A building surface detection method based on a foldable amphibious wall-climbing robot

Abstract

The present invention discloses a building surface detection method based on a foldable amphibious wall-climbing robot. The method adopts a foldable amphibious wall-climbing robot, which includes a fuselage, an arm assembly, a flight control system, a landing gear, a rotor assembly and a walking assembly; the arm assembly has an arm and a first mounting member, one end of the arm is hinged to the fuselage, the rotor assembly includes a rotor unit arranged on the arm; the walking assembly includes a walking unit arranged on the arm. The rotor unit and the walking unit of the present invention are integrated and installed on the arm, which is flexible and convenient to disassemble and assemble, and also reduces weight; the walking motor independently drives four walking wheels to achieve free walking in the wall climbing state, the propeller is away from the wheels and working surfaces such as the load surface and the working surface, and the thrust of the rotor unit generates positive pressure to ensure that the robot is stably "pressed" on the wall, which not only realizes the detection of the surface quality of the vertical surface or the inclined surface, but also realizes the top wall adsorption detection.

Description

Technical Field

[0001] The invention relates to the field of building surface detection, and in particular to a building surface detection method based on a foldable amphibious wall-climbing robot. Background Art

[0002] In recent years, people have paid more and more attention to safety, and have gradually carried out crack or fissure detection projects on walls, high-slope slopes or bridge bottoms, etc., in order to understand the safety status of buildings during service. For vertical walls or high and steep slopes, due to the structural limitations of vertical walls and steep slopes, it is difficult for drones equipped with detection equipment to fly or hover stably, and it is impossible to obtain wall or slope information at close range.

[0003] At present, the surface quality inspection of buildings mostly uses wall-climbing robots, which are automated robots that can climb and complete tasks on vertical walls or steep slopes. However, this type of inspection is limited to the inspection of the surface quality of vertical walls and steep slopes, and cannot meet the inspection needs of the bottom surface of bridges, the top wall of tunnels or the top wall of indoor rooms. Therefore, how to solve the inspection of top surfaces such as the bottom surface of bridges, the top wall of tunnels or the top wall of indoor rooms is an important problem that needs to be solved. Summary of the invention

[0004] The purpose of the present invention is to provide a building surface detection method based on a foldable amphibious wall-climbing robot, which is not only suitable for the detection of vertical surfaces or inclined surfaces of buildings, but also for top wall detection such as indoor top surfaces or bottom surfaces of bridges.

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

[0006] The building surface detection method based on the foldable amphibious wall-climbing robot of the present invention adopts the foldable amphibious wall-climbing robot and the visual detection component. The building surface detection method adopts the foldable amphibious wall-climbing robot and the visual detection component. The foldable amphibious wall-climbing robot includes a fuselage, an arm assembly and a flight control system, and the visual detection component is arranged on the fuselage; the foldable amphibious wall-climbing robot also includes a landing gear, and a rotor assembly and a walking assembly integrated on the arm assembly; wherein,

[0007] The arm assembly comprises a plurality of arms and a plurality of first mounting members, one end of each arm is hinged to the fuselage and the other end thereof is fixedly connected to one of the first mounting members;

[0008] The rotor assembly comprises a plurality of rotor units, each of which comprises a rotor motor fixedly connected to a first mounting member and a propeller transmission-connected to the rotor motor;

[0009] The walking assembly includes a plurality of walking units, one of which is arranged on each machine arm, and the walking unit includes a second mounting member fixed to the upper surface of the first mounting member, a walking motor fixed to the second mounting member, and a walking wheel drivingly connected to the walking motor, wherein the walking wheel is located outside the second mounting member;

[0010] When the building surface is an indoor top surface, a bridge bottom surface or a tunnel top surface, the building surface detection method includes the following contents:

[0011] Unfold the arms one by one to provide rotation space for the propellers; ensure that the robot maintains a stable posture, and put the foldable amphibious wall-climbing robot in flight mode and the walking motor in a disabled state;

[0012] The foldable amphibious wall-climbing robot is controlled to take off, and after taking off, the foldable amphibious wall-climbing robot is controlled to stabilize its posture; when approaching the top area, the foldable amphibious wall-climbing robot is controlled to fly slowly so that the walking wheels gradually contact the top surface, and then the walking motor is controlled to slowly accelerate so that the walking wheels are completely in contact with the top surface;

[0013] Switch the foldable amphibious wall-climbing robot to the smart vehicle mode and the smart vehicle control enabling mode, make the running wheels stably attached to the top surface, control the robot to travel freely on the top surface, and start the inspection operation;

[0014] After the inspection is completed, the foldable amphibious wall-climbing robot is switched to flight mode, so that the walking wheels are gradually separated from the top surface. After complete separation, the machine is controlled to fly and land, thus completing the wall-attaching inspection operation.

[0015] When the building surface is vertical or inclined, the building surface detection method includes the following:

[0016] When the foldable amphibious wall-climbing robot is ready to be in place, it is adjusted to the wall-adhering mode and the rotor motor is in the maximum output state; the landing gear is manually operated to make the running wheel end stably adhere to the vertical surface or inclined surface, or the foldable amphibious wall-climbing robot is controlled by the slope to start from the plane so that the running wheel gradually adheres to the wall to a stable state;

[0017] After sticking to the wall, the rotor motor is enabled and the walking motor is in the enabled state, and the foldable amphibious wall-climbing robot is controlled to move normally, and inspection is carried out using the visual inspection part; after the inspection is completed, the walking motor is disabled and the rotor motor is disabled, ending the inclined / vertical wall sticking inspection operation.

[0018] In the present invention, the machine arm is hinged with the fuselage and can be folded together during transportation, which is convenient for transportation; the rotor unit and the walking unit are integrated and installed at one end of the machine arm, which is compact and convenient for disassembly and assembly, convenient for maintenance and testing, and reduces weight, thereby reducing the load; the walking motor independently drives the four walking wheels to achieve free walking in the wall climbing state. In addition, the rotor of the propeller is away from the wheels and working surfaces such as the load surface and the working surface, reducing the interference of dust on the detection equipment. The thrust of the rotor unit generates positive pressure to ensure that the robot is stably "pressed" on the wall, further ensuring the walking of the robot on the working surface, and ensuring that the present invention can smoothly pass through the large curvature surface and uneven places on the detection surface;

[0019] The robot of the present invention is a small robot, the wheel diameter of the walking wheel is about 70 mm, the length of the machine arm is about 300 mm, and the structure is compact, which further ensures the walking flexibility of the present invention, facilitates the adjustment of the walking state, and further ensures that the present invention can smoothly pass through large curvature surfaces and uneven working surfaces;

[0020] The present invention integrates the walking unit and the rotor unit at one end of the machine arm. By properly operating the robot, not only the detection of the surface quality of the vertical surface or the inclined surface is realized, but also the top wall adsorption detection can be realized.

[0021] Preferably, the first mounting member includes an upper mounting plate and a lower connecting plate, the upper mounting plate and the lower mounting plate are fixed to the end of the machine arm by connecting bolts, and the rotor motor is fixed to the lower mounting plate. When working, the rotor motor is used to drive the propeller to rotate, thereby ensuring the flying performance of the present invention;

[0022] The second mounting member includes a pair of upper mounting seats and lower mounting seats connected together by a connecting rod, the lower mounting seat is fixed to the upper mounting plate, and the travel motor is arranged on the upper mounting seat. The present invention utilizes the second mounting member to ensure the height difference between the propeller and the travel wheel, avoids absorbing dust on the working surface and affecting normal detection, and can also generate positive pressure to make the present invention stick to the working surface.

[0023] More preferably, the foldable amphibious wall-climbing robot described in the present invention further includes a first protective cover arranged on the second mounting member and a second protective cover arranged on the fuselage, which has excellent rainproof and dustproof effects to better protect the electrical components of the robot.

[0024] Preferably, each of the arms is connected to the fuselage via a connecting unit, wherein the connecting unit comprises a first connecting frame fixed to the end of the arm and a second connecting frame fixed to the fuselage, wherein the first connecting frame and the second connecting frame are hinged together and positioned by a limiting member.

[0025] More preferably, the first connecting frame has a pair of clamping plates, and the two clamping plates extend forward from the machine arm; the second connecting frame has a pair of connecting plates, and one end of the two connecting plates is inserted into the two clamping plates and connected together through a hinge shaft; the limiting member is horizontally inserted into the two connecting plates, and the extension of the two clamping plates has a first limiting groove and a second limiting groove that cooperate with the limiting member so that the machine arm has a vertical state and a horizontal unfolded state. When the limiting member is clamped in the first limiting groove, it can limit the end of the machine arm from rotating upward and make the machine arm in a horizontal state, and when the limiting member is clamped in the second limiting groove, the machine arm is in a vertical downward folded state. The present invention uses the limiting member to limit the first connecting frame to determine the stability of the machine arm.

[0026] During actual installation, a pair of long holes are horizontally opened on the two connecting plates to enable the limiter to move horizontally. The two ends of the limiter are provided with screw caps, which are easy to operate; the long holes provide space for the limiter to move.

[0027] During actual installation, the first limiting groove and the second limiting groove are connected together through an arc-shaped edge. The arc-shaped edge connection is used to facilitate the rotation of the machine arm and facilitate operation.

[0028] During actual installation, the fuselage includes a pair of base bodies spaced apart from each other, and the two base bodies are fixedly connected together by the second connecting frame to facilitate the installation of a power supply and the like.

[0029] Preferably, the landing gear is a pair and symmetrically arranged on both sides of the fuselage, which includes a diagonal brace obliquely arranged on the fuselage and a horizontal brace fixedly connected to the bottom wall of the diagonal brace, and the horizontal brace is provided with an anti-skid cover, which increases friction so that the present invention can land smoothly.

[0030] Compared with the prior art, the invention has the advantages that the arms are hinged to the body and can be folded together during transportation, which greatly saves space and is convenient for transportation and storage; in addition, the length of each arm is controlled within 300 mm, making the structure of the entire robot more compact and more flexible to walk;

[0031] The present invention has not only a rotor unit but also a walking unit, so that the present invention has not only a flying function but also a wall climbing function, and is not only applicable to vertical walls but also to the bottom surfaces of roads and bridges, and has a wide range of applications; in addition, the rotor unit and the walking unit are integrated and installed at one end of the machine arm, which is not only flexible and convenient to disassemble and assemble, and is convenient for maintenance and testing, but also can reduce weight, thereby reducing the load;

[0032] The present invention utilizes a walking motor to independently drive the four walking wheels to rotate, thereby realizing free walking in a wall-climbing state. In addition, the rotor blades of the propeller are away from the wheels and working surfaces such as the load surface and the working surface, thereby avoiding absorbing dust from the working surfaces and affecting normal detection. The thrust of the rotor unit generates positive pressure to ensure that the robot is stably "pressed" on the wall, further ensuring the robot's walking on the vertical surface, inclined surface and top surface, thereby realizing surface detection of the vertical surface, inclined surface and top surface, and being able to meet the surface detection requirements of the bottom surface of the bridge, the top surface of the tunnel and the top wall of the room. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a structural schematic diagram of the foldable amphibious wall-climbing robot of the present invention.

[0034] Figure 2 yes Figure 1 Side view of.

[0035] Figure 3 It is a connection diagram of the fuselage and the arms of the present invention (one of the arms is in a vertical state).

[0036] Figure 4 yes Figure 3 Enlarged view of part A in the middle.

[0037] Figure 5 yes Figure 3 Enlarged view of part B in the middle.

[0038] Figure 6 yes Figure 3 Enlarged view of part C in the middle.

[0039] Figure 7 It is a structural schematic diagram of the walking unit of the present invention.

[0040] Figure 8 It is a circuit principle block diagram of the present invention. DETAILED DESCRIPTION

[0041] The following is a detailed description of an embodiment of the present invention in conjunction with the accompanying drawings. This embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation method and a specific operation process are given, but the protection scope of the present invention is not limited to the following embodiment.

[0042] It should be noted that, in the description of the present invention, relational terms such as “first” and “second” are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations.

[0043] In the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" that may appear should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0044] The present invention firstly provides a foldable amphibious wall-climbing robot, which can not only fly but also climb, and is also suitable for walking on the bottom surface of bridges and roads, and has a wide range of applications.

[0045] Specifically, combined Figure 1-3 and Figure 7 It can be seen that the foldable amphibious wall-climbing robot described in the present invention includes a fuselage 1, an arm assembly, a walking assembly, a rotor assembly, a landing gear 8 and a flight control system;

[0046] The arm assembly has four arms 2 with the same structure and four first mounting parts 3. For the convenience of distinction, one end of the arm 2 connected to the fuselage 1 is recorded as the first end and the other end is recorded as the second end. The first end of the arm 2 is hinged on the fuselage 1 and the second end is fixedly connected with a first mounting part 3. The rotor unit and the walking unit described later can be correspondingly arranged at the second end of the arm 2 by using the first mounting part 3. The arm 2 is hinged to the fuselage 1 and can be folded together during transportation, which is convenient for transportation and storage.

[0047] The rotor assembly includes four rotor units of the same structure, each of which includes a rotor motor 4.1 fixed to a first mounting member 3 (the rotor motor 4.1 is preferably a closed DC brushless motor) and a propeller 4.2 driven by the rotor motor 4.1, and the rotor motor 4.1 drives the propeller 4.2 to rotate to achieve hovering and flight;

[0048] The walking assembly includes four walking units, one walking unit is arranged on each machine arm 2, and the walking unit includes a second mounting member 5.1 fixed on the first mounting member 3, a walking motor 5.2 (with an electronic regulator) fixed on the second mounting member 5.1, and a walking wheel 5.3 drivingly connected to the walking motor 5.2, and the walking wheel 5.3 is located on the outside of the second mounting member 5.1; each walking wheel 5.3 corresponds to a walking motor 5.2, which can meet the requirements of forward, backward and differential turning in the wall climbing state;

[0049] In the above scheme, the rotor unit and the walking unit are integrated and installed at one end of the arm 2, which is not only flexible and convenient for disassembly and assembly, and convenient for maintenance and testing, but also can reduce weight, thereby reducing the load; the propeller 4.2 is away from the wheels and working surfaces such as the load surface and the working surface, so as to avoid absorbing dust on the working surface and affecting normal detection, and the thrust of the rotor unit generates positive pressure to ensure that the robot is stably "pressed" on the wall; the walking unit and the rotor unit are combined to further ensure that the present invention can smoothly pass through the large curvature surface and uneven places on the detection surface.

[0050] Preferably, Figure 2 , 4 As shown, the first mounting member 3 is a clamping plate 6.1 structure, which includes an upper mounting plate 3.2 with a pair of upper arc plates 3.1 and a lower mounting plate 3.4 with a pair of lower arc plates 3.3. The upper arc plates 3.1 and the lower arc plates 3.3 are arranged vertically opposite to each other to form a circular hole of the same size as the outer diameter of the arm 2. Each pair of upper arc plates 3.1 and lower arc plates 3.3 are fixedly connected together by bolts to realize the fixed installation of the first mounting member 3 at the second end of the arm 2. In addition, in order to ensure the spacing between the propeller 4.2 and the running wheel 5.3, the rotor motor 4.1 is fixed on the lower surface of the lower mounting plate 3.4 and the running motor 5.2 is installed on the top of the second mounting member.

[0051] Preferably, Figure 7 As shown, the second mounting member 5.1 includes a pair of upper mounting seats 5.1b and lower mounting seats 5.1c connected together by four connecting rods 5.1a, and the lower mounting seat 5.1c is clamped in the mounting groove of the upper mounting plate 3.2 and fixed together by bolts, so as to realize the positioning installation of the second mounting member 5.1 on the first mounting member 3; the walking motor 5.2 is fixed on the upper mounting seat 5.1b, and the walking motor 5.2 is connected to the walking wheel 5.3 (preferably the embedded anti-falling silicone wheel) to drive the present invention forward and backward, and each pair of walking motors 5.2 can realize left and right turns by differential rotation to meet the walking needs in the case of inability. In addition, the present invention sets the walking motor 5.2 on the upper part of the second mounting member 5.1 and installs the rotor motor 4.1 on the bottom of the first mounting member 3, so as to fully ensure the height difference between the propeller 4.2 and the walking wheel 5.3, so that the rotating surface of the propeller 4.2 is away from the load plane or the working surface, and avoids the formation of a high negative pressure area to absorb dust, slag and stones on the detection surface and cause damage.

[0052] During actual installation, each arm 2 is connected to the fuselage 1 through a connecting unit, and the connecting unit includes a first connecting frame arranged at a first end of the arm 2 and a second connecting frame fixed at a corner of the fuselage 1;

[0053] The second connecting frame has a pair of connecting plates 7.1 spaced apart from each other, and the first connecting frame has a pair of clamping plates 6.1 located on the left and right sides of the machine arm 2. One end of the connecting plate 7.1 extends into the two clamping plates 6.1 and is connected through a hinge shaft 7.6, so that the clamping plates 6.1 can rotate relative to the connecting plate 7.1, thereby realizing the rotational connection between the first connecting frame and the second connecting frame; the ends of the two connecting plates 7.1 also have a limiting member (i.e., a limiting shaft 7.2) with a screw cap 7.5, and the limiting shaft 7.2 is provided with a limiting platform 7.3 to prevent it from moving left and right on the connecting plate 7.1;

[0054] In order to maintain the state of the arm 2, the two clamping plates 6.1 have a pair of first limiting grooves 6.2 opening upward and a pair of second limiting grooves 6.3 opening downward. When the limiting shaft 7.2 is stuck in the first limiting groove 6.2, the first end of the arm 2 can be prevented from rotating, so that the arm 2 is in a horizontally extended state, providing a rotation space for the propeller 4.2; when the limiting shaft 7.2 is stuck in the second limiting groove 6.3, the arm 2 is limited to be in a vertical state; a long hole 7.4 is horizontally opened on the connecting plate 7.1 to provide an adjustment space for the limiting shaft 7.2. By horizontally adjusting the position of the limiting shaft 7.2, a rotation space is provided for the arm 2, thereby realizing flexible adjustment of the unfolded and folded states of the arm 2.

[0055] In actual processing, the side edge of the clamping plate 6.1 between the first limiting groove 6.2 and the second limiting groove 6.3 adopts an arc edge 6.4, which is convenient for adjustment and reduces the difficulty of adjusting the machine arm 2. Figure 5-6 shown.

[0056] During actual installation, a pair of long holes 7.4 are horizontally opened on the two connecting plates 7.1 to enable the limit shaft to move horizontally. Screw caps 7.5 are arranged at both ends of the limit shaft for easy operation. The long holes 7.4 provide movable space for the limit shaft.

[0057] During actual installation, the first limiting groove 6.2 and the second limiting groove 6.3 are connected together by the arc edge 6.4. The arc edge 6.4 is used for connection, which is convenient for rotating the machine arm 2 and convenient for operation.

[0058] Combination Figure 1 It can be seen that the landing gear is a pair, symmetrically arranged on both sides of the lower seat of the fuselage 1, which includes an oblique support 8.1 obliquely arranged on the fuselage 1 and a horizontal support 8.2 fixedly connected to the bottom wall of the oblique support 8.1, and an anti-skid cover 8.3 is mounted on the horizontal support 8.2. The anti-skid cover 8.3 increases the friction force so that the present invention can land smoothly.

[0059] During actual installation, a first protective cover 9.1 is provided on the first mounting member 3 and the travel motor 5.2, and a second protective cover 9.2 is provided on the fuselage 1, which not only has a good rain and dustproof effect, but also protects the flight control system from the impact of gravel as much as possible, protecting the flight control system as much as possible.

[0060] The present invention also includes ground-side monitoring equipment, ground-side communication links and sky-side communication links. The ground-side monitoring equipment includes a software ground station, a display device and a remote controller. The remote controller is connected to the flight control system (an anonymous flight control is selected) through a receiver installed on the fuselage. The flight attitude data of the flight control is transmitted to the software ground station through a data transmission module (using an anonymous data transmission module) for visualization; the data communication between the flight control system and the sky end (the HM30 sky end of the integrated image and data transmission module) is bidirectional, mainly including flight attitude data and remote control data, and the video data is unidirectionally transmitted. The data transmission link between the sky end and the ground end (the HM30 ground end of the integrated image and data transmission module) is also bidirectional. The ground end transmits the video data unidirectionally to the 5G cloud box in the form of a network port to HDMI, and the flight attitude data and remote control data are bidirectionally connected to the 5G cloud box in the form of a serial port. The 5G cloud box communicates with the cloud service through the 5G network. The video data is pushed to the cloud server in one direction using the RTMP / RTSP protocol. The flight attitude data and remote control data are communicated with the cloud server in two directions using transparent transmission to achieve remote display and reverse control. The specific 5G communication transmission process is as follows: Figure 8 shown.

[0061] During actual installation, the visual detection component is preferably a visual sensor. During actual installation, the visual sensor can be installed on the fuselage, and the visual sensor transmits the captured information to the flight control system. The flight control system connects the generated video data through the sky terminal and the ground terminal, and the ground terminal is connected to the display through the ground terminal network port.

[0062] The remote controller of the present invention is designed with seven channels for the flight and crawling functions of the machine, wherein channels one to four correspond to Roll, Pitch, Thrust, and Yaw; channel five adopts a SwE three-stage switch: the low position and the middle position are UAV mode (attitude control), and the high position is the smart car mode (i.e., ceiling-mounted car); channel six is ​​a SwA two-stage switch: the low position is smart car control prohibition (i.e., walking wheel disability), and the high position is smart car control enabling (i.e., walking wheel enabling); channel seven is a SwG three-stage switch, which is used for switching between normal flight and wall adsorption functions.

[0063] The foldable amphibious wall-climbing robot of the present invention can be applied not only to inclined / vertical walls, such as tunnel walls, nuclear power plant exterior walls, building exterior walls, etc., but also to bottom walls, such as tunnel tops, bridge bottoms, and indoor roofs. The operation method of the foldable amphibious wall-climbing robot of the present invention when applied to bottom walls (i.e., tunnel tops, bridge bottoms, indoor wall tops, etc.) includes the following contents:

[0064] In the first step, each arm 2 is folded up and transported to the work site. When folding, the limit shaft 7.2 is pulled along the long hole 7.4 to move toward the inside of the fuselage 1, and the limit shaft 7.2 is removed from the first limit groove 6.2 to put the arm 2 in a non-restricted state. Then, the arm 2 is rotated downward to be in a vertical state, and the limit shaft is loosened to be clamped in the second limit groove 6.3 to achieve the folding of the arm 2.

[0065] In the second step, after reaching the work site, the arms 2 are unfolded one by one to provide a rotation space for the propeller 4.2. Specifically, the unfolding of one of the arms 2 is taken as an example: the limit shaft 7.2 is pushed to move along the long hole 7.4 toward the fuselage 1, the restriction on the first connecting frame is released, and the arm 2 is rotated to a horizontal state. The limit shaft 7.2 is reset and clamped in the first limit groove 6.2 to limit the arm 2 so that it is in a horizontal unfolded state; in addition, the landing gear is placed on the ground to ensure that the foldable amphibious wall-climbing robot of the present invention is in a stable state;

[0066] Step 3. Before starting, make sure the robot maintains a stable posture and that the SwE three-stage switch is in the low position, the SwA two-stage switch is in the low position, and the SwG three-stage switch is in the low or middle position, even if the robot is in flight mode and the walking motor 5.2 is disabled;

[0067] Step 4: Control the robot to take off, and after taking off, control the robot to stabilize its posture; when approaching the top area, control the robot to fly so that the running wheels gradually contact the top surface, so that the running wheels 5.3 are completely in contact with the top surface;

[0068] Step 5: Switch the SwE switch to the high position to enter the smart car mode, and switch the SwA switch to the high position to enter the smart car control enable mode (i.e., enable the walking motor), so that the robot can be stably attached to the top surface. Use the remote control to control the robot to freely drive on the top surface, forward and backward, left and right, turn, and reverse, and start the inspection operation;

[0069] Step 6. After the inspection is completed, switch the three-stage switch of the SwE switch to the low position to enter the flight mode, so that the walking wheels gradually separate from the top wall. After complete separation, control the machine to fly and land, and end the wall-attaching inspection operation.

[0070] When used to detect inclined / vertical walls (such as tunnel walls, nuclear power plant exterior walls, building exterior walls, etc.), the operation method is different from that of bottom walls in that:

[0071] After getting ready, set the three-stage switch SwG to high, the two-stage switch SwA to low, and the three-stage switch to low or middle. At this time, the machine is in the wall-attaching mode, and the rotor motor 4.1 is in the maximum output state;

[0072] Manually operate the landing gear to make the walking wheel end stably stick to the inclined / vertical wall (if the hand-held method is inconvenient, you can use a slope or inclined surface, start from the plane, control the robot and the walking motor 5.2, slowly increase the speed of the walking motor to make the robot climb up the wall, and gradually stick to the wall until it is stable;

[0073] When the robot sticks to the wall, the rotor motor 4.1 is enabled. At this time, the SwA switch is switched to the high position, so that the walking motor 5.2 is in the enabled state. The remote controller can control the robot to drive normally, forward and backward, left and right, turn, and U-turn, and use the visual sensor to perform detection; after the detection is completed, the robot is controlled to return to the manual access area, and the landing gear is held (if it is inconvenient, the machine can be controlled to drive autonomously to the plane with the help of a slope or inclined plane), and the SwA switch is switched to the low position, the walking motor is disabled and the rotor motor is disabled at the same time, and the inclined / vertical wall sticking detection operation is ended;

[0074] During the above detection process, if an uneven area is encountered, the walking wheel 5.3 is adjusted to turn and pass through at a differential speed or the rotor motor 4.1 is used to drive the present invention to take off and pass through to ensure safe detection;

[0075] During the climbing or walking process, the visual sensor can capture and obtain surface information of walls or bridges, thereby achieving high-precision detection of surface defects of buildings (such as cracks, holes, corrosion, pockmarks, etc.).

[0076] Finally, it should be emphasized that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions recorded in the aforementioned embodiments without creative work, or replace some of the technical features therein with equivalents. Therefore, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A building surface detection method based on a foldable amphibious wall-climbing robot, wherein the building surface detection method adopts a foldable amphibious wall-climbing robot and a visual detection component, wherein the foldable amphibious wall-climbing robot comprises a body, an arm assembly and a flight control system, and the visual detection component is arranged on the body; and characterized in that: The foldable amphibious wall-climbing robot also includes a landing gear, and a rotor assembly and a walking assembly integrated on the arm assembly; wherein, The arm assembly comprises a plurality of arms and a plurality of first mounting members, one end of each arm is hinged to the fuselage and the other end thereof is fixedly connected to one of the first mounting members; The rotor assembly comprises a plurality of rotor units, each of which comprises a rotor motor fixedly connected to a first mounting member and a propeller transmission-connected to the rotor motor; The walking assembly includes a plurality of walking units, one of which is arranged on each machine arm, and the walking unit includes a second mounting member fixed to the upper surface of the first mounting member, a walking motor fixed to the second mounting member, and a walking wheel drivingly connected to the walking motor, wherein the walking wheel is located outside the second mounting member; The first mounting member includes an upper mounting plate and a lower connecting plate, wherein the upper mounting plate and the lower mounting plate are fixed to the end of the machine arm by connecting bolts, and the rotor motor is fixed to the lower mounting plate; The second mounting member includes a pair of upper mounting seats and lower mounting seats connected together by a connecting rod, the lower mounting seat is fixed on the upper mounting plate, and the travel motor is fixed on the upper mounting seat; When the building surface is an indoor top surface, a bridge bottom surface or a tunnel top surface, the building surface detection method includes the following contents: Unfold the arms one by one to provide rotation space for the propellers; ensure that the robot maintains a stable posture, and put the foldable amphibious wall-climbing robot in flight mode and the walking motor in a disabled state; The foldable amphibious wall-climbing robot is controlled to take off, and after taking off, the foldable amphibious wall-climbing robot is controlled to stabilize its posture; when approaching the top area, the foldable amphibious wall-climbing robot is controlled to fly slowly so that the walking wheels gradually contact the top surface, and then the walking motor is controlled to slowly accelerate so that the walking wheels are completely in contact with the top surface; Switch the foldable amphibious wall-climbing robot to the smart vehicle mode and the smart vehicle control enabling mode, make the running wheels stably attached to the top surface, control the robot to travel freely on the top surface, and start the inspection operation; After the inspection is completed, the foldable amphibious wall-climbing robot is switched to the flight mode, so that the walking wheels are gradually separated from the top surface. After the wheels are completely separated, the robot is controlled to fly and land, thus completing the wall-attaching inspection operation. When the building surface is vertical or inclined, the building surface detection method includes the following: When the foldable amphibious wall-climbing robot is ready to be in place, it is adjusted to the wall-adhering mode and the rotor motor is in the maximum output state; the landing gear is manually operated to make the running wheel end stably adhere to the vertical surface or inclined surface, or the foldable amphibious wall-climbing robot is controlled by the slope to start from the plane so that the running wheel gradually adheres to the wall to a stable state; After sticking to the wall, the rotor motor is enabled and the walking motor is in the enabled state, and the foldable amphibious wall-climbing robot is controlled to move normally, and inspection is carried out using the visual inspection part; after the inspection is completed, the walking motor is disabled and the rotor motor is disabled, ending the inclined / vertical wall sticking inspection operation.

2. The building surface detection method based on the foldable amphibious wall-climbing robot according to claim 1 is characterized in that: The foldable amphibious wall-climbing robot also includes a first protective cover arranged on the second mounting member and a second protective cover arranged on the body.

3. The building surface detection method based on the foldable amphibious wall-climbing robot according to claim 1 is characterized in that: The arms are connected to the fuselage via a connection unit, wherein the connection unit comprises a first connection frame fixed to an end of the arm and a second connection frame fixed to the fuselage, wherein the first connection frame and the second connection frame are hinged together and positioned via a limiter.

4. The building surface detection method based on the foldable amphibious wall-climbing robot according to claim 3 is characterized in that: The first connecting frame has a pair of clamping plates, and the two clamping plates extend forward of the machine arm; the second connecting frame has a pair of connecting plates, one end of the two connecting plates is inserted into the two clamping plates and connected together through a hinge shaft; the limiting member is horizontally penetrated through the two connecting plates, and the extending parts of the two clamping plates have a first limiting groove and a second limiting groove that cooperate with the limiting member so that the machine arm has a vertical state and a horizontally expanded state.

5. The building surface detection method based on the foldable amphibious wall-climbing robot according to claim 4 is characterized in that: A pair of long holes for enabling the position-limiting member to move horizontally are horizontally opened on the two connecting plates, and screw caps are arranged at the two ends of the position-limiting member.

6. The building surface detection method based on the foldable amphibious wall-climbing robot according to claim 5 is characterized in that: The first limiting groove and the second limiting groove are connected by an arc edge.

7. The building surface detection method based on the foldable amphibious wall-climbing robot according to claim 5 is characterized in that: The fuselage includes a pair of seat bodies spaced apart from each other in an upper and lower direction, and the two seat bodies are fixedly connected together through the second connecting frame.

8. The building surface detection method based on the foldable amphibious wall-climbing robot according to claim 7 is characterized in that: The landing gear is a pair and is symmetrically arranged on both sides of the fuselage. It includes an oblique support obliquely arranged on the fuselage and a horizontal support fixedly connected to the oblique support, and the horizontal support is sleeved with an anti-slip cover.

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