working process of the survey robot, the cable-carrying robot follows accordingly.

[0244] In this embodiment, there are two methods to switch to the flight mode. One is manual operation, and the other is automatic system operation. When switching to the flight mode, the system automatically adjusts the first servo 22 and the second servo 24, and adjusts the blade 26 to an angle convenient for flight. Then the survey robot 200 can fly over the obstacle smoothly. After landing after flying over the obstacle, it switches to the climbing mode. The survey robot 200 in this embodiment can automatically adjust the angle of the blade 26 according to the angle of the position where it is located, so that it can move freely in the current environment smoothly.

[0245] Reference Figures 24 to 32, in order to firmly adhere to the working surface and keep the survey robot 200 stable and stationary during the operation of other equipment, the survey robot 200 further includes a static adsorption assembly 5, and the static adsorption assembly 5 can be fixed to the working surface through vacuum adsorption. When the survey robot 200 is adsorbed and fixed to the working surface, the obtained data is more accurate. During long-term operation, the rotor can even stop working to save energy and filter noise. In specific scenarios, the survey robot 200 adsorbed and fixed to the working surface can serve as a relatively stable anchor point to rescue or cooperate with other surrounding survey robots 200 through the cable 18.

[0246] When the rotor works, it will generate acoustic wave interference and ultrasonic detection cannot be carried out simultaneously. Therefore, when the ultrasonic detection component 43 needs to be used, the survey robot 200 must first be adsorbed to the working surface by the static adsorption assembly 5, then the rotor is stopped, and finally the ultrasonic detection component 43 starts to work.

[0247] The static adsorption assembly 5 includes:

[0248] A cylinder body 52, which is movably installed on the support body 1;

[0249] A lifting drive mechanism 53, which is installed on the support body 1 and is linked with the cylinder body 52 to drive the cylinder body 52 to lift relative to the support body 1;

[0250] A suction cup 54, which is fixed to the bottom of the cylinder body 52;

[0251] A vacuum pump 55, which is connected to the suction cup 54 through a pipeline.

[0252] During specific operation, the suction cup 54 descends and abuts against the working surface, and the vacuum pump 55 pumps out the gas between the suction cup 54 and the working surface through the pipeline until the preset vacuum degree is reached. Of course, in order to be able to adsorb the suction cup 54 to the working surface stably for a long time, the vacuum pump 55 also has an automatic pressure compensation function, and detects the change of the vacuum degree through a detection sensor to keep it in a vacuum state at all times.

[0253] Considering the overall load balance of the survey robot 200 and the smooth switching of the robot state after adsorption release, the rotor assemblies 2 are arranged on the outer periphery of the static adsorption assembly 5 as a whole.

[0254] There are two sets of cylinder bodies 52 and they are arranged side by side. The two cylinder bodies 52 can be lifted and lowered synchronously under the action of the lifting drive mechanism 53, maintaining the stability of lifting and the necessary structural strength.

[0255] The vacuum pump 55 is located between the tops of the two cylinder bodies 52. In order to play a role in dust prevention and other protection, an outer sleeve 51 can be covered on the outer periphery of the top of each cylinder body 52, and a first shell 56 is arranged on the top of the outer sleeve 51 and around the vacuum pump 55. The first shell 56 can not only protect the components inside, but also achieve the effect of noise reduction.

[0256] When there are four sets of rotor assemblies 2, a second housing 58 is provided below the first housing 56. The lifting drive mechanism 53 is located within the second housing 58 and between the two cylinders 52. The cylinders 52 extend downward out of the second housing 58, and the second housing 58 is connected to the support 1 by multiple bridge arms 581. Specifically, the number of bridge arms 581 is four, one end is connected to the second housing 58, and the other end is radially connected outward to the annular part 14 in the corresponding direction.

[0257] The second housing 58 is approximately at the same height as the support 1 or slightly higher than the support 1. The lifting drive mechanism 53 and the control main board 57 of the survey robot 200 are arranged in the second housing 58, and the vacuum pump 55 is fixed on the top surface of the second housing 58.

[0258] When there are two sets of rotor assemblies 2, the lifting drive mechanism 53 is located between the top frame 11 and the bottom frame 12 and between the two cylinders 52. The cylinders 52 extend downward out of the bottom frame 12. In this embodiment, the control main board 57 of the survey robot 200 is located between the top frame 11 and the bottom frame 12. For the convenience of fixing, the vacuum pump 55 is directly fixed on the top surface of the top frame 11. The gyroscope, distance sensor, etc. carried by the survey robot 200 itself can be integrally installed on the control main board 57.

[0259] The lifting drive mechanism 53 includes:

[0260] A motor 531;

[0261] A power distribution mechanism 532, which is linked with the motor 531 and has two output shafts 5325. A driving gear 533 is fixed on each output shaft.

[0262] Two gear rings 534 are respectively rotatably sleeved on the outer periphery of the cylinder 52 and are respectively engaged with the corresponding driving gears 533. The inner periphery of each gear ring 534 is in screw fit with the corresponding cylinder 52.

[0263] The axial end face of the gear ring 534 is provided with teeth 535 and is engaged with the corresponding driving gear 533 through the teeth 535.

[0264] The power distribution mechanism 532 can realize the synchronous movement of the two sleeve cylinders 52 driven by the same motor 531. The power distribution mechanism 532 includes:

[0265] A main bevel gear 5321, which is fixed on the output shaft 5311 of the motor 531;

[0266] Two sub-bevel gears 5322, which are respectively engaged with the main bevel gear 5321 and are located on both sides of the main bevel gear 5321. An intermediate shaft 5323 is fixed on each sub-bevel gear 5322.

[0267] Two output shafts 5325 are respectively connected to corresponding intermediate shafts 5323 through universal joints 5324.

[0268] During specific operation, the motor 531 drives the main bevel gear 5321 to rotate. Correspondingly, two secondary bevel gears 5322 meshing with the main bevel gear 5321 also start to rotate, thereby driving the driving gear 533 to rotate, and the driving gear 533 drives the gear ring 534 located on the outer periphery of the cylinder 52.

[0269] The cylinder 52 is provided with external threads 521, and the gear ring 534 is provided with internal threads and is matched with the external threads 521 to drive the cylinder 52 to rise or fall relative to the support body 1, that is, the lifting of the suction cup 54 is realized.

[0270] The suction cup 54 includes a base plate 545 fixedly installed at the bottom end of the cylinder 52. The bottom surface of the base plate 545 is provided with a vacuum port 541 and a pressure relief port 542. The vacuum pump 55 is connected to the vacuum port 541 through a vacuum pipeline 551, and a pressure relief valve 543 is installed at the pressure relief port 542;

[0271] The vacuum pipeline 551 extends to the vacuum port 541 through one of the cylinders, and the pressure relief valve 543 is located at the other cylinder.

[0272] The vacuum pipeline 551 includes an internal pipeline 552 and an external pipeline 553. The internal pipeline 552 includes two rigid pipes that are movably inserted and sealed. One rigid pipe 5521a is docked to the vacuum port 541, and the other rigid pipe 5521b extends in the cylinder 52 and then communicates with the external pipeline 553 through an opening at the corresponding part of the outer sleeve 51 until it is connected to the vacuum pump 55.

[0273] The internal pipeline 552 is mainly to adapt to the lifting of the cylinder 52 (i.e., the base plate 545) relative to the support body 1. Under the action of the lifting drive mechanism 53, the rigid pipe 5521a docked with the vacuum port 541 moves downward relative to the other rigid pipe 5521b and maintains sealing with each other. Although a flexible hose can be used to adapt to this relative movement, the way of movably inserting two rigid pipes in this embodiment can avoid the interference of pipeline coiling and provide additional stable guidance.

[0274] After the operation is completed, when releasing the vacuum, the pressure relief valve 543 can be opened. The pressure relief valve 543 includes:

[0275] A sealing sleeve 5431, fixed to the edge of the pressure relief port 542;

[0276] A valve core 5432, matching with the sealing sleeve 5431;

[0277] A valve stem 5433, passing through the sealing sleeve 5431 and connected to the valve core 5432. The radial clearance between the valve stem 5433 and the sealing sleeve 5431 is the pressure relief clearance;

[0278] The elastic member 5434 acts on the valve stem 5433 to drive the valve core 5432 to be in sealing fit with the sealing sleeve 5431.

[0279] The electromagnetic drive assembly acts on the valve stem 5433 to drive the valve core 5432 to separate from the sealing sleeve 5431 for pressure relief.

[0280] The end face of the sealing sleeve 5431 has an annular flange 5435. In the sealed state, the valve core 5432 fits and presses against the end face of the sealing sleeve 5431 and the flange 5435. When pressure relief is required, the electromagnetic drive assembly drives the valve stem 5433 to move downward. At this time, the end face of the valve core 5432 separates from the end face of the sealing sleeve 5431, and gas enters from the pressure relief gap, and the normal pressure is restored between the suction cup 54 and the working surface. Subsequently, the suction cup 54 can be lifted to avoid interference between the suction cup 54 and the working surface during the operation of other equipment.

[0281] A limit pad 544 is further provided on the bottom surface of the suction cup 54. The position of the limit pad 544 is lower than that of the vacuum port 541 and the pressure relief port 542, that is, the limit pad 544 is the limit position where the working surface and the suction cup 54 are in contact with each other, and it can prevent the vacuum port 541 and the pressure relief port 542 from contacting the working surface and generating unnecessary interference and friction.

[0282] The suction cup 54 includes:

[0283] A substrate 545, which is installed on the support 1 in a liftable manner. The vacuum port 541 and the pressure relief port 542 are both arranged on the bottom surface of the substrate 545; when configuring the limit pad 544, the limit pad 544 is also arranged on the bottom surface of the substrate 545.

[0284] A sealing assembly, including multiple sealing rings arranged inside and outside, for sealingly fitting with the working surface. The multiple sealing rings are located outside the vacuum port 541 and the pressure relief port 542 (when the limit pad 544 is provided). The multiple sealing rings and the substrate 545 enclose to form a cover structure. When cooperating with the working surface, a vacuum chamber is formed inside the cover structure.

[0285] In order to ensure the sealing effect, especially to adapt to a working surface with building defects (such as convex and concave structures or cracks on the surface, that is, not smooth and flat), the sealing assembly includes three sealing rings arranged in sequence from the inside to the outside, namely the sealing ring 546a, the sealing ring 546b, and the sealing ring 546c. The height of the bottom surface of each sealing ring from the working surface decreases in sequence. The outermost one contacts the working surface first, and the same applies to the other two.

[0286] Among them, the outermost sealing ring 546c has a height of 2.5 - 3 cm, the middle sealing ring 546b has a height of 1.3 - 1.7 cm, and the inner sealing ring 546a has a height of 0.75 - 1.25 cm. Preferably, the widths of the three sealing rings gradually increase from the inside to the outside, and the sealing rings 546c and 546b can be made of foaming materials.

[0287] To facilitate the integration of other components and improve the hardware utilization rate, the bottom surface of the substrate 545 is provided with an extended area 5452 extending outside the sealing component, and other components such as the ultrasonic probe 431 can be installed in the corresponding extended area 5452.

[0288] The substrate 545 has a length direction, and the two cylinders 52 are arranged in sequence along this length direction;

[0289] The extended area 5452 at least includes a first extended area 5453 and a second extended area 5454, and the two extended areas 5452 are respectively located on both sides of the sealing component along this length direction.

[0290] The ultrasonic probe 431 of the present invention can be installed on the above-mentioned static adsorption component 5. Specifically, the ultrasonic detection component 43 is installed in the extended area 5452 (the first extended area 5453). Among them, the paired ultrasonic probes 431 are slidably installed relative to the substrate 545. The extended area 5452 is provided with a first avoidance opening 5455, and the position of the ultrasonic probe 431 corresponds to the first avoidance opening 5455 and extends downward out of the first avoidance opening 5455.

[0291] The top surface of the substrate 545 is covered with a third housing 5451. The moving mechanism 432 is located inside the third housing 5451 and drives the ultrasonic probe 431 to slide. The distance adjustment direction between the two ultrasonic probes 431 is the width direction of the substrate 545. The supply device 435 is installed in the first housing 56 and is erected on the top surfaces of the two outer sleeves 51.

[0292] Reference Figures 33 to 34 , the traveling wheels 3 are all universal wheels to ensure the flexibility of walking. Driven by the vector rotor system, it can move in any direction along the working surface. Regardless of considering the turning radius, etc., this is more obvious in the operation route planning and operation walking.

[0293] According to the distribution of the wheel seats 15, 4 sets or more traveling wheels 3 can be configured. In the same set, a single-wheel or double-wheel structure can be adopted and installed on the corresponding wheel seats 15 through the shock absorption mechanism 31. Among them, the shock absorption mechanism 31 can adopt a damper in the prior art, and can also adopt a combination of various methods, such as air damping and mechanical springs. When the wheels move on an uneven working surface, the shock absorption mechanism 31 can combine multiple instantaneous bounces into a relatively gentle movement, thereby achieving the shock absorption effect.

[0294] ReferenceFigures 35 to 39 When the ultrasonic detection component 43 works, calcium precipitation, stains, etc. attached to the crack surface will affect the final detection result. Therefore, considering the problem of minimizing measurement errors, the survey robot 200 further includes a cleaner 7 for cleaning calcium precipitation and stains on the working surface. Preferably, it is installed to be lifted relative to the support 1.

[0295] In this embodiment, the cleaner 7 can be installed on a component that is lifted relative to the support 1. This component can cooperate independently or be integrated with the substrate 545 in the static adsorption component 5, that is, installed in the extended area 5452 (specifically the second extended area 5454) of the substrate 545. The cleaner 7 includes:

[0296] A cleaning motor 71, which is located in the third housing 5451 and is slidably installed relative to the substrate 545;

[0297] A brush head 712, which is connected to the output shaft of the cleaning motor 71. The second avoidance opening 5456 is provided in the extended area 5452, and the brush head extends downward out of the second avoidance opening 5456;

[0298] A sliding mechanism 72, which is located in the third housing 5451 and drives the cleaning motor 71 to slide.

[0299] The cleaner 7 is arranged in the third housing 5451, which can make the structure of the survey robot 200 more compact.

[0300] The sliding mechanism 72 includes a sliding motor 721 and a lead screw nut pair. The sliding motor 721 drives the cleaning motor 71 through the lead screw nut pair. In order to make the cleaner 7 move within a certain range, a guiding component 73 is also provided in the third housing 5451, and the cleaning motor 71 cooperates with the guiding component 73 to slide.

[0301] The guiding component 73 is of a cover structure. Sliding grooves 731 are provided on two opposite side walls of the cover structure, and guiding members 711 that cooperate with the sliding grooves 731 are provided on the outer shell of the cleaning motor 71. The sliding mechanism 72 drives the cleaning motor 71 to slide back and forth along the sliding grooves 731, avoiding the problem that the brush head 712 shakes in other directions during operation. In this embodiment, the sliding direction of the cleaning motor 71 is the width direction of the substrate 545.

[0302] During operation, in order to clean the crack surface more stably, the survey robot 200 aligns the cleaner 7 with the part to be cleaned. Then, the suction cup 54 is vacuum-fitted and anchored to the working surface through the lifting drive mechanism 53. Next, the sliding mechanism 72 drives the cleaning motor 71 to slide along the width direction of the substrate 545. At this time, the brush head 712 not only rotates but also reciprocates synchronously with the cleaning motor 71, for example, by using a left-right movement algorithm. The part to be cleaned achieves a better cleaning effect under the repeated brushing of the brush head 712. In addition, a spring 713 is provided inside the cleaner 7, which can dampen the vibration of the brush head 712 connected to the cleaning motor 71.

[0303] Since the survey robot 200 is powered and communicates in a wired manner, when the working distance is relatively long, a negative cable robot 81 can be configured to cooperate. On the one hand, it can carry and share the weight of the cable 18. In addition, the negative cable robot 81 can also carry the information collection device 4.

[0304] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification. When the technical features in different embodiments are shown in the same drawing, it can be regarded that the drawing also discloses the combination examples of the various embodiments involved.

[0305] The above-described embodiments only represent several implementation modes of the present invention. Their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all belong to the protection scope of the present invention.

Claims

1. A building structure spanning method based on a robot cluster system, characterized in that, The robot cluster system includes three or more robots operating on the working face and cables. All the robots are powered and communicate through the cables, and are sequentially connected to the cables along the extension direction of the cables; Along the extension direction of the cable, among the multiple robots are the first robot, the second robot,..., and the Nth robot in sequence. The building structure crossing method includes: Step S1, the first robot crosses to the opposite side of the building structure; Step S2, the first robot and the third robot are both anchored to the current working face in a vacuum adsorption manner, and the cable extending between them and the second robot is tightened; Step S3, synchronously change the lengths of the cables between the first robot and the third robot and the second robot, so that the second robot gradually approaches the first robot, and correspondingly the second robot gradually moves away from the third robot until the second robot moves to the opposite side of the building structure in a suspended manner, and the first robot and the third robot release the anchoring with the current working face; Step S4, repeat steps S1 to S3. The two robots adjacent to the two ends of the current robot to be crossed serve as the anchoring support structure during its crossing to assist it in crossing the building structure until all the robots in the robot cluster system cross to the opposite side of the building structure in sequence; The robot cluster system includes a survey robot at the distal end of the cable, and a negative cable robot connected to the survey robot through the cable. Both the survey robot and the negative cable robot include: A support body; A vector rotor system, which is used to provide vector power for the support body; A walking wheel, which is arranged below the support body and is used to walk on the working face; The survey robot and the negative cable robot are both powered and communicate through the cables loaded on themselves during the working state; In the robot cluster system, the survey robot and the negative cable robot are arranged in pairs and continuously along the extension direction of the cable. The negative cable robot is configured with a cable rack mechanism to perform cable winding or unwinding to make the adjacent survey robots on both sides approach or move away from the negative cable robot; In step S3, when the robot in the middle position passes by the building structure, the cable is wound and unwound through the cable rack structure on itself or adjacent robots, and the lengths of the cables between the three robots are synchronously changed; The cable rack mechanism includes: A support, which is fixed on the support body. At least a part of the support is a tubular structure and the inside serves as a guide groove, and the cable is movably threaded through the guide groove; Clamping wheels, which are arranged in pairs and are installed on the support. The clamping wheels are used to clamp and drive the cable to move along the guide groove; A clamping motor, which is installed on the support and is used to be linked with the clamping wheels to change the length of the cable between the survey robot and the negative cable robot.

2. The building structure spanning method based on the robot cluster system according to claim 1, characterized in that, An information acquisition device is arranged on the robot, and the information acquisition device includes at least one of a laser mapping component, an image acquisition component, and an ultrasonic detection component; In step S3, when the robot in the middle position passes by the building structure, it further includes: Control the robot in the middle position to stop moving, and use the information acquisition device on the robot in the middle position to collect the information data of the building structure.

3. The building structure spanning method based on the robot cluster system according to claim 1, characterized in that The cable rack mechanism further includes: Two wire reels, which are respectively installed on the support body, and the cable is wound around the wire reel. One end of the cable penetrates through the tubular structure from the port of the tubular structure; Two winding motors, which independently drive a corresponding wire reel.

4. The building structure spanning method based on a robot cluster system according to claim 2, wherein, Before implementing the building structure crossing method, Based on the working surface map obtained during the historical working process, and using the information acquisition device to obtain the working surface position coordinates of the building structure relative to the working surface map; the first robot first crosses to the opposite side of the building structure.

5. The building structure spanning method based on the robot cluster system according to claim 1, wherein, Connection sleeves are fixed on multiple robots. The cable passes through the connection sleeve and enters the interior of the robot, and is connected to the corresponding circuit components inside the robot; in the connection sleeve, the side where the cable enters from the outside of the robot is the entrance side; a pressure sensor is arranged on the inner wall of the connection sleeve on the entrance side; the pressure sensor is used to detect the pressure signal of the cable.

6. The building structure spanning method based on the robot cluster system according to claim 5, characterized in that A plurality of mounting lugs are evenly arranged at intervals along the circumferential direction of the connection sleeve on the entrance side, and the pressure sensor is correspondingly fixed on the inner side of each mounting lug.

Images