A wall detection device for a wall-climbing robot

Abstract

The present invention relates to a wall-climbing robot detection device, and more specifically, to a wall detection device for a wall-climbing robot. The device comprises a wall-climbing robot body and a testing device. The present invention timely detects the roughness of the wall through an angle sensor, detects the ups and downs of a component, and transmits the detection component to the angle sensor through gears, converts the detection component into a height value of the wall, and adjusts the air volume of the fan according to the roughness, thereby controlling the travel speed to ensure that the wall-climbing robot body passes smoothly, removes wall obstacles for the wall-climbing robot body in advance, and avoids the wall-climbing robot body from traveling to a concave and convex surface, resulting in insufficient negative pressure, and easily causing a falling phenomenon, thereby improving the protective effect of the wall-climbing robot body.

Description

Technical Field

[0001] The present invention relates to a wall-climbing robot detection device, in particular to a wall surface detection device for a wall-climbing robot. Background Art

[0002] At present, the adaptability of wall-climbing robots to walls is limited to a certain extent. Both magnetic adsorption and vacuum adsorption have certain requirements for the wall. The operating scope of wall-climbing robots is cleaning, spraying and inspection related fields. Many obstacle detection methods on the market are visual, laser and ultrasonic. During the operation of the wall-climbing robot, the robot needs to avoid the pits on the wall and the protrusions of the welds, which will directly cause the robot to fall. The dust and water mist in the operation structure of the wall-climbing robot have a greater impact on vision, laser and ultrasonic. The vacuum adsorption wall-climbing robot cannot adjust the fan and travel speed according to the real-time wall roughness.

[0003] In order to address the above problems, there is an urgent need for a wall detection device for a wall-climbing robot. Summary of the invention

[0004] The object of the present invention is to provide a wall detection device for a wall-climbing robot to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned purpose, a wall detection device for a wall-climbing robot is provided, comprising a wall-climbing robot body, the wall-climbing robot body comprising a pair of driving shafts, tracks are coaxially connected to both sides of the driving shafts, a side plate is arranged on the side of the track away from the driving shaft, top ends of the two side plates are connected to top covers, a fan is arranged at the bottom end of the top cover, the fan is used to suck gas between the wall surface and the bottom end of the top cover to form a negative pressure, a testing device is arranged at the top end of the top cover, the testing device comprises a connecting block, the connecting block is located directly above the fan, a top opening is opened at the top end of the connecting block, a gear is arranged at the inner end of the top opening, an angle sensor is arranged at the outer side of the connecting block, the end of the angle sensor is coaxially connected to the side face of the gear, a detection assembly is sleeved on the side face of the gear, the detection assembly is coaxially connected to the gear, a limiting position assembly is connected between the detection assembly and the connecting block;

[0006] The detection component is located in front of the wall-climbing robot body. During the movement of the wall-climbing robot body, the limit component provides a force to the detection component, causing the limit component to be in a taut state. When the limit component encounters a concave-convex surface, the limit component will drive the gear to rotate. The gear rotation is counted by the angle sensor for angle deviation. The angle sensor has a built-in angle sensor control system. The angle sensor control system is used to record the angle deviation count information, perform data information conversion, and generate conversion data information. The fan has a built-in wind energy control system connected to the angle sensor control system. The wind energy control system is used to receive the conversion data information and perform wind energy control on the fan.

[0007] As a further improvement of the present technical solution, the detection assembly includes a cross bar, one end of which is coaxially connected to the gear, and the other end of the cross bar is vertically connected to a vertical bar, and the bottom end of the vertical bar is in contact with the wall.

[0008] As a further improvement of the technical solution, a ball is provided at the bottom end of the vertical rod, and the ball is in rolling connection with the vertical rod.

[0009] As a further improvement of the present technical solution, the limit assembly includes a limit spring, and both ends of the limit spring are connected to connecting rings, one of the connecting rings is fixed to the side of the connecting block, and the other connecting ring is fixed to the bottom end of the cross bar.

[0010] As a further improvement of the technical solution, a bottom cover is provided at the bottom end of the fan, and a limiting hole is provided at the middle position of the bottom end of the bottom cover.

[0011] As a further improvement of the present technical solution, the angle sensor control system includes a gear circle number recording module, which is used to record the gear revolutions. The output end of the gear circle number recording module is connected to an angle offset conversion module to generate gear revolution information. The angle offset conversion module information is used to perform data conversion on the gear revolutions and convert it into high and low numerical information of the wall. The output end of the angle offset conversion module is connected to a data information transmission module. The wind energy control system of the wind turbine includes an information receiving module, the input end of the information receiving module is connected to the output end of the data information transmission module, and the output end of the information receiving module is connected to a wind energy control module. The wind energy control module adjusts the wind energy of the wind turbine according to the high and low numerical information.

[0012] As a further improvement of the present technical solution, the output end of the wind energy control module is connected to a threshold setting module, and the threshold setting module is used to set high and low numerical thresholds. The output end of the threshold setting module is connected to an emergency braking module. When the high and low numerical information received by the wind energy control module exceeds the high and low numerical thresholds, the emergency braking module controls the fan to reduce the suction wind energy and issues an alarm.

[0013] As a further improvement of the present technical solution, the threshold setting module adopts a threshold judgment algorithm, and its algorithm formula is as follows:

[0014] A=[a1,a2,…,a n ];

[0015]

[0016] Among them, A is the set of wall height values ​​for each test, a1 to a n is the wall height value of each test, f(a) is the threshold judgment function, is the minimum height, is the highest height, a is the input wall height value, when the wall height value is higher than the lowest height and below the maximum altitude When the threshold judgment function f(a) outputs 0, it indicates that the wall height value is normal, and the wall-climbing robot body can smoothly pass through the concave and convex surface in front. Or the wall height value a is not less than the maximum height When , the threshold judgment function f(a) outputs 1, indicating that the wall height value is abnormally high and low data, and the wall-climbing robot body cannot smoothly pass through the concave and convex surface in front.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. In the wall detection device for the wall-climbing robot, the roughness of the wall is detected in time through the angle sensor, and the ups and downs of the detection component are transmitted to the angle sensor through the gear, and converted into the height value of the wall. The air volume of the fan can be adjusted according to the roughness, so as to control the driving speed to ensure the smooth passage of the wall-climbing robot body, remove wall obstacles for the wall-climbing robot body in advance, and avoid the wall-climbing robot body from driving on the concave and convex surface, resulting in insufficient negative pressure, and it is easy to fall, thereby improving the protection effect of the wall-climbing robot body.

[0019] 2. In the wall detection device for the wall-climbing robot, the contact area between the bottom end of the vertical rod and the wall is reduced by the arranged balls, and the friction generated between the two is converted into sliding friction, thereby reducing the obstruction of the wall to the bottom end of the vertical rod and improving the sliding efficiency of the vertical rod.

[0020] 3. In the wall detection device of the wall-climbing robot, the bottom end of the fan is isolated by a bottom cover to prevent the convex surface from being too high, which causes the fan to be scratched during movement and affects the service life of the fan. At the same time, the fan is diverted through the limit holes to improve the fan suction efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0022] Figure 2 This is a first exploded view of the main structure of the wall-climbing robot of the present invention;

[0023] Figure 3 This is the second exploded view of the main structure of the wall-climbing robot of the present invention;

[0024] Figure 4 It is a schematic diagram of the structure of the testing device of the present invention;

[0025] Figure 5 For the present invention Figure 4 A local enlarged view of point A;

[0026] Figure 6 For the present invention Figure 4 A partial enlarged view of point B;

[0027] Figure 7 It is the overall system flow chart of the present invention.

[0028] The meaning of each number in the figure is:

[0029] 10. Wall-climbing robot body; 110. Drive shaft; 120. Track; 130. Side plate; 140. Top cover; 150. Fan; 160. Bottom cover; 161. Limiting hole;

[0030] 20. Test device; 210. Connecting block; 211. Top opening; 212. Gear; 220. Angle sensor; 230. Crossbar; 240. Vertical bar; 241. Ball; 250. Limit spring; 251. Connecting ring. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0033] See also Figure 1-Figure 7 As shown, a wall detection device for a wall-climbing robot is provided, including a wall-climbing robot body 10, the wall-climbing robot body 10 includes a pair of drive shafts 110, both sides of the drive shafts 110 are coaxially connected with tracks 120, the track 120 is provided with a side plate 130 away from the drive shaft 110, the top ends of the two side plates 130 are connected with a top cover 140, the bottom end of the top cover 140 is provided with a fan 150, the fan 150 is used to suck the gas between the wall and the bottom end of the top cover 140 to form a negative pressure, and the top end of the top cover 140 is provided with a fan 150. There is a test device 20, which includes a connection block 210. The connection block 210 is located directly above the fan 150. A top opening 211 is provided at the top of the connection block 210. A gear 212 is provided at the inner end of the top opening 211. An angle sensor 220 is provided at the outer side of the connection block 210. The end of the angle sensor 220 is coaxially connected to the side of the gear 212. A detection component is sleeved on the side of the gear 212. The detection component is coaxially connected to the gear 212. A limit component is connected between the detection component and the connection block 210.

[0034] The detection component is located in front of the wall-climbing robot body 10. During the movement of the wall-climbing robot body 10, the limit component provides a force to the detection component, causing the limit component to be in a taut state. When the limit component encounters a concave and convex surface, the limit component will drive the gear 212 to rotate. The rotation of the gear 212 counts the angle deviation through the angle sensor 220. The angle sensor 220 has a built-in angle sensor control system. The angle sensor control system is used to record the angle deviation count information, and perform data information conversion to generate conversion data information. The fan 150 has a built-in fan wind energy control system connected to the angle sensor control system. The fan wind energy control system is used to receive the conversion data information and perform wind energy control on the fan 150.

[0035] During specific use, the wall-climbing robot body 10 is in contact with the wall to avoid movement. The drive shaft 110 drives the crawler 120 to move along the wall. At the same time, the fan 150 sucks the gas between the wall and the bottom of the top cover 140 to form a negative pressure state therebetween. The suction force is generated to maintain the movement of the wall-climbing robot body 10 in contact with the wall. The test device 20 is located in front of the wall-climbing robot body 10. The movement of the wall-climbing robot body 10 will drive the test device 20 to move together, and the detection component is in contact with the wall and moves. At the same time, the limit component is in a taut state, providing a force to the detection component. When the detection component encounters a concave or convex position on the wall, it causes the detection component to fluctuate in position, which will drive The gear 212 rotates. After the gear 212 rotates, the angle deviation is counted through the angle sensor 220. At this time, the angle sensor control system records the angle deviation count information, and converts the data information to generate converted data information. The fan wind energy control system is connected to the angle sensor control system. The fan wind energy control system is used to receive the converted data information and perform wind energy control on the fan 150. At the same time, when applied to the magnetic suction robot, it can identify the pits and weld protrusions on the wall in advance for the magnetic suction robot, so that it can avoid the pits and weld protrusions on the wall and prevent the robot from falling, thereby overcoming the influence of industrial dust and water mist on vision, laser and ultrasound in the operation structure of the wall-climbing robot.

[0036] The present invention detects the roughness of the wall in time through the angle sensor 220, and transmits the ups and downs of the detection component to the angle sensor 220 through the gear 212, and converts it into the height value of the wall. The air volume of the fan 150 can be adjusted according to the roughness, so as to control the driving speed to ensure the smooth passage of the wall-climbing robot body 10, remove wall obstacles for the wall-climbing robot body 10 in advance, and avoid the wall-climbing robot body 10 from driving on a concave and convex surface, resulting in insufficient negative pressure, and it is easy to fall, thereby improving the protection effect of the wall-climbing robot body 10.

[0037] In addition, the detection assembly includes a crossbar 230, one end of which is coaxially connected to the gear 212, and the other end of the crossbar 230 is vertically connected to a vertical rod 240, and the bottom end of the vertical rod 240 is in contact with the wall. When the wall-climbing robot body 10 is used, the vertical rod 240 will be driven to move along the wall, and the end of the vertical rod 240 will be in contact with the wall. When the end of the vertical rod 240 encounters a concave or convex position on the wall, the height of the vertical rod 240 will fluctuate. After the height of the vertical rod 240 fluctuates, the gear 212 will be driven to rotate, and the concave and convex value of the wall in front of the wall-climbing robot body 10 will be measured. The wind force will be adjusted in time through the fan 150 to change the driving speed of the wall-climbing robot body 10 so that it can pass through the concave and convex wall smoothly.

[0038] Furthermore, a ball bearing 241 is provided at the bottom end of the vertical rod 240, and the ball bearing 241 is in rolling connection with the vertical rod 240. In specific use, since the end of the vertical rod 240 is in contact with the wall, the vertical rod 240 will be affected by the friction of the wall during its movement, and the direction of this friction is opposite to the moving direction of the vertical rod 240, which always hinders the movement of the vertical rod 240 and affects the moving efficiency of the vertical rod 240. The ball bearing 241 is provided to reduce the contact area between the bottom end of the vertical rod 240 and the wall, and at the same time, the friction generated between the two is converted into sliding friction, thereby reducing the obstruction of the wall to the bottom end of the vertical rod 240 and improving the sliding efficiency of the vertical rod 240.

[0039] Furthermore, the limiting assembly includes a limiting spring 250, and both ends of the limiting spring 250 are connected with connecting rings 251, one of the connecting rings 251 is fixed to the side of the connecting block 210, and the other connecting ring 251 is fixed to the bottom end of the cross bar 230. In specific use, when the vertical rod 240 moves, the limiting spring 250 is in a stretched state, providing a pulling force to the bottom end of the cross bar 230, and by pulling the cross bar 230, the bottom end of the vertical rod 240 is always attached to the wall surface. When the bottom end of the vertical rod 240 encounters a concave position on the wall surface, the limiting spring 250 will pull the vertical rod 240, causing the end of the vertical rod 240 to extend downward into the bottom end of the concave surface. When the bottom end of the vertical rod 240 encounters a convex position on the wall surface, the vertical rod 240 will move upward, driving the limiting spring 250 to continue to stretch, thereby achieving ups and downs control of the vertical rod 240.

[0040] Specifically, a bottom cover 160 is provided at the bottom of the fan 150, and a limiting hole 161 is provided at the middle position of the bottom of the bottom cover 160. When in use, the bottom of the fan 150 is isolated by the bottom cover 160 to prevent the convex surface from being too high, which may cause the fan 150 to be scratched during movement, thereby affecting the service life of the fan 150. At the same time, the limiting hole 161 is provided to guide the fan 150 to improve the suction efficiency of the fan 150.

[0041] In addition, the angle sensor control system includes a gear circle number recording module, which is used to record the gear circle number recording module. The output end of the gear circle number recording module is connected to the angle offset conversion module to generate gear circle number information. The angle offset conversion module information is used to perform data conversion on the gear circle number and convert it into high and low numerical information of the wall surface. The output end of the angle offset conversion module is connected to the data information transmission module. The wind energy control system of the fan includes an information receiving module. The input end of the information receiving module is connected to the output end of the data information transmission module. The output end of the information receiving module is connected to the wind energy control module. The wind energy control module adjusts the wind energy of the fan 150 according to the high and low numerical information. During specific use, when the gear 212 rotates, the gear circle recording module records the gear rotation angle of the gear 212 and generates gear rotation information. The offset conversion module performs data conversion on the gear rotation information and converts it into high and low numerical information of the wall surface, and transmits the high and low numerical information to the data information transmission module. The data information transmission module transmits the high and low numerical information to the information receiving module, and the information receiving module transmits the high and low numerical information to the wind energy control module. The wind energy control module adjusts the wind energy of the fan 150 according to the high and low numerical information, and controls the wall-climbing robot body 10 to adjust the speed.

[0042] Furthermore, the output end of the wind energy control module is connected to a threshold setting module, which is used to set high and low numerical thresholds. The output end of the threshold setting module is connected to an emergency braking module. When the high and low numerical information received by the wind energy control module exceeds the high and low numerical thresholds, the emergency braking module controls the fan 150 to reduce the suction wind energy and issues an alarm. In specific use, the threshold setting module sets high and low numerical thresholds. When the high and low numerical information received by the wind energy control module exceeds the high and low numerical thresholds, the emergency braking module controls the fan 150 to reduce the suction wind energy and issues an alarm to remind the operator to adjust the position of the wall-climbing robot body 10 in time to prevent the wall surface from being too uneven, causing the wall-climbing robot body 10 to be unable to pass through the position and easily fall.

[0043] Furthermore, the threshold setting module adopts a threshold judgment algorithm, and its algorithm formula is as follows:

[0044] A=[a1,a2,…,a n ];

[0045]

[0046] Among them, A is the set of wall height values ​​for each test, a1 to a n is the wall height value of each test, f(a) is the threshold judgment function, is the minimum height, is the highest height, a is the input wall height value, when the wall height value is higher than the lowest height and below the maximum altitude When the threshold judgment function f(a) outputs 0, it indicates that the wall height value is normal, and the wall-climbing robot body 10 can smoothly pass through the concave and convex surface in front. Or the wall height value a is not less than the maximum height When , the threshold judgment function f(a) outputs 1, indicating that the wall height value is abnormally high and low data, and the wall-climbing robot body 10 cannot smoothly pass through the concave and convex surface in front.

[0047] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and descriptions are only preferred examples of the present invention and are not intended to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A wall detection device for a wall-climbing robot, comprising a wall-climbing robot body (10), the wall-climbing robot body (10) comprising a pair of drive shafts (110), tracks (120) being coaxially connected to both sides of the drive shafts (110), a side plate (130) being arranged on a side of the track (120) away from the drive shafts (110), and top covers (140) being connected to the top ends of the two side plates (130), characterized in that: A fan (150) is arranged at the bottom end of the top cover (140), and the fan (150) is used to suck gas between the wall surface and the bottom end of the top cover (140) to form a negative pressure. A testing device (20) is arranged at the top end of the top cover (140), and the testing device (20) comprises a connecting block (210). The connecting block (210) is located directly above the fan (150). A top opening (211) is opened at the top end of the connecting block (210), and a gear (212) is arranged at the inner end of the top opening (211). An angle sensor (220) is arranged at the outside of the connecting block (210), and the end of the angle sensor (220) is coaxially connected to the side of the gear (212). A detection component is sleeved on the side of the gear (212), and the detection component is coaxially connected to the gear (212). A limit position component is connected between the detection component and the connecting block (210); The detection component is located in front of the wall-climbing robot body (10). During the movement of the wall-climbing robot body (10), the limit component provides a force to the detection component, causing the limit component to be in a tight state. When the limit component encounters a concave-convex surface, the limit component will drive the gear (212) to rotate. The rotation of the gear (212) is performed through the angle sensor (220) to count the angle deviation. The angle sensor (220) has a built-in angle sensor control system. The angle sensor control system is used to record the angle deviation count information and perform data information conversion to generate conversion data information. The fan (150) has a built-in fan wind energy control system connected to the angle sensor control system. The fan wind energy control system is used to receive the conversion data information and perform wind energy control on the fan (150); The angle sensor control system comprises a gear revolution recording module, the gear revolution recording module is used to record the gear revolution number of the gear (212), the output end of the gear revolution recording module is connected to an angle offset conversion module to generate gear revolution number information, the angle offset conversion module information is used to perform data conversion on the gear revolution number to convert it into high and low numerical value information of the wall surface, the output end of the angle offset conversion module is connected to a data information transmission module, the wind turbine wind energy control system comprises an information receiving module, the input end of the information receiving module is connected to the output end of the data information transmission module, the output end of the information receiving module is connected to a wind energy control module, the wind energy control module adjusts the wind energy of the wind turbine (150) according to the high and low numerical value information; The output end of the wind energy control module is connected to a threshold setting module, the threshold setting module is used to set high and low numerical thresholds, the output end of the threshold setting module is connected to an emergency braking module, when the high and low numerical information received by the wind energy control module exceeds the high and low numerical thresholds, the emergency braking module controls the fan (150) to reduce the suction wind energy and issues an alarm.

2. The wall detection device for a wall-climbing robot according to claim 1, characterized in that: The detection assembly comprises a cross bar (230), one end of the cross bar (230) being coaxially connected to the gear (212), the other end of the cross bar (230) being vertically connected to a vertical bar (240), and the bottom end of the vertical bar (240) being in contact with the wall surface.

3. The wall detection device for a wall-climbing robot according to claim 2, characterized in that: A ball (241) is provided at the bottom end of the vertical rod (240), and the ball (241) is in rolling connection with the vertical rod (240).

4. The wall detection device for a wall-climbing robot according to claim 3, characterized in that: The limiting assembly comprises a limiting spring (250), both ends of the limiting spring (250) are connected to connecting rings (251), one of the connecting rings (251) is fixed to the side of the connecting block (210), and the other connecting ring (251) is fixed to the bottom end of the crossbar (230).

5. The wall detection device for a wall-climbing robot according to claim 1, characterized in that: A bottom cover (160) is provided at the bottom end of the fan (150), and a limiting hole (161) is provided at the middle position of the bottom end of the bottom cover (160).

6. The wall detection device for a wall-climbing robot according to claim 1, characterized in that: The threshold setting module adopts a threshold judgment algorithm, and its algorithm formula is as follows: ； ； in, is the set of wall height and low values ​​for each test, to is the wall height value of each test, is the threshold judgment function, is the minimum height, is the highest height, The wall height value is entered. When the wall height value is higher than the minimum height and below the maximum altitude When the threshold judgment function The output is 0, indicating that the wall height value is normal height data, and the wall-climbing robot body (10) can smoothly pass through the concave and convex surface in front. Not higher than the minimum height , or the wall height value Not less than the maximum height When the threshold judgment function The output is 1, indicating that the height value of the wall surface is abnormal, and the wall-climbing robot body (10) cannot smoothly pass through the concave and convex surface ahead.

Images