Rescue control method based on robot swarm system

Abstract

The application provides a rescue control method based on a robot cluster system, the robot cluster system comprising a plurality of robots operating on a work surface and a cable, all the robots being powered and communicated through the cable and being connected to the cable in sequence according to the extension direction of the cable; along the extension direction of the cable, in two adjacent robots, one is a passive robot to be rescued, and the other is a first active robot to implement rescue; the rescue control method comprises: - anchoring the first active robot on the work surface in a vacuum adsorption manner; - changing the cable length between the first active robot and the passive robot to make the passive robot approach the first active robot; and - controlling the first active robot to tow the passive robot. The application can realize the cooperation of different robots (the first active robot and the passive robot, the first active robot, the second active robot and the passive robot) and the mutual rescue of the robots.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, and in particular relates to a rescue control method based on a robot swarm system. Background Technology

[0002] For large work areas, drones or other types of robots are often used in scene mapping, information collection, or routine inspections. To improve work efficiency, multiple robots may be deployed simultaneously.

[0003] When encountering harsh outdoor environments, multiple units may interfere with each other, or other equipment may malfunction. Because these units are relatively independent, they may not be able to form effective work coordination or rescue operations. Summary of the Invention

[0004] The purpose of this invention is to provide a rescue control method based on a robot swarm system, which enables multiple robots to work together and carry out rescue operations.

[0005] Therefore, the above-mentioned objective of the present invention is achieved through the following technical solution:

[0006] A rescue control method based on a robot swarm system, wherein the robot swarm system includes multiple robots operating on a working surface and cables. All robots are powered and communicated through cables and are connected to the cables sequentially according to the extension direction of the cables. The robots are climbing robots, and the working surface is a vertical or near-vertical surface.

[0007] Along the direction of the cable, among two adjacent robots, one is a passive robot waiting to be rescued, and the other is the first active robot to carry out the rescue.

[0008] The rescue control method includes:

[0009] -The first active robot is anchored to the working surface by vacuum adsorption;

[0010] - Change the cable length between the first active robot and the passive robot to make the passive robot move closer to the first active robot; and

[0011] - Control the first active robot to drag the passive robot.

[0012] While adopting the above technical solutions, the present invention may also adopt or combine the following technical solutions:

[0013] As a preferred embodiment of the present invention: along the extension direction of the cable, the other side of the passive robot also has a second active robot;

[0014] The rescue control method includes:

[0015] -The first active robot is anchored to the working surface by vacuum adsorption;

[0016] - Change the cable length between the second active robot and the passive robot so that the second active robot and the passive robot can move closer to each other;

[0017] -The second active robot is anchored to the working surface by vacuum adsorption;

[0018] -The first active robot releases its anchor from the work surface;

[0019] - Change the cable length between the first active robot and the passive robot to bring them closer together, thereby making the passive robot simultaneously adjacent to both the first and second active robots; and

[0020] - Control the first active robot and the second active robot to drag the passive robot.

[0021] As a preferred embodiment of the present invention: the robot includes a surveying robot located at the distal end of the cable, and a cable-carrying robot connected to the surveying robot via the cable, wherein both the surveying robot and the cable-carrying robot include:

[0022] Support structure;

[0023] Vector rotor system, the vector rotor system being used to provide vector power to the support body;

[0024] The traveling wheels are located below the support body and are used for traveling on the working surface;

[0025] Both the surveying robot and the cable-carrying robot are powered and communicate via cables loaded on themselves during operation.

[0026] As a preferred embodiment of the present invention, at least one of the adjacent surveying robots and cable-carrying robots is equipped with a cable rack mechanism to implement cable winding so that the two adjacent robots move closer to each other or one moves closer to the other.

[0027] As a preferred embodiment of the present invention, the cable frame mechanism includes:

[0028] A support, which is fixed to a support body, wherein at least a portion of the support is a tubular structure and its interior serves as a guide groove, and a cable is movably threaded through the guide groove;

[0029] The wire clamping wheels are arranged in pairs and mounted on a support. The wire clamping wheels are used to clamp and drive the cable to move along the guide groove.

[0030] A wire-clamping motor is mounted on a support and is used to work in conjunction with a wire-clamping wheel to change the cable length between the first / second active robot and the passive robot.

[0031] As a preferred technical solution of the present invention: the end of the tubular structure is provided with a connecting sleeve, and the inner wall of the connecting sleeve is provided with a Hall sensor on the inlet side, the Hall sensor being used to detect the winding and unwinding speed of the cable;

[0032] The cable frame mechanism also includes:

[0033] Two winding reels are respectively mounted on the support body;

[0034] Two winding motors are provided, each independently driving a corresponding winding reel. The winding motors are controlled according to the winding and unwinding speeds.

[0035] As a preferred embodiment of the present invention: the side wall of the tubular structure is provided with a radially penetrating clearance opening, and the cable clamping wheel clamps the cable through the clearance opening on the corresponding side.

[0036] As a preferred technical solution of the present invention: the support is provided with a swing frame; in the same pair of clamping wheels, one is a driven wheel and is rotatably mounted on the support, and the other is a driving wheel and is rotatably mounted on the swing frame;

[0037] An elastic element is provided between the swing frame and the support to limit the swing frame to a first state or a second state.

[0038] The first state of the swing frame is: the elastic element drives the driving wheel to approach the driven wheel and clamp the cable;

[0039] The second state of the swing frame is: the driving wheel is flipped by the swing frame and moves away from the driven wheel, and the swing frame and the support are in a stop position.

[0040] As a preferred technical solution of the present invention: both the surveying robot and the cable-carrying robot include a suction cup that can be raised and lowered relative to the support body, and a vacuum pump connected to the suction cup. The suction cup is raised and lowered to fit onto the working surface, and the vacuum pump connected to the suction cup is used to evacuate the vacuum to vacuum adsorb and anchor the surveying robot or the cable-carrying robot onto the working surface.

[0041] As a preferred technical solution of the present invention: when performing vacuum adsorption, the vacuum degree inside the suction cup is collected in real time, and when the vacuum degree exceeds the predetermined deviation, compensation is performed by a vacuum pump;

[0042] The suction cup is connected to a pressure relief valve, which is opened when the anchor is released.

[0043] This invention provides a rescue control method based on a robot swarm system, which has at least the following beneficial effects:

[0044] This invention provides a rescue control method based on a robot swarm system that enables collaboration among different robots (a first active robot and a passive robot, a first active robot, a second active robot and a passive robot) and mutual rescue among the robots. Attached Figure Description

[0045] Figure 1a This is a flowchart illustrating an example of the rescue control method based on a robot swarm system provided by the present invention.

[0046] Figure 1b This is a flowchart illustrating another example of the rescue control method based on a robot swarm system provided by the present invention.

[0047] Figures 1c to 1e This is a schematic diagram illustrating the implementation process of a rescue control method based on a robot swarm system.

[0048] Figure 2a This is a schematic diagram of a surveying robot using a quadcopter vector drive.

[0049] Figure 2b for Figure 2a Schematic diagram of the central support structure;

[0050] Figure 3a This is a schematic diagram of a surveying robot using a dual-rotor vector drive.

[0051] Figure 3b for Figure 3a Schematic diagram of the central support structure;

[0052] Figures 4-5 This is a schematic diagram of the rotor assembly.

[0053] Figure 6 This is a schematic diagram of the walking wheel structure;

[0054] Figure 7 for Figure 6 A cross-sectional view of the central traveling wheel;

[0055] Figure 8 This is a schematic diagram of the static adsorption component.

[0056] Figure 9a for Figure 13 A schematic diagram of the static adsorption component with the first housing open;

[0057] Figure 9b This is a cross-sectional view of the static adsorption assembly;

[0058] Figure 9c This is a schematic diagram of the structure in which the second shell mates with the support.

[0059] Figure 10 This is a schematic diagram of the lifting drive mechanism;

[0060] Figure 11 for Figure 10 Schematic diagram of the middle transfer mechanism;

[0061] Figure 12 The cross-sectional view of the support structure is omitted for the survey robot;

[0062] Figure 13 for Figure 12 Enlarged view of A in the middle;

[0063] Figure 14 This is an exploded view of the pressure relief valve;

[0064] Figure 15 This is a schematic diagram of the suction cup structure;

[0065] Figure 16 This is a schematic diagram of the structure of a full-vector survey cluster system;

[0066] Figure 17 for Figure 16 A schematic diagram of the structure of the medium-load cable robot opening the first housing;

[0067] Figure 18 This is a schematic diagram of the swing frame in its first state.

[0068] Figure 19 This is a schematic diagram of the swing frame in its second state.

[0069] Figure 20 for Figure 16 Cross-sectional view of the medium-load cable robot. Detailed Implementation

[0070] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0071] It should be noted that when a component is said to be "connected" to another component, it can be directly connected to the other component or it can be connected to a component in between. When a component is said to be "set on" another component, it can be directly set on the other component or it may be set to a component in between.

[0072] 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 herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0073] In the following two embodiments, two rescue control methods are proposed for robot swarm systems. The robots include a survey robot located at the far end of a cable and a cable-carrying robot connected to it via a cable. Both the survey robot and the cable-carrying robot can be the corresponding robots provided in the embodiments of this document.

[0074] See Figure 1a In one embodiment, a rescue control method based on a robot swarm system is provided. The robot swarm system includes multiple robots operating on a work surface and cables. All robots are powered and communicated through the cables and are connected to the cables sequentially according to the extension direction of the cables.

[0075] Based on the direction of the cable extension, among two adjacent robots, one is the passive robot awaiting rescue, and the other is the active robot carrying out the rescue. The rescue control methods include:

[0076] Step S911: The active robot is anchored to the working surface by vacuum adsorption.

[0077] Step S912: Change the cable length between the active robot and the passive robot to bring the two robots closer to each other;

[0078] Step S913: Control the active robot to drag the passive robot.

[0079] See Figures 1b-1e In another embodiment, this application also provides a rescue control method based on a robot swarm system, implemented using the robot swarm system described herein. Following the direction of cable extension, the passive robot 203 has active robots on both sides, namely a first active robot 201 and a second active robot 202. The rescue control method includes:

[0080] Step S921: The first active robot is anchored to the working surface by vacuum adsorption.

[0081] Step S922: Change the cable length between the second active robot and the passive robot to bring them closer together;

[0082] Step S923: The second active robot is anchored to the working surface by vacuum adsorption.

[0083] Step S924: The first active robot releases its anchorage from the working surface;

[0084] Step S925: Change the cable length between the first active robot and the passive robot to bring the first active robot and the passive robot closer to each other, thereby making the passive robot adjacent to both the first active robot and the second active robot at the same time.

[0085] Step S926: Control the first active robot and the second active robot to drag the passive robot.

[0086] Steps S922 and S925 can be understood as the first and second active robots moving closer to the passive robot. Under normal circumstances, each robot communicates with the server via cables for interactive control. The robot's operational status is comprehensively assessed through its information acquisition devices and communication signal transmission. If the assessment result is abnormal, the robot is considered to have malfunctioned and becomes a passive robot awaiting rescue. Examples include interrupted image transmission from the information acquisition device or suction cup malfunctions. Adjacent robots refer to those connected by cables, not necessarily those physically close. After a robot malfunctions, it can perform a hardware and software self-check; if the self-check passes, the rescue control method is cancelled.

[0087] In steps S912, S922, and S925, the change in cable length between the passive robot and its adjacent robots can be achieved through a cable frame mechanism. For details on the implementation method, please refer to the relevant embodiments on the cable frame mechanism in this document.

[0088] In steps S911-S913, the types of passive and active robots are not limited, as long as they can be connected by cables. For example, they can be the surveying robot or the cable-carrying robot provided in the relevant embodiments of this document. In steps S921-S926, the passive robot is connected to both adjacent robots by cables. The passive robot is a cable-carrying robot, but the types of the first and second active robots are not limited. In steps S913 and S926, the rescue is considered complete when the dragged passive robot leaves the current scene and reaches a designated area without the risk of falling (e.g., returning to the origin).

[0089] One embodiment of this application also provides a queue adjustment method based on a robot swarm system, which can be implemented in the normal work process and the rescue process mentioned above. The robot swarm system includes multiple robots operating on the work surface and cables. All robots are powered and communicated through the cables and are connected to the cables in sequence according to the extension direction of the cables. Each robot is fixed with a connecting sleeve. After the cable passes through the connecting sleeve from the outside of the robot, it is connected to the corresponding circuit component inside the robot. In the connecting sleeve, the side where the cable passes through from the outside is the entrance side. The inner wall of the connecting sleeve is provided with a pressure sensor configured on the entrance side.

[0090] The queue adjustment method can be implemented in various scenarios to achieve collaborative work. In scenarios such as corridors, spatial caves, and underground caverns, robots can also be equipped with searchlights. The server coordinates the spatial position and orientation of each robot, providing directional supplementary lighting for the working robot to ensure the collection of relevant information and data on the work surface.

[0091] In one embodiment, some of the robots are cable-carrying robots equipped with a cable rack mechanism. The cable rack mechanism retracts or releases the cable, and the adjustment method includes each cable-carrying robot collecting signals from pressure sensors and adjusting the control of the cable rack mechanism and / or rotor assembly accordingly based on the sensor signals. The arrangement and number of rotor assemblies, cable rack mechanisms, connecting sleeves, and pressure sensors can be found in the relevant embodiments regarding cable rack mechanisms described herein. For example, when the cables of two adjacent robots become taut, slack, or bent, the pressure sensors can provide detection signals, appropriately adjusting the robot's travel speed or orientation.

[0092] In one embodiment, the adjustment method includes each robot acquiring signals from pressure sensors and adjusting its own movement speed accordingly based on the sensor signals. Further, along the extension direction of the cable, another robot located at the current robot's entry point is considered an adjacent robot. Adjusting its own movement speed includes: reducing its movement speed towards the adjacent robot when the pressure sensor signal is greater than a first preset value; and increasing its movement speed towards the adjacent robot when the pressure sensor signal is less than a second preset value.

[0093] As mentioned in the previous embodiments, pressure sensors can detect the bending direction of the cable. When multiple pressure sensors are arranged circumferentially around the cable, the bending direction can be sensed. When the detected signal is greater than a third preset value, it is considered that the cable is bent too much in a certain direction and causes unnecessary traction. At this time, the relative moving speed of the two robots can be reduced or the orientation of the two robots can be adjusted to make the overall movement of the queue balanced and reduce the traction of the cables on each other.

[0094] Hall sensors can also be configured on the inner wall of the connecting sleeve on the inlet side to achieve accurate control of the cable rack mechanism's wire take-up and take-up speed, so that the robot's moving speed matches the wire take-up and take-up speed of the cable rack mechanism.

[0095] It should be understood that although the steps in the various embodiments of this application are described sequentially, these steps are not necessarily executed in the order stated. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps may include multiple sub-steps or multiple stages, which are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least a portion of the sub-steps or stages of other steps.

[0096] The robot structure involved in the above embodiments will be described in detail below. In addition to the necessary hardware support for the method, corresponding improvement schemes are also proposed for the surrounding structure.

[0097] One embodiment of this application provides a vector-driven surveying robot 200, comprising:

[0098] Support 1 has a top side 100 and a bottom side 101;

[0099] The vector rotor system includes at least two sets of rotor assemblies 2, each rotor assembly 2 is mounted on the support body 1 and provides vector power to the support body 1;

[0100] The traveling wheels 3 are arranged on the bottom side 101 of the support body 1 and are used to move with the working surface;

[0101] Information acquisition device 4 is installed on support body 1 and is used to collect information data related to the working face.

[0102] For field operations such as culverts and reservoir dams, especially those involving vertical operations and where the working surface may have significant structural defects, traditional UAVs cannot meet the requirements in terms of endurance or spatial attitude stability during information collection. Although some existing technologies disclose the combination of flight mechanism and walking mechanism, the power for movement along the working surface mainly comes from the walking mechanism, which is not only complex but also limits the flexibility of the walking mechanism. In this application, the surveying robot 200 is powered by a vector rotor system to move along the working surface, which simplifies the control method and the hardware requirements of the walking mechanism. As for providing vector power itself, it can be achieved through the attitude of the rotor assembly 2 itself and the cooperation between multiple sets, and conventional technology can also be applied in terms of control.

[0103] The surveying robot 200 in this application can also be used in combination to form a robot queue or cluster system to carry out collaborative operations on a work surface extending for several kilometers or more. In the cluster system, at least one or even all robots are equipped with information collection equipment 4. This robot is also called surveying robot 200. Some robots may not be equipped with information collection equipment 4 and are only used for accompanying assistance, etc. In this article, they can all be referred to as robots.

[0104] To protect important building installations, there may be active electromagnetic protection or electromagnetic interference from large equipment. Therefore, traditional wireless robots are not suitable because they are subject to significant interference during signal transmission.

[0105] Preferably, the surveying robot 200 of this application uses a wired power supply and communication method. The wired power supply reduces the load of the robot's own power supply and allows for long-term battery life. During communication, both control commands and data transmission can be guaranteed in terms of signal quality and speed, especially in complex environments such as high magnetic fields, no signal, and high crosswind levels, where it is unaffected by the environment.

[0106] The information data related to the working face in this application may include two-dimensional images of the working face itself, as well as three-dimensional terrain data, information on the internal structure acquired by ultrasonic acquisition, and on-site climate, lighting conditions, etc. The information acquisition method itself adopts the corresponding equipment in the prior art. Of course, the specific mounting method and structure of the information acquisition device 4 are also provided in the following embodiments.

[0107] In this application, the surveying robot 200 can form a surveying system with a remote server. The server can complete the storage of large amounts of data and the data processing that consumes a lot of computing power, as well as send corresponding instructions to the robot. In some scenarios, a handheld terminal can also be configured to connect with the robot and send instructions in real time.

[0108] 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.

[0109] refer to Figures 2a-3b The support 1 is a frame structure with a flat overall shape. The two sides in the thickness direction are the top side 100 and the bottom side 101, respectively. The frame structure has a large number of hollow areas to better adapt to the application scenarios of this application, reduce weight as much as possible while ensuring structural strength, and the flat shape can improve wind resistance and overturning resistance.

[0110] The frame structure includes a top frame 11 and a bottom frame 12, both of which are stacked at intervals and are sheet-like, and multiple reinforcing members fixed between the top frame 11 and the bottom frame 12. The top frame 11 and the bottom frame 12 are shaped to match each other and each includes multiple annular portions 14 and multiple wheel seats 15. Each set of rotor assemblies 2 is located in the corresponding annular portion 14, and the wheel seats 15 are protruding outward relative to the adjacent annular portion 14. Multiple wheels 3 are respectively installed on the corresponding wheel seats 15. To simplify the overall structure, the top frame 11 and the bottom frame 12 are integral structures, and the reinforcing members are multiple columns 13 arranged at intervals. The annular portions 14 are directly connected or connected by strip-shaped reinforcing rods 16.

[0111] The frame structure of this application is made of carbon fiber, which has a lighter weight and relatively high strength, making the surveying robot 200 more flexible during operation. In this embodiment, the distance between the top frame 11 and the bottom frame 12 is 2-6 cm, and the thickness of a single piece of the top frame 11 and the bottom frame 12 is 2-5 mm.

[0112] To accommodate the wired connection, a connecting sleeve 17 is installed on one side of the support body 1. The cable 18 passes through the connecting sleeve 17 from the outside and connects to the corresponding circuit component inside the surveying robot 200. The cable 18 and the connecting sleeve 17 are fixed to each other using conventional clamping, holding, or bonding methods.

[0113] Preferably, in the connecting sleeve 17, the side where the cable 18 is inserted from the outside is the inlet side 171, and the inner wall of the connecting sleeve 17 is provided with a pressure sensor configured on the inlet side 171 to detect the force between the cable 18 and the inner wall of the connecting sleeve 17.

[0114] This force can indicate the relative slack or tension of the cable 18, or the direction of the cable 18's bend at the connecting sleeve 17, and this information can be used to control the robot.

[0115] To identify the bending direction of the cable 18 relative to the connecting sleeve 17, the inlet side 171 of the connecting sleeve 17 has a plurality of (e.g., 4 to 8) mounting lugs 172 arranged circumferentially at uniform intervals, and each pressure sensor is fixed inside the mounting lug 172. In this way, the relative values ​​of each pressure sensor can identify whether the cable 18 is slack and the bending direction.

[0116] For example, if cable 18 tends to be taut, adjust the robot's travel speed appropriately to avoid cable 18 being subjected to additional tension.

[0117] The number of rotor assemblies 2 can be configured according to their power and the load of the survey robot 200. Considering the rationality of the overall layout and the need for control, four sets are preferred. Correspondingly, the frame structure has four ring parts 14, distributed at the four corners of the rectangular area (the area enclosed by the four ring parts 14). The reinforcing rod 16 includes:

[0118] Edge rod 161 is arranged around the perimeter of the rectangular area;

[0119] The inner rod 162 connects the two annular portions 14 on the same side of the rectangular area.

[0120] There are four wheel seats 15, which protrude outward from the four corners of the rectangular area and are connected to the annular part 14 of the location.

[0121] As a preferred simplification that also takes into account the total amount of equipment carried, the rotor assembly 2 can also be two sets.

[0122] There are two annular sections 14 that are adjacent to each other in a figure-eight shape. There are two sets of rotor assemblies 2 accordingly. There are four wheel seats 15, which are arranged in pairs on opposite sides of the corresponding annular sections 14.

[0123] Specifically, the line connecting the centers of the two ring sections 14 serves as a reference line, and each ring section 14 is connected to two wheel seats 15 located on both sides of the reference line. Especially in the case of a negative cable, the cable 18 extends basically along the direction of the reference line. This arrangement allows the surveying robot 200 to experience more even force and operate more smoothly.

[0124] refer to Figures 4-5 The vector rotor system is used to provide power for the survey robot 200 to walk, fly, and overcome obstacles. For ease of understanding, the first axis and the second axis involved in the rotor assembly 2 in the following embodiments are specifically the L1 direction and the L2 direction.

[0125] Rotor assembly 2 includes:

[0126] The first tilting frame 21 is rotatably mounted on the annular part 14 around the first axis;

[0127] The first servo motor 22 acts between the annular portion 14 and the first tilting frame 21;

[0128] The second tilting frame 23 is rotatably mounted on the first tilting frame 21 about the second axis, and the second axis and the first axis are perpendicular to each other.

[0129] The second servo motor 24 acts between the second tilting frame 23 and the first tilting frame 21;

[0130] The main motor 25 is mounted on the second tilting frame 23;

[0131] The blade 26 is mounted on the output shaft of the main motor 25.

[0132] The first servo motor 22 and the second servo motor 24 can drive the first tilting frame 21 and the second tilting frame 23 to rotate 360° respectively. Furthermore, the output shaft of the main motor 25 can be selected from models with finely adjustable angles. Therefore, the propeller blades 26 can rotate in all directions, achieving full-vector control conversion from spherical vector to dynamic mode, allowing the survey robot to be modulated into various walking, climbing, and flying configurations. Moreover, among the selectable control methods, it is preferable to keep the power of each rotor of the survey robot constant to simplify mode control and configuration switching.

[0133] In this embodiment, the main motor 25 is installed in the middle of the second tilting frame 23, and its output shaft is approximately perpendicular to the second axis. To reduce interference between the forces of each rotor assembly 2 during rotor system operation, 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, making the robot more evenly stressed and less prone to tipping over when the rotor assemblies 2 are in operation.

[0134] The first tilting frame 21 is annular, with its radial ends mounted to the annular portion 14 via first pivots 28. The first servo motor 22 is mounted to the annular portion 14 and is linked to at least one first pivot 28. The second tilting frame 23 is strip-shaped, with its length ends mounted to the first tilting frame 21 via second pivots 29. The second servo motor 24 is mounted to the second tilting frame 23 and is linked to at least one second pivot 29.

[0135] The first pivot 28 and the first servo 22 of all rotor assemblies 2 are mounted on the top frame 11 of the frame structure, or on the bottom frame 12 of the frame structure. The first tilting frames 21 of all rotor assemblies 2 are in a coplanar state, and the second axes of all rotor assemblies 2 are parallel to each other and coplanar.

[0136] The surveying robot 200 is equipped with internal sensors (such as gyroscopes and distance sensors) to sense its current attitude and relative position. When encountering obstacles with a significant angle to the working surface (such as right-angled surfaces or reverse slopes), it can identify them based on real-time information or historical data. During full-vector control of the rotor, the sensors provide real-time feedback. When overcoming obstacles, the first servo motor 22 and the second servo motor 24 activate, changing the rotation angle of the vector rotor system, causing the front of the surveying robot 200 to tilt upwards and directly climb onto the obstacle. When encountering obstacles that cannot be climbed, it can switch to flight mode to traverse the obstacle, and then switch back to climbing mode after clearing the obstacle.

[0137] The surveying robot has a climbing mode and a flight mode. In climbing mode, the walking wheels cooperate with the working surface under the action of the vector rotor system. When the working surface is inclined, the vector rotor system provides downward pressure between the walking wheels and the working surface. In flight mode, the walking wheels move away from the working surface. If the work is performed based on a robot swarm system (including at least one cable-carrying robot in addition to the surveying robot), the cable-carrying robot will follow accordingly during the operation of the surveying robot.

[0138] In this embodiment, there are two methods for switching flight modes: manual operation and automatic system operation. When switching to flight mode, the system automatically adjusts the first servo motor 22 and the second servo motor 24 to adjust the propeller blades 26 to an angle conducive to flight. The survey robot 200 can then smoothly take off and fly over obstacles. After landing, it switches to climbing mode. In this embodiment, the survey robot 200 can automatically adjust the angle of the propeller blades 26 according to its location, enabling it to move freely in the current environment.

[0139] refer to Figures 6-7 All three traveling wheels are omnidirectional wheels to ensure the flexibility of movement. Driven by the vector rotor system, they can move in any direction along the working surface, regardless of the turning radius. This advantage is more obvious in operation route planning and operation movement.

[0140] According to the distribution of wheel seats 15, the traveling wheels 3 can be configured in 4 or more sets. In the same set, a single wheel or double wheel structure can be adopted, and they are installed on the corresponding wheel seats 15 through the shock absorption mechanism 31. The shock absorption mechanism 31 can be a damper in the prior art, or it can be a combination of various methods, such as air damping and mechanical springs. When the wheels move on an uneven working surface, the shock absorption mechanism 31 can combine multiple instantaneous bounces into a relatively smooth movement, thereby achieving the effect of shock absorption.

[0141] refer to Figures 8-15 To ensure a firm fit with the work surface and maintain stability while other equipment is operating, the survey robot 200 also includes a static adsorption component 5. This component can be fixed to the work surface via vacuum adsorption. When the survey robot 200 is adsorbed and fixed to the work surface, the data obtained is more accurate. During prolonged operation, the rotor can even be stopped to save energy and filter noise. In specific scenarios, the survey robot 200, adsorbed and fixed to the work surface, can serve as a relatively stable anchor point, allowing for rescue or coordination with other survey robots 200 in the vicinity via cable 18.

[0142] When the rotor is working, it will generate sound wave interference, making it impossible to perform ultrasonic detection at the same time. Therefore, when it is necessary to use the ultrasonic detection component (ultrasonic probe), the survey robot 200 must first be adsorbed onto the working surface using the static adsorption component 5, then the rotor operation must be stopped, and finally the ultrasonic detection component will start working.

[0143] The static adsorption component 5 includes:

[0144] Cylinder 52 is movably mounted on support 1;

[0145] The lifting drive mechanism 53 is installed on the support body 1 and linked with the cylinder 52, driving the cylinder 52 to rise and fall relative to the support body 1.

[0146] Suction cup 54 is fixed to the bottom of cylinder 52;

[0147] Vacuum pump 55 is connected to suction cup 54 via a pipeline.

[0148] During actual operation, the suction cup 54 descends and adheres to the working surface. The vacuum pump 55 extracts the gas between the suction cup 54 and the working surface through the pipeline until the preset vacuum level is reached. Of course, in order to ensure that the suction cup 54 can be stably adsorbed on the working surface for a long time, the vacuum pump 55 also has an automatic pressure replenishment function, which detects changes in vacuum level through a detection sensor and keeps it in a vacuum state at all times.

[0149] Considering the uniformity of the overall load of the survey robot 200 and the smooth transition of the robot's state after the adsorption is released, each rotor assembly 2 is arranged on the outer periphery of the static adsorption assembly 5.

[0150] The cylinder 52 consists of two sets arranged side by side. The two sets of cylinder 52 can be raised and lowered synchronously under the action of the lifting drive mechanism 53, maintaining the stability of the lifting and the necessary structural strength.

[0151] The vacuum pump 55 is located between the tops of the two cylinders 52. In order to provide protection such as dust prevention, an outer sleeve 51 can be provided on the outer periphery of the top of each cylinder 52. 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 protect the internal components and also achieve the effect of noise reduction.

[0152] When there are four rotor assemblies 2, a second housing 58 is provided below the first housing 56. The lifting drive mechanism 53 is located inside the second housing 58 and between the two cylinders 52. The cylinders 52 extend downward out of the second housing 58. The second housing 58 is connected to the support body 1 by multiple bridge arms 581. Specifically, there are four bridge arms 581, one end of which is connected to the second housing 58, and the other end radiates outward to connect to the annular portion 14 in the corresponding direction.

[0153] The second housing 58 is approximately the same height as or slightly higher than the support body 1. The lifting drive mechanism 53 and the control board 57 of the survey robot 200 are located in the second housing 58. The vacuum pump 55 is fixed on the top surface of the second housing 58.

[0154] When there are two rotor assemblies 2, the lifting drive mechanism 53 is located between the top frame 11 and the bottom frame 12 and between the two cylinders 52, with the cylinders 52 extending downwards from the bottom frame 12. In this embodiment, the control motherboard 57 of the survey robot 200 is located between the top frame 11 and the bottom frame 12. For ease of fixation, the vacuum pump 55 is directly fixed to the top surface of the top frame 11. The gyroscope, distance sensor, etc., carried by the survey robot 200 itself can be integrated and installed on the control motherboard 57.

[0155] The lifting drive mechanism 53 includes:

[0156] Motor 531;

[0157] The transfer mechanism 532 is linked to the motor 531 and has two output shafts 5325, with a drive gear 533 fixed on each output shaft;

[0158] Two gear rings 534 are respectively rotatably sleeved on the outer circumference of the cylinder 52 and respectively mesh with the corresponding drive gear 533. The inner circumference of each gear ring 534 is threadedly engaged with the corresponding cylinder 52.

[0159] The axial end face of the gear ring 534 has teeth 535, which mesh with the corresponding drive gear 533.

[0160] The transfer mechanism 532 enables the synchronous movement of two sets of cylinders 52 driven by the same motor 531. The transfer mechanism 532 includes:

[0161] The main bevel gear 5321 is fixed to the output shaft 5311 of the motor 531;

[0162] Two secondary bevel gears 5322 mesh with the primary bevel gear 5321 respectively, and are located on both sides of the primary bevel gear 5321. An intermediate shaft 5323 is fixed on each secondary bevel gear 5322.

[0163] The two output shafts 5325 are connected to the corresponding intermediate shafts 5323 via universal joints 5324.

[0164] In actual operation, the motor 531 drives the main bevel gear 5321 to rotate, and correspondingly, the two auxiliary bevel gears 5322 that mesh with the main bevel gear 5321 also begin to rotate, thereby driving the drive gear 533 to rotate, and the drive gear 533 drives the gear ring 534 located on the outer circumference of the cylinder 52.

[0165] The cylinder 52 has an external thread 521, and the gear ring 534 has an internal thread that cooperates with the external thread 521, driving the cylinder 52 to rise or fall relative to the support body 1, thus realizing the lifting and lowering of the suction cup 54.

[0166] The suction cup 54 includes a base plate 545 fixedly installed at the bottom of the cylinder 52. The bottom surface of the base plate 545 is provided with a vacuum port 541 and a pressure relief port 542. The vacuum pump 55 is connected to the vacuum port 541 through a vacuum pipeline 551. A pressure relief valve 543 is installed at the pressure relief port 542.

[0167] Vacuum line 551 extends through one of the cylinders to vacuum port 541, and pressure relief valve 543 is located in the other cylinder.

[0168] The vacuum line 551 includes an internal line 552 and an external line 553. The internal line 552 includes two rigid tubes that are movably connected and sealed together. One rigid tube 5521a is connected to the vacuum port 541, and the other rigid tube 5521b extends in the cylinder 52 and then connects to the external line 553 through the opening of the corresponding part of the outer sleeve 51 until it is connected to the vacuum pump 55.

[0169] The internal conduit 552 is mainly designed to accommodate the lifting and lowering of the cylinder 52 (i.e., the base plate 545) relative to the support 1. Under the action of the lifting drive mechanism 53, the rigid tube 5521a, which is connected to the vacuum port 541, moves downward relative to another rigid tube 5521b and remains sealed to each other. Although a flexible hose could be used to accommodate this relative movement, the movable insertion of the two rigid tubes in this embodiment avoids interference from coiled conduits and provides additional stable guidance.

[0170] After the operation is completed, when releasing the vacuum, the pressure relief valve 543 can be opened. The pressure relief valve 543 includes:

[0171] The sealing sleeve 5431 is fixed to the edge of the pressure relief port 542;

[0172] Valve core 5432 is matched with sealing sleeve 5431;

[0173] The valve stem 5433 passes through the sealing sleeve 5431 and is connected to the valve core 5432. The radial clearance between the valve stem 5433 and the sealing sleeve 5431 is the pressure relief clearance.

[0174] The elastic element 5434 acts on the valve stem 5433, driving the valve core 5432 to seal with the sealing sleeve 5431.

[0175] The electromagnetic drive assembly acts on the valve stem 5433, causing the valve core 5432 to separate from the sealing sleeve 5431 to release pressure.

[0176] The end face of the sealing sleeve 5431 has an annular flange 5435. In the sealed state, the valve core 5432 engages with the end face of the sealing sleeve 5431 and is pressed against the flange 5435. When pressure relief is required, the electromagnetic drive assembly drives the valve stem 5433 to move downward. At this time, the valve core 5432 disengages from the end face of the sealing sleeve 5431, and gas enters from the pressure relief gap. The pressure between the suction cup 54 and the working surface returns to normal. Subsequently, the suction cup 54 can be raised to avoid interference between the suction cup 54 and the working surface when other equipment is operating.

[0177] The bottom surface of the suction cup 54 is also provided with a limiting pad 544. The limiting pad 544 is positioned lower than the vacuum port 541 and the pressure relief port 542. That is, the limiting pad 544 is the limit position for the working surface and the suction cup 54 to fit together, which can prevent the vacuum port 541 and the pressure relief port 542 from contacting the working surface and causing unnecessary interference and friction.

[0178] Suction cup 54 includes:

[0179] The substrate 545 is mounted on the support body 1 in a height-adjustable manner. The vacuum port 541 and the pressure relief port 542 are both located on the bottom surface of the substrate 545. When the limiting pad 544 is configured, the limiting pad 544 is also located on the bottom surface of the substrate 545.

[0180] The sealing assembly includes multiple sealing rings arranged internally and externally for sealing against the working surface. The multiple sealing rings are located around the vacuum port 541 and the pressure relief port 542 (when the limiting gasket 544 is provided). The multiple sealing rings and the base plate 545 surround each other to form a cover structure. When in contact with the working surface, a vacuum cavity is formed inside the cover structure.

[0181] To ensure a good seal, especially for work surfaces with structural defects (such as uneven surfaces or cracks), the sealing assembly includes three sealing rings arranged sequentially from the inside out: sealing ring 546a, sealing ring 546b, and sealing ring 546c. The height of the bottom surface of each sealing ring from the work surface decreases sequentially. The outermost sealing ring contacts the work surface first, and the other two follow the same principle.

[0182] The outermost sealing ring 546c has a height of 2.5–3 cm, the middle sealing ring 546b has a height of 1.3–1.7 cm, and the inner sealing ring 546a has a height of 0.75–1.25 cm. Preferably, the three sealing rings increase in width from the inside out, and sealing rings 546c and 546b can be made of foam material.

[0183] To facilitate the integration of other components and improve hardware utilization, the bottom surface of the substrate 545 has an extension area 5452 that extends to the outside of the sealing assembly.

[0184] The substrate 545 has a length direction, and the two cylinders 52 are arranged sequentially along this length direction;

[0185] The extension area 5452 includes at least a first extension area 5453 and a second extension area 5454, which are located on both sides of the sealing assembly along the length direction.

[0186] An ultrasonic probe can be installed on the static adsorption assembly 5. Specifically, the ultrasonic probe is installed in the extension area 5452 (first extension area 5453). The ultrasonic probes of the same pair are slidably installed relative to the substrate 545. The extension area 5452 has a first clearance opening 5455. The position of the ultrasonic probe corresponds to the first clearance opening 5455 and extends downward from the first clearance opening 5455.

[0187] The top surface of the substrate 545 is covered with a third housing 5451. The third housing 5451 is equipped with a moving mechanism. The moving mechanism drives the ultrasonic probe to slide. The distance between the two ultrasonic probes is adjusted in the width direction of the substrate 545.

[0188] Since the surveying robot 200 is powered and communicated via a wired method, when the working distance is long, a cable-carrying robot 81 can be configured to work together. On the one hand, it can carry and share the weight of the cable 18, and on the other hand, the cable-carrying robot 81 can also carry the information collection equipment 4.

[0189] refer to Figures 16-20 This application also includes a full-vector survey cluster system, comprising a survey robot 200 and at least one cable-carrying robot 81, wherein both the survey robot 200 and the cable-carrying robot 81 include:

[0190] Support 1 has a top side 100 and a bottom side 101;

[0191] The vector rotor system includes at least two sets of rotor assemblies 2, each rotor assembly 2 is mounted on the support body 1 and provides vector power to the support body 1;

[0192] The traveling wheels 3 are arranged on the bottom side 101 of the support body 1 and are used to move with the working surface;

[0193] The surveying robot 200 also includes an information acquisition device 4, which is installed on the support body 1 and is used to collect information data related to the working face.

[0194] The cable-carrying robot 81 also includes a cable frame mechanism 82, through which the survey robot 200 is powered and communicates during operation via a cable 18 loaded on the cable frame mechanism 82.

[0195] The surveying robot 200 is equipped with information collection equipment 4, while the cable-carrying robot 81 can choose whether to install information collection equipment 4 according to its needs. Each cable-carrying robot 81 needs to carry cables 18, so they are all equipped with cable rack mechanisms 82.

[0196] Cable frame mechanism 82 includes:

[0197] Support 821 is fixed to support body 1. At least a part of support 821 is a tubular structure 8214 and the inside serves as a guide groove 8211. Cable 18 is movably passed through the guide groove 8211.

[0198] The cable clamping wheel 822 is mounted on the support 821, clamps and drives the cable 18 to move along the guide groove 8211;

[0199] The wire clamping motor 823 is mounted on the support 821 and is linked with the wire clamping wheel 822.

[0200] When the wire clamping motor 823 is working, it drives the wire clamping wheel 822 to rotate. At this time, the cable 18 moves along the guide groove 8211 under the action of the wire clamping wheel 822. As mentioned above, the connecting sleeve 17 equipped with pressure sensing is connected to the end of the tubular structure 8214, or the end of the tubular structure 8214 also serves as the connecting sleeve 17. In this embodiment, the number of connecting sleeves 17 for each cable-carrying robot 81 is 2.

[0201] In this embodiment, the wire clamping wheels 822 are arranged in pairs, and at least one of them is a drive wheel 8221 that is linked to the wire clamping motor 823. In order to facilitate the clamping of the cable 18, the side wall of the tubular structure is provided with a radially through clearance opening 8212, and the pair of wire clamping wheels 822 clamp the cable 18 through the clearance opening 8212 on the corresponding side.

[0202] Specifically, the support 821 is provided with a swing frame 8213. Among the pair of wire clamping wheels 822, one is a driven wheel 8222 and is rotatably mounted on the support 821; the other is a driving wheel 8221 and is rotatably mounted on the swing frame 8213.

[0203] An elastic element is provided between the swing frame 8213 and the support 821, which drives the driving wheel 8221 to move closer to the driven wheel 8222 and clamp the cable 18, that is, the swing frame 8213 is in the first state (i.e., position F1).

[0204] The swing frame 8213 also has a second state (i.e., position F2), in which the driving wheel 8221 moves away from the driven wheel 8222, and the swing frame 8213 abuts against the support 821 for a limited position.

[0205] The elastic element is a tension spring 824. The two ends of the tension spring 824 are connected to the swing frame 8213 and the support 821, respectively. The tension spring 824 restricts the swing frame 8213 to the second state by passing through the dead point.

[0206] The swing frame 8213 can be changed in state according to actual needs.

[0207] In this embodiment, the wire clamping motor 823 and the drive wheel 8221 are driven by gear meshing.

[0208] The two ends of the tubular structure extend to the two opposite sides of the support body 1. In order to control the length of the cable 18 on each side of the robot individually, the two ends of the tubular structure are respectively equipped with a wire clamping wheel 822 and a wire clamping motor 823.

[0209] Furthermore, the tubular structure 8214 has an open or semi-open area in the middle, from which a guide groove 8211 extends from the cable 18, and the extended part is a coiling section 826. In order to better coil the cable 18, the cable-carrying robot 81 also includes:

[0210] Two reels 831 are respectively installed on the support body 1, and the cables 18 extending from both ends of the tubular structure 8214 are respectively wound around one of the reels 831;

[0211] Two winding motors 834 independently drive a corresponding winding reel 831, enabling adaptive adjustments to the cables 18 on both sides of the cable-carrying robot 81, making its cluster system more flexible and avoiding the limitation of only being able to adjust simultaneously. The winding motors 834 and the winding reels 831 can be driven by a conventional gear meshing method.

[0212] To improve integration, the two winding wheels 831 can also be encapsulated within the first housing 56. Since the top of the outer sleeve 51 in the static adsorption assembly 5 is also located within the first housing 56, in this embodiment, the two winding wheels 831 can also be configured as cylindrical structures and rotatably fitted onto the corresponding outer sleeve 51. The top edge of the cylindrical structure has outer gear teeth 825, which are driven by gear meshing with the winding motor 834.

[0213] The cable 18 extending from the end of the tubular structure 8214 passes around the corresponding reel 831 and connects to the electrical components in the cable-carrying robot 81 to form an electrical circuit.

[0214] In one embodiment, when the three cable-carrying robots connected in series traverse a building structure with a large span, the cable-carrying robots at both ends are anchored to the working surface, and the two reels 831 of the cable-carrying robot in the middle move synchronously. One reel takes up the line relative to the cable-carrying robot, and the other reels out the line relative to the cable-carrying robot, so that the cable-carrying robot in the middle can cross the building structure along the cable.

[0215] Correspondingly, the surveying robot 200 can also be equipped with a cable frame mechanism 82, a winding reel 831, and a winding motor 834. If it is at the head of the queue, it can be equipped with only one set of winding reel 831 and winding motor 834.

[0216] Both the surveying robot 200 and the cable-carrying robot 81 are powered and communicated via wired connections during operation. As described above, the connecting sleeve 17, which detects slack or bending of the cable 18, is installed on the cable frame mechanism 82 of the cable-carrying robot 81, or is part of the cable frame mechanism 82 (which can be considered as indirect installation on the support body 1). The cable 18 has a certain weight, while the surveying robot 200 can only bear a limited weight of the cable 18. When the working area is far, the cable-carrying robot 81 can better share the weight of the cable 18, increasing the overall survey range. Of course, the number of cable-carrying robots 81 can be set according to requirements. In this embodiment, the surveying robot 200 and the cable-carrying robot 81 can respectively adopt a four-rotor vector drive or a two-rotor vector drive.

[0217] The full-vector survey cluster system 8 (also referred to as the cluster system) also includes a cable laying mechanism 84. One end of the cable 18 is connected to the survey robot 200, and the other end is connected to the cable laying mechanism 84. The cable-carrying robot 81 is connected in series between the survey robot 200 and the cable laying mechanism 84 via the cable 18. The cable laying mechanism 84 can automatically lay and reel in the cable 18. The cable laying mechanism 84 itself can use existing technology to achieve the automatic laying and reeling of the cable 18.

[0218] For a single robot, in one embodiment, a control method is also provided, including the creation of a work surface map and the inspection of the work surface.

[0219] The creation of the work area map includes:

[0220] Establish a coordinate system and divide the region into sub-regions;

[0221] Obtain a two-dimensional working surface map;

[0222] Obtain a three-dimensional map of the working surface.

[0223] Inspection of the working face includes:

[0224] Confirmation of the robot's current position;

[0225] Building defects are identified and marked on the work surface map.

[0226] In one embodiment, for a larger working area, the control method further includes:

[0227] Establishing a coordinate system specifically includes: the surveying robot reaching the origin position, moving along the predetermined coordinate axis to the reference point, obtaining the line connecting the origin and the reference point, mapping the line to the working surface map, calculating the direction of another coordinate axis, and the coordinate system formed by the two coordinate axes;

[0228] Dividing into sub-regions specifically includes: dividing the working surface into several rectangular sub-regions in the coordinate system according to predetermined side lengths.

[0229] It is understandable that during the operation of the surveying robot, positional feedback between the robot and the server is achieved through a coordinate system. Therefore, a coordinate system needs to be established at the beginning of the robot's operation. The establishment of the coordinate system relies on the acquired and stitched image information. The origin is the initial position of the surveying robot, and both the reference point and the origin are located on the stitched image, thus enabling the establishment of the coordinate system to facilitate command interaction between the surveying robot and the server.

[0230] The work sub-region can be divided, for example, according to the maximum length of adjacent robot cables, or according to the robot's working limit path. When using multiple robots, each robot maintains a constant relative distance and moves synchronously, improving work efficiency. The sub-region can be, for example, a square, with a side length ranging from ten meters to two hundred meters, for example, fifty meters.

[0231] When confirming the current location, matching surface features, and allowing users to view the work surface map, work efficiency can be improved by retrieving data units from sub-regions one by one. The surveying robot performs path planning before starting work, and this path planning is done for each sub-region. The path planning process is optimized by dividing the work surface into separate sub-regions. The division of sub-regions can be based on physical markers or can be achieved by dividing the work surface using a pre-established coordinate system via a server.

[0232] When building and modifying workface maps, data storage and data retrieval using workface maps can involve three resolution levels, with resolution (or according to data size) from low to high for display purposes:

[0233] The overall work surface map, even the lowest resolution overall work surface map, can be obtained by taking a picture of the robot in flight mode;

[0234] A working map of a specific sub-region;

[0235] The working surface map near the specified coordinates.

[0236] The work surface map is obtained by stitching together image information (e.g., pictures) collected from multiple work locations during historical work processes. Specifically, this involves traversing all areas of the work surface, stitching together the obtained image information, and obtaining a two-dimensional work surface map. Traversing all areas of the work surface includes traversing one or all of the sub-areas.

[0237] In this embodiment, the image information is acquired using an image acquisition component. During the operation, the surveying robot moves between multiple working positions. Upon reaching a predetermined working position, it uses an information acquisition device to collect information data from the working surface, and maintains its current working position in a climbing mode during the acquisition process.

[0238] The obtained image information is stitched together to obtain a two-dimensional working surface map. Specifically, this includes: using image texture algorithms to locate surface features in the image information; when local areas of the images to be stitched have the same surface features, the images to be stitched are registered and stitched together based on the same surface features.

[0239] Building defect textures are distinctive and significant, much like human fingerprints; no two building defects have exactly the same texture. By collecting, storing, comparing, and stitching these textures, servers can identify and label building defects (cracks, craters, roughness, protrusions, etc.) using image information, instructing robots to perform measurements and provide feedback annotations. High-precision image stitching can also be achieved by using identical textures in overlapping images. The degree of overlap between adjacent image locations can be set according to the information acquisition equipment and the step size of the surveying robot; for example, the overlap for image stitching could be above 20%.

[0240] The inspection process also includes using an autonomous judgment algorithm in the server to identify defects on the working surface, using supplementary lighting to reduce image noise, and combining the position of the supplementary lighting to perform surface feature analysis to improve inspection accuracy.

[0241] It is understandable that when comparing surface features, different building defects can be graded or classified. For example, cracks are obvious building defects and their locations can be recorded. This embodiment uses data stitching to replace manual labor and conventional drones for inspecting the work surface. This embodiment controls the robot inspection to be more efficient, safer, and provides more accurate data at a lower cost.

[0242] In one embodiment, the control method further includes obtaining a three-dimensional map of the working surface:

[0243] When traversing all areas of the working surface, the laser scanner included in the information acquisition equipment is used to collect three-dimensional morphological data and perform three-dimensional modeling to obtain a three-dimensional model.

[0244] The two-dimensional working surface map is fitted to the three-dimensional model to obtain the three-dimensional working surface map.

[0245] The work surface map can be in two-dimensional or three-dimensional form, both of which can be used to confirm the current location. The three-dimensional work surface map is essentially three-dimensional terrain data. The three-dimensional form offers better visualization, showing changes in altitude and providing data support for the survey robot to overcome obstacles. It also assists in adjusting the obstacle-crossing and flight modes.

[0246] In this embodiment, surface features in image information can be obtained with high detection accuracy and fast processing speed; image stitching, through correction and brightness unification, can correct and remove distortion from deformed images; fitting a two-dimensional working surface map to a three-dimensional model enables adaptive rendering. Furthermore, the server can generate data reports based on the captured surface feature information.

[0247] In one embodiment, the control method further includes confirming the robot's current position:

[0248] The system moves between multiple work locations according to the planned path, compares the image information collected from the current work location with the work surface map, and obtains the comparison results. The work surface map is obtained by stitching together image information collected from multiple work locations during historical work processes.

[0249] Confirm the current work location based on the comparison results.

[0250] The comparison is based on image information collected from the current working location and the working area map, specifically including:

[0251] Feature extraction is performed on image information to obtain surface features;

[0252] The surface features are matched with the working surface map to obtain the position coordinates of the surface features relative to the working surface map. The position coordinates correspond to the current position of the surveying robot.

[0253] The working surface map is not limited to a specific plane, but refers to a spatial map composed of all working positions of the surveying robot. During image information acquisition, the image information of the current working position overlaps at least partially with the working surface map (including already stitched image information). This means that the robot can be located relative to the working surface map using the image information of the current working position, facilitating data archiving and stitching of the acquired image information. When specifically comparing surface features, the surface features of the image information include building defects, which can be used for feature matching.

[0254] Furthermore, physical markers can be pre-set on the work surface. When the surveying robot reaches the location of a physical marker or detects a building defect, it confirms its current location by matching the corresponding pre-stored image in the server's image library, thus completing its self-localization. Physical markers can be, for example, QR codes, with corresponding information stored in the server's image library. Physical markers can also be pre-marked according to the work area, dividing the work area after recognition. Wireless field-of-view monitoring stations can also be set up on the work surface to monitor the robot's trajectory and position, transmitting data in real time to the robot to correct its movement direction.

[0255] In one embodiment, the control method further includes:

[0256] Surface feature identification is performed on the image information collected from the working surface;

[0257] Once the building crack is identified, it is marked on the work surface map.

[0258] When annotating the work surface map, methods such as coordinate marking and simulation display can be used. Surface feature identification can be performed using self-learning algorithms, such as neural network models. This self-learning algorithm can be continuously optimized in subsequent processes to improve the accuracy of identification. For example, image information with building cracks can be used as new samples to participate in the updating of the self-learning algorithm; and the existing building crack feature database can also be updated.

[0259] If the work tasks are performed based on a robot swarm system, the control methods also include rescue control methods, building structure crossing methods, and queue adjustment methods.

[0260] The technical features of the embodiments described above can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, it should be considered to be within the scope of this specification. When technical features of different embodiments are embodied in the same drawing, it can be regarded as the drawing also disclosing examples of combinations of the various embodiments involved.

[0261] The embodiments described above are merely examples of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these modifications and improvements all fall within the protection scope of this application.

Claims

1. A rescue control method based on a robot swarm system, characterized in that, The robot cluster system includes multiple robots operating on the work surface and cables. All robots are powered and communicate via cables and are connected to the cables sequentially according to the extension direction of the cables. The robots include a surveying robot at the far end of the cable and a load-bearing robot connected to the surveying robot via cables. Both the surveying robot and the load-bearing robot are powered and communicate via cables that are loaded on them when they are in operation. Along the direction of the cable, among two adjacent robots, one is a passive robot waiting to be rescued, and the other is the first active robot to carry out the rescue. The rescue control method includes: -The first active robot is anchored to the working surface by vacuum adsorption; - Change the cable length between the first active robot and the passive robot to make the passive robot move closer to the first active robot; and - Control the first active robot to drag the passive robot; Vacuum adsorption anchoring uses a vacuum pump and pressure relief valve to dynamically adjust the adsorption force in real time to balance dragging resistance and anchoring stability. Along the direction of the cable's extension, there is a second active robot on the other side of the passive robot; The rescue control method includes: -The first active robot is anchored to the working surface by vacuum adsorption; - Change the cable length between the second active robot and the passive robot so that the second active robot and the passive robot can move closer to each other; -The second active robot is anchored to the working surface by vacuum adsorption; -The first active robot releases its anchor from the work surface; - Change the cable length between the first active robot and the passive robot to bring them closer together, thereby making the passive robot simultaneously adjacent to both the first and second active robots; and - Control the first active robot and the second active robot to drag the passive robot; Dragging involves simultaneously locking the cable of the faulty robot with the clamping wheel and the winding wheel to create a multi-point traction force distribution; Both the surveying robot and the cable-carrying robot include: Support structure; Vector rotor system, the vector rotor system being used to provide vector power to the support body; The traveling wheels are located below the support body and are used for traveling on the working surface; At least one of the adjacent surveying robots and cable-carrying robots is equipped with a cable rack mechanism to implement cable winding so that the two adjacent robots move closer to each other or one moves closer to the other; The cable frame mechanism includes: A support, which is fixed to a support body, wherein at least a portion of the support is a tubular structure and its interior serves as a guide groove, and a cable is movably threaded through the guide groove; The wire clamping wheels are arranged in pairs and mounted on a support. The wire clamping wheels are used to clamp and drive the cable to move along the guide groove. A wire-clamping motor is mounted on a support and is used to work in conjunction with a wire-clamping wheel to change the cable length between the first / second active robot and the passive robot. The tubular structure is provided with a connecting sleeve at its end, and a Hall sensor is provided on the inner wall of the connecting sleeve at the inlet side. The Hall sensor is used to detect the cable winding and unwinding speed. The cable frame mechanism also includes: Two winding reels are respectively mounted on the support body; Two winding motors are provided, each independently driving a corresponding winding reel. The winding motors are controlled according to the winding and unwinding speeds.

2. The rescue control method based on a robot swarm system according to claim 1, characterized in that, The tubular structure has radially penetrating clearance openings on its sidewalls, and the cable clamping wheel clamps the cable through the clearance openings on the corresponding sides.

3. The rescue control method based on a robot swarm system according to claim 1, characterized in that, The support is equipped with a swing frame; in the same pair of wire clamping wheels, one is a driven wheel and is rotatably mounted on the support, and the other is a driving wheel and is rotatably mounted on the swing frame; An elastic element is provided between the swing frame and the support to limit the swing frame to a first state or a second state. The first state of the swing frame is: the elastic element drives the driving wheel to approach the driven wheel and clamp the cable; The second state of the swing frame is: the driving wheel is flipped by the swing frame and moves away from the driven wheel, and the swing frame and the support are in a stop position.

4. The rescue control method based on a robot swarm system according to claim 1, characterized in that, Both the surveying robot and the cable-carrying robot include a suction cup that can be raised and lowered relative to the support body, and a vacuum pump connected to the suction cup. The suction cup is raised and lowered to fit onto the working surface, and the vacuum pump connected to the suction cup is used to evacuate the vacuum to vacuum-adhere and anchor the surveying robot or cable-carrying robot to the working surface.

5. The rescue control method based on a robot swarm system according to claim 4, characterized in that, During vacuum adsorption, the vacuum level inside the suction cup is collected in real time. When the vacuum level exceeds the predetermined deviation, compensation is made by a vacuum pump. The suction cup is connected to a pressure relief valve, which is opened when the anchor is released.

Images