Surveying robot for cleaning a work surface and control method

Abstract

The present invention provides a survey robot and control method for cleaning a work surface, comprising: a support body; a vector rotor system comprising at least two rotor assemblies, each rotor assembly being mounted on the support body and providing vector power to the support body; walking wheels disposed on the bottom side of the support body and used for walking on the work surface; a static adsorption assembly comprising a base plate, a suction cup fixed to the base plate, and a vacuum pump mounted on the support body and connected to the suction cup, the suction cup being used to secure the survey robot to the work surface by vacuum adsorption; and a cleaner comprising a cleaning motor that slides relative to the base plate, a brush head connected to the output shaft of the cleaning motor, and a sliding mechanism for sliding the cleaning motor left and right. The present invention is provided with a cleaner that can clean debris adhered to the work surface, thereby improving detection accuracy. In addition, a base plate is disposed in the static adsorption assembly, and the cleaner is mounted on the base plate. Compared with the prior art, the present invention has a higher degree of integration.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of robots, and particularly relates to a survey robot for cleaning a working surface and a control method. BACKGROUND

[0002] The prior art generally needs to use ultrasonic detection for large building cracks or internal defects, but it is inconvenient for human operation in many high-altitude or field scenes.

[0003] Chinese Patent CN111591095A discloses a habitat multi-rotor flight wall-climbing robot which can realize wall-climbing function and flight function and can quickly switch between the two. The rotor assembly combined with the walking mechanism can reach most working surfaces with harsh environments, but the detected parts are often adhered with sundries affecting the detection accuracy, and manual cleaning is difficult to achieve, which puts higher requirements on the unmanned aerial vehicle integrated installation device. Moreover, when carrying multiple devices, improving the integration degree is one of the problems to be solved. SUMMARY

[0004] The first object of the present application is to provide a survey robot for cleaning a working surface to solve the problem that the detected parts are often adhered with sundries affecting the detection accuracy, and manual cleaning is difficult to achieve.

[0005] To this end, the above object of the present application is achieved by the following technical solution:

[0006] The survey robot for cleaning a working surface comprises:

[0007] a support body;

[0008] a vector rotor system, the vector rotor system comprising at least two sets of rotor assemblies, each rotor assembly being installed on the support body and providing vector power for the support body;

[0009] a walking wheel, the walking wheel being arranged on the bottom side of the support body and being used for walking on the working surface; the working surface being a vertical facade or a facade close to vertical;

[0010] a static adsorption assembly, the static adsorption assembly comprising a base plate, a suction cup fixed to the base plate, and a vacuum pump installed on the support body and communicating with the suction cup, the suction cup being used for fixing the survey robot on the working surface by vacuum adsorption; the base plate being capable of ascending and descending relative to the support body to adhere the suction cup to the working surface to be fixed;

[0011] The cleaning device comprises a cleaning motor sliding relative to the substrate, a brush head connected to an output shaft of the cleaning motor, and a sliding mechanism installed on the substrate and used for sliding the cleaning motor left and right, and is used for cleaning a current working surface.

[0012] In addition to the above technical solutions, the present application can also adopt or combine the following technical solutions:

[0013] As a preferred embodiment of the present application: the static adsorption assembly further comprises a cylinder body rising or falling relative to the support body, the cylinder body is two sets, the substrate is connected to the bottom of the cylinder body, and the cylinder body rises or falls relative to the support body through a lifting driving mechanism.

[0014] As a preferred embodiment of the present application: the lifting driving mechanism comprises:

[0015] a motor;

[0016] a distribution mechanism, which is used for driving two cylinder bodies through one motor, the distribution mechanism is linked with the motor and has two output shafts, and each output shaft is fixed with a driving gear;

[0017] two gear rings, which are respectively rotatably sleeved on the outer periphery of the two cylinder bodies and respectively meshed with the corresponding driving gears, and the inner periphery of each gear ring is threadedly matched with the corresponding cylinder body.

[0018] As a preferred embodiment of the present application: the distribution mechanism comprises:

[0019] a main bevel gear fixed on the output shaft of the motor;

[0020] two auxiliary bevel gears, which are respectively meshed with the main bevel gear and are located on both sides of the main bevel gear, and each auxiliary bevel gear is fixed with an intermediate shaft,

[0021] two output shafts, which are respectively connected with the corresponding intermediate shafts through universal joints.

[0022] As a preferred embodiment of the present application: the substrate is provided with a second avoiding opening, and the brush head extends downward out of the second avoiding opening.

[0023] As a preferred embodiment of the present application: a pressure relief valve is installed at the pressure relief opening, and the pressure relief valve comprises:

[0024] a sealing sleeve, which is fixed to the edge of the pressure relief opening;

[0025] a valve core, which is matched with the sealing sleeve;

[0026] a valve rod, which is connected with the valve core through the sealing sleeve, and the radial gap between the valve rod and the sealing sleeve is a pressure relief gap;

[0027] a resilient member acting on the valve stem and driving the valve core to sealingly engage with the sealing sleeve;

[0028] a electromagnetic driving assembly acting on the valve stem and driving the valve core to separate from the sealing sleeve to release pressure.

[0029] As a preferred embodiment of the present application, the substrate is provided with a guide component near the cleaner, and the cleaning motor cooperates with the guide component to slide;

[0030] The guide component is a cover structure, and sliding grooves are formed in two opposite side walls of the cover structure, and a guide member cooperating with the sliding grooves is arranged on the shell of the cleaning motor.

[0031] As a preferred embodiment of the present application, the survey robot further comprises an information acquisition device for acquiring working face information data, and the information acquisition device comprises an image acquisition assembly, a laser mapping assembly and an ultrasonic detection assembly;

[0032] The image acquisition assembly comprises:

[0033] A camera is arranged on the support body and located between the two adjacent sets of rotor assemblies, and is used for image acquisition;

[0034] A light supplement lamp is used for projecting light to the working face;

[0035] A mounting frame is connected with the support body and is used for mounting the camera and the light supplement lamp;

[0036] A ring-shaped member is arranged below the central position and connects all the spokes of the mounting frame;

[0037] The camera is mounted at the middle position of the mounting frame, and the light supplement lamp is mounted on the ring-shaped member and is arranged at intervals at the projection position of the camera;

[0038] The laser mapping assembly comprises:

[0039] A holder is arranged on the support body and is connected with the support body;

[0040] A laser scanner is mounted on the holder and is used for mapping three-dimensional space;

[0041] The ultrasonic detection assembly comprises:

[0042] An ultrasonic probe is arranged in pairs and the spacing between the same pair is adjustable;

[0043] A moving mechanism drives the ultrasonic probe between the same pair to move relatively;

[0044] A medium output head for providing a working medium to the ultrasonic probe.

[0045] As a preferred embodiment of the present application: the sliding mechanism comprises a sliding motor and a screw nut pair,

[0046] The sliding motor drives the cleaning motor to slide left and right along the width direction of the substrate through the screw nut pair.

[0047] The second object of the present application is to provide a control method of a survey robot for cleaning a work surface.

[0048] To this end, the above object of the present application is achieved by the following technical solutions:

[0049] A control method of a survey robot for cleaning a work surface, comprising: the survey robot transfers between a plurality of work positions, cleans the work surface by a cleaner when reaching a predetermined work position, collects information data of the work surface by an information collection device, and maintains the current work position in a climbing mode during the collection process.

[0050] The present application provides a survey robot for cleaning a work surface, which is provided with a cleaner and can clean the debris adhered to the work surface, thereby improving the detection accuracy. In addition, the static adsorption assembly of the survey robot is provided with a substrate, and the cleaner is installed on the substrate, so that the integration is higher than that of the prior art. BRIEF DESCRIPTION OF DRAWINGS

[0051] Figure 1a Structure diagram of the survey robot provided by the present application and driven by four rotors;

[0052] Figure 1b Structure diagram of the survey robot provided by the present application and driven by two rotors; Figure 1a Structure diagram of the support body in the middle;

[0053] Figure 2a Structure diagram of the survey robot provided by the present application and driven by two rotors;

[0054] Figure 2b Structure diagram of the support body in the middle; Figure 2a

[0055] Structure diagram of the static adsorption assembly; Figure 3

[0056] Structure diagram of the static adsorption assembly and the first housing opened; Figure 4a Figure 3 Cross-sectional view of the static adsorption assembly;

[0057]

[0058] ​​Figure 4c is a schematic structural diagram of the cooperation between the second shell and the support body;

[0059] Figure 5 It is a structural diagram of the lifting drive mechanism;

[0060] Figure 6 for Figure 5 Schematic diagram of the structure of the intermediate transfer mechanism;

[0061] Figure 7 A cross-sectional view omitting the support body for the survey robot;

[0062] Figure 8 for Figure 7 A magnified view of middle A;

[0063] Figure 9 This is an exploded view of the pressure relief valve;

[0064] Figure 10 Schematic diagram of the structure of the suction cup;

[0065] Figure 11a It is a structural schematic diagram of the cleaner being inside the third shell;

[0066] Figures 11b to 11c are schematic structural diagrams of the cleaner;

[0067] Figure 11d A cross-sectional view omitting the support body for the survey robot;

[0068] Figure 11e for Figure 11d Enlarged view of middle C;

[0069] Figures 12a-13b It is a structural diagram of the image acquisition component;

[0070] Figure 14 This is a schematic diagram of the structure of the laser mapping component;

[0071] Figure 15 It is a structural schematic diagram of the medium output head in the ultrasonic detection assembly in the second position;

[0072] Figure 16 for Figure 15 sectional view of

[0073] Figure 17 It is a structural schematic diagram of the medium output head in the ultrasonic detection assembly in the first position;

[0074] Figure 18 This is an exploded view of the supply device;

[0075] Figure 19a This is a schematic diagram of the structure in which the ultrasonic detection component is arranged on the substrate;

[0076] Figure 19b Structure diagram of a medium output head turned to a first position;

[0077] Figure 20a Structure diagram of a part of an ultrasonic detection assembly arranged on a base plate;

[0078] Figure 20b Structure diagram of a Figure 20a Structure diagram of a moving mechanism driving an ultrasonic probe to move;

[0079] Figure 21 Structure diagram of a rotor assembly;

[0080] Figure 22a Structure diagram of a Figure 21 Structure diagram of a rotor assembly moving around a first axis;

[0081] Figure 22b Structure diagram of a rotor assembly moving around a first axis and a second axis;

[0082] Reference signs in the drawings are explained as follows:

[0083] 100, top side; 101, bottom side; 200, surveying robot;

[0084] 1, support body; 11, top frame; 12, bottom frame; 13, stand; 14, annular part; 15, wheel seat; 16, reinforcing rod; 161, edge rod; 162, inner side rod; 17, connecting sleeve; 171, inlet side; 172, mounting lug; 18, cable;

[0085] 2, rotor assembly; 21, first turning frame; 22, first steering engine; 23, second turning frame; 24, second steering engine; 25, main motor; 26, paddle; 28, first pivot; 29, second pivot;

[0086] 3, walking wheel; 31, damping mechanism;

[0087] 4, information acquisition device; 41, image acquisition assembly; 411, camera; 412, first camera; 413, second camera; 414, light supplement lamp; 415, annular part; 416, spoke; 417, illuminating lamp; 42, laser surveying assembly; 421, holder; 422, laser scanner; 423, supporting arm; 424, damping part; 43, ultrasonic detection assembly; 431, ultrasonic probe; 4311, spring; 432, moving mechanism; 433, medium output head; 4331, output hole; 434, turning mechanism; 4341, turning motor; 4342, movable frame; 4343, microscopic camera; 435, supply device; 4351, cartridge; 4352, discharge hole; 4353, pushing piston; 4354, electric push rod; 436, medium pipeline;

[0088] 5, static adsorption assembly; 51, outer cover; 52, barrel; 521, external thread; 53, lifting driving mechanism; 531, motor; 5311, output shaft; 532, transfer 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 rod; 5434, elastic member; 5435, flange; 544, limiting pad; 545, base plate; 5451, third housing; 5452, expansion area; 5453, first expansion area; 5454, second expansion area; 5455, first avoiding port; 5456, second avoiding 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 mainboard; 58, second housing; 581, bridge arm;

[0089] 7, cleaner; 71, cleaning motor; 711, guide; 712, brush head; 713, spring; 72, sliding mechanism; 721, sliding motor; 73, guide part; 731, sliding groove. DETAILED DESCRIPTION

[0090] The technical solutions in the embodiments of the present application will be clearly and completely described in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work belong to the scope of protection of the present application.

[0091] It should be noted that when a component is referred to as being "connected" with another component, it can be directly connected with the other component or there can be a middle component. When a component is referred to as being "disposed on" another component, it can be directly disposed on the other component or there can be a middle component.

[0092] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this description, the terms "and / or" includes any and all combinations of one or more of the associated listed items.

[0093] An embodiment of the present application provides a survey robot 200 for cleaning and information collection of a work surface, comprising

[0094] a support body 1 having opposite top and bottom sides 100 and 101;

[0095] a vector rotor system comprising at least two sets of rotor assemblies 2, each rotor assembly 2 being installed on the support body 1 and providing vector power to the support body 1;

[0096] a walking wheel 3 arranged on the bottom side 101 of the support body 1 and used for walking cooperation with the work surface;

[0097] a base plate 545 being liftable and installed on the support body 1, the base plate 545 being provided with a vacuum port 541, a pressure relief port 542 and a limiting pad 544;

[0098] a static adsorption assembly comprising a suction cup 54 fixed on the base plate 545 and a vacuum pump 55 installed on the support body 1 and communicated with the suction cup 54, the suction cup 54 being used for being fixed on the work surface by vacuum adsorption;

[0099] a cleaner 7 comprising a cleaning motor 71 slidingly installed on the base plate 545, a brush head 712 connected with an output shaft of the cleaning motor 71 and a sliding mechanism 72 installed on the base plate 545 and used for driving the cleaning motor 71.

[0100] The survey robot 200 in the present application can also be used in combination with multiple robots to form a robot queue or cluster, and the robots are used for cooperative work on a work surface extending for more than several kilometers, in the cluster, at least one or even all of the robots are provided with an information collection device 4, the robot is also called a survey robot 200, and some robots can not be provided with the information collection device 4 and are only used for accompanying assistance, etc., and the robots can be collectively called robots.

[0101] In order to protect important buildings, active electromagnetic protection can be provided, or electromagnetic interference of large equipment can exist, therefore, the traditional robot based on wireless mode can be greatly interfered in the signal transmission process and is not applicable.

[0102] For outdoor work sites such as culverts, reservoirs and dams, especially those involving vertical work and where there may be large construction defects on the working surface, traditional drones cannot meet the requirements in terms of endurance or stability of spatial posture when collecting information. Although some existing technologies disclose the technology of combining a flying mechanism with a walking mechanism, the power for moving along the working surface mainly comes from the walking mechanism. Not only is the device complex, but the flexibility of the walking mechanism is also limited. In this application, the power for the survey robot 200 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. As far as providing vector power itself is concerned, it can be achieved through the posture of the rotor assembly 2 itself and the mutual coordination between multiple sets, and conventional technology can also be applied to control.

[0103] The survey robot 200 of the present application uses a wired method for power supply and communication. This wired method not only reduces the load on the robot's own power supply, but also allows for extended battery life. During communication, both control commands and information data are transmitted with guaranteed signal quality and speed, making it particularly unaffected by complex environments such as high magnetic fields, signal loss, and high crosswind levels.

[0104] The information data related to the working surface in this application may include a two-dimensional image of the working surface itself, and may also include three-dimensional terrain data. Information on the internal structure, as well as on-site climate, lighting conditions, etc., is collected through ultrasound. As for the information collection method itself, corresponding equipment in the existing technology is used. Of course, the specific mounting method and structure of the information collection device 4 are also provided in an improved manner in the following embodiments.

[0105] In this application, the survey robot 200 can form a survey system with a remote server. The storage of large amounts of data and data processing that consumes more computing power can be completed by the server, and the server can send corresponding instructions to the robot. In some scenarios, an on-site handheld terminal can also be configured to connect to the robot and send instructions in real time.

[0106] In this application, 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 .

[0107] refer to Figures 1a-2b The support body 1 is a frame structure that is generally flat, with a top side 100 and a bottom side 101 on either side in the thickness direction. The frame structure has a large number of hollow areas to better adapt to the application scenarios of this application, reducing weight as much as possible while ensuring structural strength. The flat structure can improve wind resistance and anti-overturning performance.

[0108] The frame structure comprises a top frame 11 and a bottom frame 12 which are spaced and stacked and each is in a sheet shape, and a plurality of reinforcing members fixed between the top frame 11 and the bottom frame 12, the top frame 11 and the bottom frame 12 are mutually matched in shape and each comprises a plurality of annular portions 14 and a plurality of wheel seats 15, each set of rotor assemblies 2 is located in a corresponding annular portion 14, and the wheel seats 15 are arranged outwardly protruding relative to the adjacent annular portions 14, and the plurality of walking wheels 3 are respectively installed on the corresponding wheel seats 15. In view of the problem of simplifying the overall structure, the top frame 11 and the bottom frame 12 are respectively integrated structures, and the reinforcing members are a plurality of spaced columns 13, and each annular portion 14 is directly connected or connected through a strip-shaped reinforcing rod 16.

[0109] The frame structure of the present application adopts carbon fiber material, has relatively light weight and relatively high strength, and makes the survey robot 200 more flexible during operation. In the embodiment, the distance between the top frame 11 and the bottom frame 12 is 2-6 cm, and the single sheet thickness of the top frame 11 and the bottom frame 12 is 2-5 mm.

[0110] The number of rotor assemblies 2 can be configured according to the power and the load of the survey robot 200, preferably four sets in view of the rationality of the overall layout and the operation, and correspondingly, the frame structure has four annular portions 14 distributed at the four corners of the rectangular area (the area surrounded by the four annular portions 14), and the reinforcing rod 16 comprises:

[0111] An edge rod 161 is arranged around the four corners of the rectangular area;

[0112] An inner side rod 162 connects two annular portions 14 on the same side of the rectangular area to each other.

[0113] The wheel seats 15 are four, outwardly protruding at the four corners of the rectangular area and connected with the annular portions 14 at the corresponding positions.

[0114] As a preferred simplification and taking into account the total amount of the mounted equipment, the rotor assemblies 2 can also adopt two sets.

[0115] The annular portions 14 are two and adjacent to each other in an 8 shape, the rotor assemblies 2 are correspondingly two sets, and the wheel seats 15 are four and arranged in pairs on the opposite sides of the corresponding annular portions 14.

[0116] Specifically, the center connecting line of the two annular portions 14 is a reference line, each annular portion 14 is connected with two wheel seats 15 and located on both sides of the reference line. Especially for the negative cable state, the cable 18 extends basically along the direction of the reference line, and this arrangement can make the survey robot 200 more uniform in stress and more stable in operation.

[0117] Reference Figures 3-10In order to firmly adhere to the working surface and keep the survey robot 200 stable and stationary when other equipment is working, the survey robot 200 further comprises a static suction assembly 5 which can be fixed to the working surface by vacuum suction. When the survey robot 200 is fixed to the working surface by suction, the obtained data is more accurate, and even the rotor can be stopped to save energy and filter noise during long-term operation. In certain scenarios, the survey robot 200 fixed to the working surface can serve as a relatively stable anchor point to rescue or cooperate with other survey robots 200 in the surrounding area through the cable 18.

[0118] The rotor produces sound wave interference when working, so ultrasonic detection cannot be performed simultaneously. Therefore, when the ultrasonic detection assembly 43 is needed, the survey robot 200 must be first fixed to the working surface by the static suction assembly 5, then the rotor is stopped, and finally the ultrasonic detection assembly 43 starts working.

[0119] The static suction assembly 5 comprises:

[0120] A cylinder 52 movably mounted on the support body 1;

[0121] A lifting driving mechanism 53 mounted on the support body 1 and linked with the cylinder 52 to drive the cylinder 52 to lift relative to the support body 1;

[0122] A suction cup 54 fixed to the bottom of the cylinder 52;

[0123] A vacuum pump 55 connected to the suction cup 54 through a pipeline.

[0124] In specific operation, the suction cup 54 is lowered to adhere to the working surface, and the vacuum pump 55 draws out the gas between the suction cup 54 and the working surface through the pipeline until a preset vacuum degree is reached. Of course, in order to stably suction the suction cup 54 to the working surface for a long time, the vacuum pump 55 also has the function of automatically supplementing the pressure, which can keep the vacuum state at all times through the detection of the change in vacuum degree.

[0125] Considering the uniformity of the overall load of the survey robot 200 and the smooth switching of the robot state after the suction is released, each rotor assembly 2 is arranged on the outer periphery of the static suction assembly 5 as a whole.

[0126] The cylinder 52 is two sets and arranged side by side, and the two sets of cylinders 52 can be lifted synchronously under the action of the lifting driving mechanism 53, maintaining the stability of lifting and the necessary structural strength.

[0127] The vacuum pump 55 is between the top portions of the two cylinders 52. In order to play a protective role such as dust prevention, an outer sleeve 51 can be provided on the outer periphery of the top of each cylinder 52, and a first housing 56 is provided on the top of the outer sleeve 51 and the periphery of the vacuum pump 55. The first housing 56 can not only protect the components inside, but also achieve the effect of noise reduction.

[0128] When the rotor assembly 2 is four sets, the first shell 56 is provided with a second shell 58 below, the lifting drive mechanism 53 is in the second shell 58 and between the two barrels 52, the barrel 52 extends downward out of the second shell 58, and the second shell 58 is connected to the support body 1 by a plurality of bridge arms 581. Specifically, the number of bridge arms 581 is four, one end is connected to the second shell 58, and the other end is connected to the corresponding direction annular part 14 outwardly.

[0129] The second shell 58 is substantially level with or slightly higher than the support body 1, the lifting drive mechanism 53 and the control mainboard 57 of the survey robot 200 are arranged in the second shell 58, and the vacuum pump 55 is fixed on the top surface of the second shell 58.

[0130] When the rotor assembly 2 is two sets, the lifting drive mechanism 53 is between the top frame 11 and the bottom frame 12 and between the two barrels 52, and the barrel 52 extends downward out of the bottom frame 12. In this embodiment, the control mainboard 57 of the survey robot 200 is between the top frame 11 and the bottom frame 12, and in order to facilitate fixation, the vacuum pump 55 is directly fixed on the top surface of the top frame 11. The gyroscope, distance sensor and the like carried by the survey robot 200 itself can be integrated and installed on the control mainboard 57.

[0131] The lifting drive mechanism 53 comprises:

[0132] The motor 531;

[0133] The transfer mechanism 532 is linked with the motor 531 and has two output shafts 5325, and each output shaft is fixed with a driving gear 533;

[0134] Two gear rings 534 are respectively rotatably sleeved on the outer periphery of the barrel 52 and respectively meshed with the corresponding driving gear 533, and the inner periphery of each gear ring 534 is threadedly connected with the corresponding barrel 52.

[0135] The end surface of the gear ring 534 in the axial direction is provided with a gear 535, and the gear 535 is meshed with the corresponding driving gear 533.

[0136] The transfer mechanism 532 can realize synchronous movement of the two barrels 52 driven by the same motor 531, and the transfer mechanism 532 comprises:

[0137] The main bevel gear 5321 is fixed on the output shaft 5311 of the motor 531;

[0138] Two auxiliary bevel gears 5322 are respectively meshed with the main bevel gear 5321 and are located on both sides of the main bevel gear 5321, and each auxiliary bevel gear 5322 is fixed with an intermediate shaft 5323,

[0139] Two output shafts 5325 are connected to the corresponding intermediate shafts 5323 through universal joints 5324 respectively.

[0140] In operation, the motor 531 drives the main bevel gear 5321 to rotate, and the two secondary bevel gears 5322 engaged 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.

[0141] The cylinder 52 is provided with external threads 521, and the gear ring 534 is provided with internal threads and cooperates with the external threads 521 to drive the cylinder 52 to ascend or descend relative to the support body 1, i.e., to realize the lifting of the suction cup 54.

[0142] The suction cup 54 includes a base plate 545 fixedly installed at the bottom end of the cylinder 52, and 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 the pressure relief valve 543 is installed at the pressure relief port 542.

[0143] 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.

[0144] 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 sealingly cooperated. One of the rigid pipes 5521a is connected to the vacuum port 541, and the other rigid pipe 5521b extends in the cylinder 52 and then connects to the external pipeline 553 through the opening of the corresponding part of the sleeve 51 and is connected to the vacuum pump 55.

[0145] The internal pipeline 552 is mainly used 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 driving mechanism 53, the rigid pipe 5521a connected to the vacuum port 541 moves downward relative to the other rigid pipe 5521b and sealingly cooperates with each other. Although a hose can be used to adapt to the relative movement, the movably inserted mode of the two rigid pipes in the embodiment can avoid the interference of the pipeline winding and can provide additional stable guidance.

[0146] After the work is completed, the pressure relief valve 543 can be opened when the vacuum is released. The pressure relief valve 543 includes:

[0147] a sealing sleeve 5431 fixed to the edge of the pressure relief port 542;

[0148] a valve core 5432 matched with the sealing sleeve 5431;

[0149] a valve rod 5433 connected to the valve core 5432 through the sealing sleeve 5431, and the radial gap between the valve rod 5433 and the sealing sleeve 5431 is a pressure relief gap;

[0150] The elastic member 5434 acts on the valve rod 5433 to drive the valve core 5432 to seal with the sealing sleeve 5431.

[0151] The electromagnetic drive assembly acts on the valve rod 5433 to drive the valve core 5432 to separate from the sealing sleeve 5431 to release pressure.

[0152] The end surface of the sealing sleeve 5431 has an annular flange 5435. In the sealing state, the valve core 5432 cooperates with the end surface of the sealing sleeve 5431 and tightly abuts the flange 5435. When pressure relief is needed, the electromagnetic drive assembly drives the valve rod 5433 to move downward. At this time, the valve core 5432 is separated from the end surface of the sealing sleeve 5431, and gas enters from the pressure relief gap. The suction cup 54 and the working surface restore normal pressure, and then the suction cup 54 can be lifted to avoid interference between the suction cup 54 and the working surface when other equipment is working.

[0153] The bottom surface of the suction cup 54 is also provided with a limiting pad 544, which is lower than the vacuum port 541 and the pressure relief port 542, i.e. the limiting pad 544 is the limit position of the working surface and the suction cup 54. It can prevent the vacuum port 541 and the pressure relief port 542 from contacting the working surface and causing unnecessary interference and friction.

[0154] The suction cup 54 comprises:

[0155] The base plate 545 is installed on the support body 1 in a lifting manner, and the vacuum port 541 and the pressure relief port 542 are arranged on the bottom surface of the base plate 545. When the limiting pad 544 is arranged, the limiting pad 544 is also arranged on the bottom surface of the base plate 545.

[0156] The sealing assembly comprises a plurality of sealing rings arranged inside and outside, which are used to seal with the working surface. The plurality of sealing rings are located at the periphery of the vacuum port 541 and the pressure relief port 542 (when the limiting pad 544 is arranged). The plurality of sealing rings and the base plate 545 form a cover structure, and a vacuum cavity is formed in the cover structure when cooperating with the working surface.

[0157] In order to ensure the sealing effect, especially for the working surface with building defects (surface with convex-concave structure or cracks, i.e. not smooth and flat), the sealing assembly comprises three sealing rings arranged from inside to outside, i.e. the sealing ring 546a, the sealing ring 546b and the sealing ring 546c, and the height of the bottom surface of each sealing ring from the working surface decreases in turn. The outermost one contacts the working surface first, and the other two are the same.

[0158] The height of the outermost sealing ring 546c is 2.5-3 cm, the height of the middle sealing ring 546b is 1.3-1.7 cm, and the height of the inner sealing ring 546a is 0.75-1.25 cm. As a preferred, the width of the three sealing rings is gradually widened from inside to outside, and the sealing ring 546c and the sealing ring 546b can be made of foaming material.

[0159] In order to facilitate the integration of other components and provide hardware utilization, the bottom surface of the substrate 545 is provided with an extension area 5452 extending to the outside of the sealing assembly, and other components such as the ultrasonic probe 431 can be installed to the corresponding extension area 5452.

[0160] The substrate 545 has a length direction, and the two barrels 52 are arranged along the length direction in sequence.

[0161] The extension area 5452 at least includes a first extension area 5453 and a second extension area 5454, and the two extension areas 5452 are respectively arranged on the two sides of the sealing assembly along the length direction.

[0162] The top surface of the substrate 545 is provided with a third shell 5451, and the moving mechanism 432 is arranged in the third shell 5451.

[0163] Reference Figures 11a-11e The survey robot 200 further comprises a cleaner 7 for cleaning calcium precipitation and stains on the working surface.

[0164] The cleaner 7 comprises:

[0165] A cleaning motor 71 is arranged in the third shell 5451 and is slidingly mounted relative to the substrate 545.

[0166] A brush head 712 is connected to the output shaft of the cleaning motor 71, and the extension area 5452 is provided with a second avoiding opening 5456, and the brush head extends out of the second avoiding opening 5456 downward.

[0167] A sliding mechanism 72 is arranged in the third shell 5451 and drives the cleaning motor 71 to slide.

[0168] The cleaner 7 is arranged in the third shell 5451, which can make the structure of the survey robot 200 more compact.

[0169] The sliding mechanism 72 comprises a sliding motor 721 and a screw-nut pair, and the sliding motor 721 drives the cleaning motor 71 through the screw-nut pair. In order to make the cleaner 7 move within a certain range, the third shell 5451 is further provided with a guide component 73, and the cleaning motor 71 slides in cooperation with the guide component 73.

[0170] The guide component 73 is a cover structure, and a sliding groove 731 is formed on two opposite side walls of the cover structure. The outer shell of the cleaning motor 71 is provided with a guide 711 matched with the sliding groove 731. The sliding mechanism 72 drives the cleaning motor 71 to slide back and forth along the sliding groove 731, avoiding the problem of shaking in other directions when the brush head 712 works. In the embodiment, the sliding direction of the cleaning motor 71 is the width direction of the base plate 545.

[0171] In addition, the cleaner 7 is internally provided with a spring 713, which can reduce vibration of the brush head 712 connected with the cleaning motor 71.

[0172] Reference Figures 12a-20b The information collection device 4 is installed on the support body 1 and is used to collect information data related to the working surface. The information collection device 4 includes at least one of an image collection assembly 41, a laser mapping assembly 42, and an ultrasonic detection assembly 43.

[0173] The image collection assembly 41 includes:

[0174] The camera 411 is arranged on the support body 1 and located between two adjacent sets of rotor assemblies 2, and is used to shoot and collect images.

[0175] The light supplement lamp 414 is used to project light to the working surface.

[0176] The mounting bracket is connected with the support body 1 and is used to mount the camera 411 and the light supplement lamp 414.

[0177] The mounting bracket includes a plurality of spokes 416, each of which converges at a central position at one end and extends outward while bending downward at the other end until being fixed to the support body 1. The annular member 415 is below the central position and connects all the spokes 416. The camera 411 is mounted at the middle position of the mounting bracket, and the light supplement lamp 414 is mounted on the annular member 415 and arranged at the projection position of the camera 411. The lighting lamp 417 is also mounted on the support body 1 and is used to provide illumination in the forward direction.

[0178] The camera 411 can be one or more, and the resolution of a single camera 411 is 20 million pixels or higher, and the shooting area is 0.12-0.24m 2 The minimum resolution is 0.01mm, the joint detection accuracy is 0.01mm, the minimum exposure time is 10ms, the motion image collection speed is up to 2m / s, and multiple cameras 411 can be combined.

[0179] In the embodiment, the camera 411 includes a first camera 412 arranged higher than the center position and a second camera 413 arranged lower than the center position, wherein the first camera 412 is used for shooting the overall external working surface (in the embodiment, the first camera 412 is specifically a binocular camera, and a distance sensor for measuring the distance of an obstacle, the distance of movement, and the positioning of an auxiliary system is arranged at the position), and the second camera 413 is used for shooting the real-time working surface of the survey robot 200.

[0180] The binocular camera can be installed to the mounting frame through a rotating holder, 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 illumination, the bottom surface of the ring-shaped part 415 is provided with a ring-shaped light supplementing lamp 414 (specifically a fluorescent lamp) for providing illumination for the second camera 413. In order to further enhance the shooting effect, a plurality of spokes 416 are arranged to form a hemispherical space, the second camera 413 is located at the top of the hemisphere, and the fluorescent lamp is located in the hemispherical space which is open to the working surface. The outer periphery of the hemispherical space is closed by a light-shielding cloth (for example, a photographic black cloth) installed on the mounting frame, which can form a nearly closed shooting space in the working surface area shot by the second camera 413, and cooperate with the light supplementing effect of the fluorescent lamp to greatly improve the image acquisition effect, thereby ensuring the image stitching effect and the feature recognition effect of the building defects in the image in the later stage.

[0181] Similarly, in order to ensure the illumination intensity of the first camera 412, the projection position of the ring-shaped part 45 towards the first camera 412 is also provided with a light supplementing lamp 414 (for example, an LED lamp).

[0182] The laser mapping assembly 42 includes:

[0183] The holder 421 is arranged on and connected with the support body 1.

[0184] The laser scanner 422 is installed on the holder 421 and is used for mapping a three-dimensional space. The information collected by the laser scanner 422 can be processed to obtain three-dimensional shape data of the periphery of the working surface, and three-dimensional modeling can be performed according to the three-dimensional shape data. After modeling, the image obtained by the image acquisition assembly 41 can be used for texture rendering to vividly express the working surface.

[0185] The bottom of the holder 421 is provided with a plurality of support arms 423. In the embodiment, the number of the support arms 423 is four, and the support arms 423 are substantially X-shaped. 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 damping components 424 (for example, damping pads). Specifically, screw holes are formed in the bottom ends of the support arms 423. During installation, the bolts are sequentially inserted through the screw holes, the damping components 424, and the bottom frame 12 of the support body 1 to be fixedly connected.

[0186] When the survey robot 200 encounters an obstacle, the damping component 424 can greatly alleviate the vibration of the support arm 423, achieving a good damping effect, and the damping component 424 can also filter the vibration from the rotor. The laser scanner 422 can adopt the existing technology, and can be rotated to a suitable angle according to actual shooting needs to perform three-dimensional space mapping.

[0187] The ultrasonic detection assembly 43 can be used to measure the depth of the cracks on the working surface, including:

[0188] The ultrasonic probes 431 are arranged in pairs, and the spacing between the pairs can be adjusted;

[0189] The moving mechanism 432 drives the relative movement of the ultrasonic probes 431 between the pairs;

[0190] The medium output head 433 is used to supply the working medium to the ultrasonic probes 431.

[0191] The ultrasonic detection assembly 43 can automatically apply the working medium, compared with the traditional manual application, the application can apply and survey at any time according to the actual working surface, improving the work efficiency.

[0192] In a pair of ultrasonic probes 431, one transmits a detection signal, and the other receives the returned signal, and the relative positions of the two ultrasonic probes 431 can be adjusted to facilitate detection at different relative positions to obtain more accurate data,

[0193] The moving mechanism 432 can be driven in various ways, for example, including a moving motor and a screw nut pair, and the moving motor drives the ultrasonic probes 431 through the screw nut pair. In order to facilitate operation, each ultrasonic probe 431 is independently configured with a moving mechanism 432 and a corresponding medium output head 433.

[0194] The medium output head 433 has a first position (X1) adjacent to the ultrasonic probe 431, and a second position (X2) away from the ultrasonic probe 431. After the medium output head 433 supplies the working medium to the ultrasonic probe 431, the position can be changed to avoid the ultrasonic probe 431, for example, by being installed on the support body 1 through the turnover mechanism 434, the turnover mechanism 434 includes a turnover motor 4341 and a movable frame 4342, the output shaft of the turnover 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 the medium pipeline 436. The turnover angle of the turnover mechanism 434 is the rotation angle between the first position and the second position, which can be set according to the needs, and in the embodiment, the turnover angle is 180°.

[0195] The ultrasonic detection assembly 43 further comprises a supply device 435 for supplying the working medium to the medium output head 433, and 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 for communicating with the medium pipeline 436, and the supply device 435 outputs the working medium to the medium output head 433 through the output hole 4331.

[0196] The supply device 435 comprises a barrel 4351 for storing the working medium, the barrel 4351 is closed at one end and has a discharge hole 4352, the discharge hole 4352 is communicated with the medium output head 433 through the medium pipeline 436, a pushing piston 4353 is slidingly fitted in the barrel 4351, and an electric push rod 4354 extends to the other end of the barrel 4351 and is connected with the pushing piston 4353.

[0197] Specifically, the ultrasonic detection assembly 43 uses the supply device 435 to push the working medium in the barrel 4351 to the medium output head 433 through the electric push rod 4354, and then uses the turnover mechanism to turn the medium output head 433 in the second position to the first position to apply the working medium to the ultrasonic probe 431, and then the turnover mechanism works again to turn the medium output head 433 in the first position to the starting position (i.e. the second position), at which time the ultrasonic probe 431 formally works.

[0198] The ultrasonic detection assembly 43 further comprises a microscopic camera 4343, which is arranged at a position between the ultrasonic probes 431 and can take microscopic pictures of the cracks, and has a resolution accuracy of 0.005 mm. The ultrasonic probe 431 has a spring 4311 inside, which can buffer and protect when in contact with the working surface, and can also adapt to the ruggedness of the working surface.

[0199] The ultrasonic probe 431 of the present application can be installed on the static adsorption assembly 5 described above, and specifically, the ultrasonic detection assembly 43 is installed on the extension area 5452 (the first extension area 5453), wherein the ultrasonic probes 431 are slidingly installed opposite to the base plate 545, the extension area 5452 is provided with a first avoiding opening 5455, the position of the ultrasonic probe 431 corresponds to the first avoiding opening 5455, and the ultrasonic probe 431 extends out of the first avoiding opening 5455 downward.

[0200] The top surface of the base plate 545 is provided with a third housing 5451, the moving mechanism 432 is arranged in the third housing 5451, the moving mechanism 432 drives the ultrasonic probe 431 to slide, the spacing adjustment direction of the two ultrasonic probes 431 is the width direction of the base plate 545, and the supply device 435 is installed in the first housing 56 and is arranged on the top surface of the two outer sleeves 51.

[0201] Reference Figures 21-22bThe vector rotor system is used to provide power for the walking, flying, obstacle crossing and other movements of the survey robot 200. For the convenience of understanding, the first axis and the second axis involved in the following embodiment rotor assembly 2 are specifically the L1 direction and the L2 direction.

[0202] The rotor assembly 2 comprises:

[0203] The first rotating frame 21 is rotatably installed on the annular part 14 about the first axis;

[0204] The first steering engine 22 acts between the annular part 14 and the first rotating frame 21;

[0205] The second rotating frame 23 is rotatably installed on the first rotating frame 21 about the second axis, and the second axis is perpendicular to the first axis;

[0206] The second steering engine 24 acts between the second rotating frame 23 and the first rotating frame 21;

[0207] The main motor 25 is installed on the second rotating frame 23;

[0208] The blade 26 is installed on the output shaft of the main motor 25.

[0209] The first steering engine 22 and the second steering engine 24 can respectively drive the first rotating frame 21 and the second rotating frame 23 to rotate 360°, and in addition, the output shaft of the main motor 25 can also be selected to have an angle that can be finely adjusted. Therefore, the blade 26 can rotate in all directions, realize full-vector control conversion of the spherical vector, and modulate the survey robot into various forms suitable for walking, climbing and flying. In addition, in the optional control mode, the power of each rotor of the survey robot is preferably kept constant to simplify mode control and form switching.

[0210] In the embodiment, the main motor 25 is installed at the middle position of the second rotating frame 23, and the output shaft is substantially perpendicular to the second axis. In order to reduce the interference of forces between each rotor assembly 2 when the rotor system is working, the first axes of each rotor assembly 2 are parallel and coplanar. In addition, the first axes of all 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 uniform in stress and less likely to roll over when the rotor assembly 2 is working.

[0211] The first rotating frame 21 is a circular ring, and the two ends of the circular ring in the radial direction are respectively installed on the annular part 14 through the first pivot 28. The first steering engine 22 is installed on the annular part 14 and is linked with at least one first pivot 28. The second rotating frame 23 is a strip, and the two ends of the strip in the length direction are respectively installed on the first rotating frame 21 through the second pivot 29. The second steering engine 24 is installed on the second rotating frame 23 and is linked with at least one second pivot 29.

[0212] The first pivot 28 of all rotor assemblies 2 and the first rudder 22 are mounted on the top frame 11 in the frame structure, or are mounted on the bottom frame 12 in the frame structure. The first flipper 21 of all rotor assemblies 2 is in a coplanar state, and the second axes of all rotor assemblies 2 are parallel to each other and coplanar.

[0213] The survey robot 200 is internally provided with sensing devices (such as a gyroscope, a distance sensor, etc.) for sensing the current posture and relative position, and when encountering an obviously angular obstacle surface (such as a right-angle surface, an inverse slope, etc.) of the working surface, the real-time information or historical data collected can be used for identification, and the sensing devices provide real-time feedback when performing full-vector control of the rotor. When the obstacle is encountered, the first rudder 22 and the second rudder 24 start to work, changing the rotation angle of the vector rotor system, so that the front end of the survey robot 200 is raised to directly climb the obstacle. When an obstacle that cannot be climbed is encountered, the flying mode can be switched to fly over the obstacle, and after flying over the obstacle, the climbing mode is switched again.

[0214] The survey robot has a climbing mode and a flying mode. In the climbing mode, the walking wheels are driven by the vector rotor system to walk on the working surface, and when the working surface is relatively inclined, the vector rotor system provides a downward pressure of the walking wheels on the working surface. In the flying mode, the walking wheels are away from the working surface.

[0215] The walking wheels 3 are all universal wheels to ensure flexibility in walking, and can be driven by the vector rotor system to move in any direction on the working surface, regardless of the turning radius, etc., which is more obvious in the planning of the operation route and the operation walking.

[0216] According to the distribution of the wheel seats 15, the walking wheels 3 can be configured in 4 sets or more, and in the same set, single wheels or double wheels can be used, and are installed on the corresponding wheel seats 15 through the damping mechanism 31. The damping mechanism 31 can use a damper in the prior art, and can also use a combination of multiple ways, such as air damping and mechanical springs. When the wheels move on an uneven working surface, the damping mechanism 31 can combine multiple instantaneous bounces into one relatively gentle movement, thereby achieving the effect of shock absorption.

[0217] In one embodiment, when working on a relatively large area of the working surface, the robot moves between multiple working positions during the operation, and when reaching a predetermined working position, the information acquisition device is used to collect information data of the working surface, and the robot is kept at the current working position in the climbing mode during the collection process.

[0218] Generally, a working surface map is first constructed, including establishing a coordinate system, specifically including: the survey robot reaches the origin position, moves to the reference point along the predetermined coordinate axis, obtains the connecting line between the origin and the reference point, corresponds the connecting line to the working surface map, and calculates to obtain the direction of another coordinate axis and the coordinate system formed by the two coordinate axes.

[0219] The sub-regions are divided, specifically including: dividing the working surface into a plurality of rectangular sub-regions in the coordinate system according to a predetermined side length.

[0220] It can be understood that during the working process of the survey robot, the position feedback of the survey robot and the server is completed through the coordinate system. Therefore, the establishment of the coordinate system is required at the beginning of the working process of the survey robot. The establishment of the coordinate system relies on the image information collected and spliced. The origin is the position of the survey robot at the beginning of the work, and the reference point and the origin are both on the spliced image, so that the establishment of the coordinate system can be realized to facilitate the instruction interaction between the survey robot and the server.

[0221] The division of the working sub-region may, for example, be divided according to the maximum length of the cable of the adjacent robot, or be divided according to the working limit path of the robot. When multiple robots are used, each robot walks synchronously while keeping a constant relative distance, thereby improving the working efficiency. The sub-region may, for example, be a square, and the side length may, for example, be ten to two hundred meters, for example, fifty meters.

[0222] When the current position is confirmed, the surface feature is matched, and the user views the working surface map, the data unit of each sub-region can be called one by one to improve the working efficiency. The survey robot performs path planning before working, and the path planning is performed for each sub-region. By dividing individual sub-regions, the process of path planning is optimized. The division of the sub-region may rely on physical markers or be performed by the server on the working surface for which the coordinate system has been obtained.

[0223] The working surface map is obtained by splicing the image information (such as pictures) collected from multiple working positions during the historical working process, specifically including: traversing all regions of the working surface, splicing the obtained image information, and obtaining a two-dimensional working surface map. Traversing all regions of the working surface includes traversing one or all of the divided sub-regions.

[0224] The obtained image information is spliced to obtain a two-dimensional working surface map, specifically including: locating the surface features in the image information by using an image texture algorithm; when the local region of the to-be-spliced picture has the same surface feature, the to-be-spliced picture is spliced according to the same surface feature.

[0225] The texture of the construction defect is characteristic and distinctive, like a person's fingerprint, and no two construction defect textures are exactly the same. By collecting, storing, comparing, and splicing the texture of the construction defect, the server can recognize and label the construction defect (cracks, pits, roughness, protrusions, etc.) through image information, and instruct the robot to measure and feedback the label. By overlapping the same texture of the image, high-precision image splicing can also be performed. The degree of coincidence of image information in adjacent positions can be set according to the information collection device and the step length of the survey robot, for example, the degree of coincidence for image splicing can be more than 20%.

[0226] In the detection process, the server also uses an autonomous decision algorithm to identify defects on the working surface, and uses a fill light to reduce image noise, analyzes the surface features in combination with the position of the fill light, and improves the detection accuracy.

[0227] It can be understood that in the surface feature comparison, different construction defects can be graded or classified, for example, cracks are obvious construction defects and can be recorded. The present embodiment detects the working surface by data splicing instead of manual and conventional unmanned aerial vehicles, and the efficiency of the robot detection controlled by the present embodiment is higher, the safety is higher, the data is more accurate, and the cost is lower.

[0228] In one embodiment, the control method further comprises obtaining a working surface map in three-dimensional form:

[0229] When traversing all areas of the working surface, the three-dimensional modeling is obtained by collecting three-dimensional form data through the laser scanner included in the information collection device;

[0230] The two-dimensional form of the working surface map is fitted to the three-dimensional model to obtain a working surface map in three-dimensional form.

[0231] The working surface map includes a working surface map in two-dimensional form or three-dimensional form, both of which can be used for current position confirmation. The three-dimensional form of the working surface map, i.e. three-dimensional terrain data, has better three-dimensional visualization effect and can reflect height changes, providing data support for obstacle avoidance of the survey robot and assisting in mode adjustment of obstacle avoidance and flight state.

[0232] In the present embodiment, the surface features in the image information can be obtained, the detection accuracy is high, and the operation speed is fast; the image splicing can correct and uniform the brightness, and can correct the deformed image; the two-dimensional form of the working surface map is fitted to the three-dimensional model, and can be adaptively rendered. In addition, the server can also generate a data report through the captured surface feature information.

[0233] The robot needs to confirm the current position of the robot when it reaches the predetermined work, including:

[0234] image information collected from the current working position

[0235] feature extraction is performed to obtain surface features;

[0236] the surface features are matched with the working surface map to obtain position coordinates of the surface features relative to the working surface map, the position coordinates corresponding to the current position of the survey robot.

[0237] The working surface map is not limited to a specific plane, but refers to a spatial map composed of all working positions of the survey robot. During image information collection, the image information of the current working position at least partially overlaps with the working surface map (including image information that has been completed splicing), i.e., the current working position can be positioned relative to the working surface map through the image information, facilitating data archiving and splicing of the image information collection. In specific surface feature comparison, the surface features of the image information include building defects, which can be used for feature matching.

[0238] It should be understood that, although the steps in the embodiments of the present application are described in sequence, these steps are not necessarily executed in the order described. Unless explicitly stated herein, the execution of these steps is not strictly limited in sequence, and these steps can be executed in other orders. Moreover, at least a part of the steps can include multiple sub-steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution sequence of these sub-steps or stages is not necessarily sequential, but can be executed in rotation or alternation with other steps or sub-steps or stages of other steps.

[0239] The technical features of the above-described embodiments can be combined in any manner. To make the description concise, all possible combinations of the technical features in the above-described embodiments are not described, however, as long as the combination of the technical features does not contradict, it shall be considered within the scope of the present disclosure. When the technical features in different embodiments are embodied in the same figure, it can be considered that the figure also discloses the combination of the embodiments involved.

[0240] The above-described embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the patent scope of the application. It should be noted that, for those skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of protection of the present application.

Claims

1. A survey robot for cleaning a working surface, characterized in that: include: The support body is a frame structure and includes a plurality of annular parts and a plurality of wheel seats; A vector rotor system, the vector rotor system comprising at least two rotor assemblies, each rotor assembly being mounted within a corresponding annular portion and providing vector power to the support body; The rotor assembly includes: A first turning frame is rotatably mounted on the annular portion around a first axis; a first steering gear acting between the annular portion and the first turning frame; A second turning frame is rotatably mounted on the first turning frame around a second axis, wherein the second axis and the first axis are perpendicular to each other; a second steering gear, acting between the second turning frame and the first turning frame; The main motor is installed on the second turning frame; The propeller blade is installed on the output shaft of the main motor; The first steering gear and the second steering gear can respectively drive the first turning frame and the second turning frame to rotate 360 ​​degrees; Travel wheels, which are arranged on the bottom side of the support body and are respectively mounted on corresponding wheel seats, and are universal wheels for traveling on the working surface; Static adsorption components, including: The cylinder is movably mounted on the support body; A lifting drive mechanism is installed on the support body and is linked with the cylinder body to drive the cylinder body to move up and down relative to the support body; A suction cup is fixed to the bottom of the cylinder, and the suction cup includes a base plate and multiple sealing rings arranged inside and outside. The multiple sealing rings and the base plate form a cover structure. When the cover structure is in contact with the working surface, a vacuum chamber is formed inside the cover structure. The height of the bottom surface of each sealing ring from the working surface decreases from the inside to the outside. The suction cup is centrally arranged relative to the multiple annular portions. A vacuum pump is connected to the suction cup via a pipeline; a cleaner is mounted on the substrate, the cleaner comprising a cleaning motor that slides relative to the substrate, a brush head connected to an output shaft of the cleaning motor, and a sliding mechanism mounted on the substrate and configured to slide the cleaning motor left and right; the cleaner is configured to clean the current working surface; a vacuum port and a pressure relief port are provided on the bottom surface of the substrate, and the vacuum pump is connected to the vacuum port via a pipeline; The survey robot adopts a wired mode for power supply and communication and has a negative cable state.

2. The survey robot for cleaning a working surface according to claim 1, characterized in that: The cylinder is composed of two sets, the base plate is connected to the bottom of the cylinder, and the cylinder rises or falls relative to the support body via a lifting drive mechanism.

3. The survey robot for cleaning a working surface according to claim 2, characterized in that: The lifting drive mechanism comprises: Motor; A transfer mechanism, the transfer mechanism is used to drive two cylinders via a motor, the transfer mechanism is linked to the motor and has two output shafts, each output shaft is fixed with a driving gear; The two gear rings are rotatably sleeved on the outer peripheries of the two cylinders and are respectively engaged with the corresponding driving gears. The inner periphery of each gear ring is threadedly matched with the corresponding cylinder.

4. The survey robot for cleaning a working surface according to claim 3, characterized in that: The transfer mechanism comprises: Main bevel gear, fixed to the output shaft of the motor; The two auxiliary bevel gears are respectively engaged with the main bevel gear and are located on both sides of the main bevel gear. An intermediate shaft is fixed on each auxiliary bevel gear. The two output shafts are connected to the corresponding intermediate shafts through universal joints.

5. The survey robot for cleaning a working surface according to claim 1, characterized in that: The base plate is provided with a second avoidance opening, and the brush head extends downward out of the second avoidance opening.

6. The survey robot for cleaning a working surface according to claim 1, characterized in that: A pressure relief valve is installed at the pressure relief port, and the pressure relief valve includes: A sealing sleeve, wherein the sealing sleeve is fixed to the edge of the pressure relief port; A valve core, the valve core matches the sealing sleeve; A valve stem, the valve stem passing through the sealing sleeve and connected to the valve core, the radial gap between the valve stem and the sealing sleeve being a pressure relief gap; an elastic member, said elastic member acting on the valve stem and driving the valve core to seal with the sealing sleeve; The electromagnetic drive assembly acts on the valve stem to drive the valve core to separate from the sealing sleeve to release pressure.

7. The survey robot for cleaning a working surface according to claim 1, characterized in that: The base plate is provided with a guide component near the cleaner, and the cleaning motor slides in cooperation with the guide component; The guide component is a cover structure, two opposite side walls of the cover structure are provided with sliding grooves, and the outer shell of the cleaning motor is provided with a guide component that matches the sliding grooves.

8. The survey robot for cleaning a working surface according to claim 1, characterized in that: The survey robot also includes an information acquisition device for acquiring working surface information data, and the information acquisition device includes an image acquisition component, a laser mapping component, and an ultrasonic detection component; The image acquisition component includes: A camera is provided on the support body and located between two adjacent sets of rotor assemblies, and is used for capturing images; A fill light, used to project light onto the work surface; A mounting frame connected to the support body and used for mounting a camera and a fill light; a ring located below the center and connecting all spokes of the mounting frame; The camera is installed in the middle of the mounting frame, and the fill lights are installed on the ring and arranged at intervals at the projection position of the camera; The laser mapping component includes: A pan / tilt platform, which is arranged on and connected to the support body; A laser scanner mounted on a pan-tilt platform for mapping three-dimensional space; The ultrasonic detection assembly includes: Ultrasonic probes, the ultrasonic probes are arranged in pairs and the spacing between the pairs is adjustable; A moving mechanism, wherein the moving mechanism drives the ultrasound probes of the same pair to move relative to each other; A medium output head is used to provide working medium to the ultrasonic probe.

9. The survey robot for cleaning a working surface according to claim 1, characterized in that: The sliding mechanism includes a sliding motor and a screw nut pair. The sliding motor drives the cleaning motor to slide left and right along the width direction of the substrate through the screw nut pair.

10. The control method for a survey robot for cleaning a working surface according to any one of claims 1 to 9, characterized in that: The control method includes: the survey robot transfers between multiple working positions, cleans the working surface with a cleaner when arriving at a predetermined working position, collects information data of the working surface with an information collection device, and maintains the current working position in a climbing mode during the collection process.

Images