Survey robot capable of static adsorption positioning and control method thereof

Abstract

The application discloses a survey robot capable of static adsorption positioning and a control method thereof. The survey robot comprises a support body, a static adsorption assembly, a vector rotor system and a walking wheel. The static adsorption assembly comprises a suction cup and a vacuum pump communicated with the suction cup. The suction cup is fixed on a working surface by the vacuum pump in a vacuum adsorption mode. The suction cup can be lifted up and down relative to the support body to adhere to the working surface to be fixed. The vector rotor system comprises at least two sets of rotor assemblies. Each rotor assembly is installed on the support body and provides vector power for the support body. Each rotor assembly is arranged at the outer periphery of the static adsorption assembly. The walking wheel is arranged on the support body and is used for walking on the working surface. The survey robot can not only fly in the air for surveying work, but also can work on the surface of a building, and the image acquisition precision is further improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a survey robot capable of static adsorption positioning and a control method thereof. BACKGROUND

[0002] With the rapid expansion of the application field of unmanned aerial vehicles, the load capacity of unmanned aerial vehicles and the multipurpose of unmanned aerial vehicles are increasingly high. By setting multiple rotors on the aircraft, the lift is significantly improved under the premise that the self-weight of the aircraft is slightly improved, and the aircraft has the advantages of strong load capacity, high controllability, flexible action and good fault tolerance performance. The Chinese patent document with publication number CN114379777B discloses a tilting rotor unmanned aerial vehicle structure and a working method thereof. The multiple-rotor unmanned aerial vehicle can enhance the adaptability and flexibility of mobile control of the unmanned aerial vehicle through vector control of the tilting rotor.

[0003] However, when detecting the surface defects of ground buildings such as high-rise buildings, reservoirs, bridge holes and dams, the unmanned aerial vehicle is unstable in the working process due to the influence of wind and other environments, especially in the environment with large crosswind or vortex airflow. The traditional unmanned aerial vehicle is more difficult to work.

[0004] In addition, the existing unmanned aerial vehicle is mainly used for aerial reconnaissance work and cannot meet the requirements of working close to the surface of the building, nor can it realize the work of directly collecting information at close range by adhering to the surface of the building, resulting in the need to improve the image accuracy and signal noise control of the unmanned aerial vehicle. SUMMARY

[0005] In view of the deficiencies in the prior art, the first purpose of the present application is to provide a survey robot capable of static adsorption positioning. The present application not only can work in aerial reconnaissance work, but also can work by adhering to the surface of the building, further improving the accuracy of image acquisition.

[0006] The survey robot capable of static adsorption positioning comprises:

[0007] a support body;

[0008] a static adsorption assembly, the static adsorption assembly comprising a suction cup and a vacuum pump in communication with the suction cup, the suction cup fixing the survey robot on a working surface in a vacuum adsorption manner by the vacuum pump; the suction cup is capable of ascending and descending relative to the support body to be attached to the working surface to be fixed;

[0009] a vector rotor system, the vector rotor system comprising at least two sets of rotor assemblies, each rotor assembly being installed on the support body and providing vector power to the support body, each rotor assembly being arranged at the outer periphery of the static adsorption assembly;

[0010] Walking wheels arranged on the support body, the walking wheels being used for walking on the working surface;

[0011] Information collection devices mounted on the support body, the information collection devices being used for collecting information data related to the working surface.

[0012] Further, the static adsorption assembly comprises:

[0013] Cylinders mounted on the support body and capable of ascending or descending relative to the support body; the bottom of the cylinder is fixed with the suction cup; the cylinder is provided in two sets and arranged side by side, the vacuum pump through a vacuum line extends to suction cup, in communication with the suction cup , the other cylinder is used to set a pressure relief device for the suction cup to separate from the working surface after vacuum adsorption;

[0014] Lifting driving mechanisms mounted on the support body and linked with the cylinder, the lifting driving mechanisms driving the cylinder to ascend or descend relative to the support body.

[0015] Further, the vacuum pipeline comprises an internal pipeline and an external pipeline, the internal pipeline is in the cylinder, the internal pipeline comprises two rigid pipes which are movably inserted and sealingly matched, one rigid pipe is connected to the suction cup, the other rigid pipe two extends in the cylinder and communicates with the external pipeline which is outside the cylinder, the external pipeline communicates with the vacuum pump.

[0016] Further, the vacuum pump is between the top of the two cylinders, the outer side of the top of the two cylinders is covered with an outer sleeve, the top of the outer sleeve and the periphery of the vacuum pump are provided with a first housing.

[0017] Further, the support body is provided with a second housing, the first housing is arranged above the second housing, the lifting driving mechanism is in the second housing and between the two cylinders, the cylinder is arranged to the lower depth of the second housing, the second housing is connected to the support body through a plurality of bridge arms, and the vacuum pump is directly fixed to the top surface of the second housing.

[0018] Further, the support body is a frame structure, the frame structure comprises a top frame and a bottom frame which are spaced and stacked and are both sheet-shaped, the lifting driving mechanism is between the top frame and the bottom frame and between the two cylinders, the cylinder is arranged to project downwardly to the bottom frame, and the vacuum pump is directly fixed to the top surface of the top frame.

[0019] Further, the lifting driving mechanism comprises:

[0020] A motor fixedly connected with the support body;

[0021] A distribution mechanism is used to drive two barrels by one motor, the distribution mechanism is linked with the motor and has two output shafts, each of which is fixed with a driving gear;

[0022] Two gear rings are respectively rotatably sleeved on the outer periphery of the two barrels and are respectively engaged with the corresponding driving gears, and the inner periphery of each gear ring is threadedly connected with the corresponding barrel.

[0023] Further, the suction cup comprises:

[0024] A base plate is fixedly installed at the bottom end of the barrel, and the bottom surface of the base plate is provided with a vacuum port, a pressure relief port and a limiting pad;

[0025] The vacuum port and the pressure relief port are respectively arranged corresponding to the two barrels, and the vacuum pipeline of the vacuum pump is connected to the vacuum port through the inside of one of the barrels;

[0026] The limiting pad is arranged on the bottom surface of the base plate, and the bottom surface elevation of the limiting pad is lower than the bottom surface elevation of the vacuum port and the pressure relief port;

[0027] A sealing assembly comprising a plurality of sealing rings is arranged on the bottom surface of the base plate, and the sealing assembly is used for sealing with the working surface, the plurality of sealing rings are located at the periphery of the vacuum port, the pressure relief port and the limiting pad, and the plurality of sealing rings and the base plate form a cover structure, and when the cover structure is matched with the working surface, a vacuum cavity is formed in the cover structure.

[0028] Further, a pressure relief valve is installed at the pressure relief port, and the pressure relief valve comprises:

[0029] A sealing sleeve is fixed to the edge of the pressure relief port;

[0030] A valve core is matched with the sealing sleeve;

[0031] A valve rod is connected with the valve core through the sealing sleeve, and the radial gap between the valve rod and the sealing sleeve is a pressure relief gap;

[0032] An elastic member acts on the valve rod to drive the valve core to sealingly cooperate with the sealing sleeve;

[0033] An electromagnetic driving assembly acts on the valve rod to drive the valve core to separate from the sealing sleeve to release pressure;

[0034] The elastic member, the electromagnetic driving assembly and part of the valve rod are located in one of the barrels.

[0035] The second object of the application is to provide a control method of a survey robot capable of static adsorption positioning.

[0036] To this end, the above object of the application is achieved by the following technical solutions:

[0037] A control method of a survey robot for cleaning a working surface, the control method comprising: the survey robot transferring between a plurality of working positions, adhering to the working surface to be fixed by a static adsorption assembly when reaching a predetermined working position, collecting information data of the working surface by an information collection device, and maintaining the current working position in a climbing mode during the collection process.

[0038] Compared with the prior art, the present application has the following advantages and beneficial effects:

[0039] The survey robot of the present application can not only fly in the air for surveying work, but also can be statically adsorbed on the surface of ground buildings such as high-rise buildings, reservoirs, bridge holes and dams by the static adsorption assembly to perform surveying work, thereby improving the accuracy of collected images. BRIEF DESCRIPTION OF DRAWINGS

[0040] Figure 1a A structural schematic diagram of the survey robot driven by four rotors is provided in the present application;

[0041] Figure 1b A structural schematic diagram of the survey robot driven by two rotors is provided in the present application; Figure 1a

[0042] Figure 2 A structural schematic diagram of the survey robot driven by two rotors is provided in the present application;

[0043] Figure 3 A structural schematic diagram of the survey robot driven by two rotors is provided in the present application; Figure 2

[0044] A structural schematic diagram of the survey robot driven by two rotors is provided in the present application; Figure 4

[0045] A structural schematic diagram of the survey robot driven by two rotors is provided in the present application; Figure 5a Figure 7 A structural schematic diagram of the survey robot driven by two rotors is provided in the present application;

[0046] Figure 5b A structural schematic diagram of the survey robot driven by two rotors is provided in the present application;

[0047] Figure 5c A structural schematic diagram of the survey robot driven by two rotors is provided in the present application;

[0048] Figure 6 A structural schematic diagram of the survey robot driven by two rotors is provided in the present application;

[0049] Figure 7 Figure 6 A structural schematic diagram of the survey robot driven by two rotors is provided in the present application;

[0050] Figure 8 A structural schematic diagram of the survey robot driven by two rotors is provided in the present application;​​​

[0051] Figure 9 is a sectional view of the walking wheel in the middle A; Figure 8

[0052] Figure 10 is an exploded view of the pressure relief valve;

[0053] Figure 11 is a structural schematic view of the suction cup;

[0054] Figure 12 is a structural schematic view of the rotor assembly I;

[0055] Figure 13 is a structural schematic view of the rotor assembly Figure Two ;

[0056] Figure 14 is a structural schematic view of the walking wheel;

[0057] Figure 15 is a sectional view of the walking wheel in the middle A; Figure 14

[0058] The reference signs in the drawings are explained as follows:

[0059] 100, top side; 101, bottom side; 200, surveying robot;

[0060] 1, support body; 11, top frame; 12, bottom frame; 13, stand; 14, annular part; 15, wheel seat; 16, reinforcing rod; 161, edge rod; 162, inner side rod;

[0061] 2, rotor assembly; 21, first flip frame; 22, first steering engine; 23, second flip frame; 24, second steering engine; 25, main motor; 26, paddle; 28, first pivot; 29, second pivot;

[0062] 3, walking wheel; 31, damping mechanism;

[0063] 4, information acquisition device; 41, image acquisition assembly; 42, laser mapping assembly; 43, ultrasonic detection assembly;

[0064] ​​5, static adsorption assembly; 51, outer sleeve; 52, cylinder; 521, outer thread; 53, lifting driving mechanism; 531, motor; 5311, output shaft one; 532, transfer mechanism; 5321, main bevel gear; 5322, auxiliary bevel gear; 5323, intermediate shaft; 5324, universal joint; 5325, output shaft two; 533, driving gear; 534, gear ring; 535, gear tooth; 54, suction cup; 541, vacuum port; 542, pressure relief port; 543, pressure relief valve; 5431, sealing sleeve; 5432, valve core; 5433, valve rod; 5434, elastic member; 5435, flange; 544, limiting pad; 545, base plate; 5451, third housing; 546a, sealing ring; 546b, sealing ring; 546c, sealing ring; 55, vacuum pump; 551, vacuum pipeline; 552, internal pipeline; 5521a, rigid pipe one; 5521b, rigid pipe two; 553, external pipeline; 56, first housing; 57, control mainboard; 58, second housing; 581, bridge arm. DETAILED DESCRIPTION

[0065] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0066] It should be noted that when a component is referred to as being "connected" with another component, it can be directly connected with the other component or there can be a middle component. When a component is referred to as being "set on" another component, it can be directly set on the other component or there can be a middle component.

[0067] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0068] The present application provides a survey robot 200 capable of static adsorption positioning, comprising:

[0069] A support body 1 has opposite top and bottom sides 100 and 101;

[0070] A vector rotor system includes at least two sets of rotor assemblies 2, each rotor assembly 2 being mounted to the support body 1 and providing vector power to the support body 1;

[0071] walking wheels 3 arranged on the bottom side 101 of the support body 1, the walking wheels being used for walking on the working surface;

[0072] information acquisition equipment 4 mounted on the support body 1 and used for acquiring information data related to the working surface;

[0073] a static adsorption assembly 5 comprising a suction cup 54 and a vacuum pump 55 in communication with the suction cup 54, the suction cup 54 being fixed to the working surface by the vacuum pump 55 in a vacuum adsorption manner; the suction cup 54 is up and down relative to the support body 1 to be fitted to the working surface to be fixed.

[0074] For the field operation site such as a culvert and a reservoir dam, especially in the case of vertical surface operation and the working surface may have a large building defect, the traditional unmanned aerial vehicle cannot meet the requirements in terms of endurance and stability of the space posture when acquiring information, although some prior art discloses a technology of combining a flight mechanism with a walking mechanism, the power for moving along the working surface mainly comes from the walking mechanism, which not only makes the device complex but also limits the flexibility of the walking mechanism, in the present application, the power for moving along the working surface of the survey robot 200 comes from the vector rotor system, which simplifies the control mode and the hardware requirements of the walking mechanism, and in terms of providing vector power itself, it can be realized through the attitude of the rotor assembly 2 itself and the mutual cooperation between multiple sets, and in the control, the conventional technology can also be applied.

[0075] In the present application, the information data related to the working surface can include a two-dimensional image of the working surface itself, and can also include three-dimensional terrain data, information of internal structure collected by ultrasonic, and on-site climate, lighting conditions and the like, and the corresponding equipment in the prior art is adopted for the information acquisition mode itself, of course, the specific mounting mode and structure of the information acquisition equipment 4 are also provided in the embodiments below.

[0076] In the present application, the survey robot 200 can constitute a survey system with a remote server, and the storage and comparison of a large amount of data and the data processing consuming calculation power can be completed by the server, and the server sends corresponding instructions to the robot, in some scenarios, a handheld terminal on site can also be configured to be connected with the robot and send instructions in real time.

[0077] In the present 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.

[0078] Reference Figures 1a-4The support body 1 is a frame structure, which is in a flat configuration as a whole, and the two sides in the thickness direction are a top side 100 and a bottom side 101 respectively. The frame structure has a large number of hollow areas, which can better adapt to the application scenarios of the present application, and can reduce the weight as much as possible under the premise of ensuring the structural strength. The flat configuration can improve the wind resistance and overturning resistance.

[0079] The frame structure includes a top frame 11 and a bottom frame 12 which are spaced and stacked and are both in a sheet shape, and a plurality of reinforcing members fixed between the top frame 11 and the bottom frame 12. The top frame 11 and the bottom frame 12 are matched with each other in shape, and both include a plurality of annular portions 14 and a plurality of wheel seats 15, wherein each set of rotor assemblies 2 is located in a corresponding annular portion 14, and the wheel seats 15 are arranged outwardly protruding relative to the adjacent annular portions 14, and the walking wheels 3 are a plurality of walking wheels respectively installed on the corresponding wheel seats 15. In view of the problem of simplifying the overall structure, the top frame 11 and the bottom frame 12 are respectively an integral structure, and the reinforcing members are a plurality of vertical columns 13 arranged at intervals, and each annular portion 14 is directly connected or connected through a strip-shaped reinforcing rod 16.

[0080] The frame structure of the present application adopts carbon fiber material, has relatively light weight and relatively high strength, so that the survey robot 200 is more flexible during work. In the present embodiment, the distance between the top frame 11 and the bottom frame 12 is 2-6 cm, and the single sheet thickness of the top frame 11 and the bottom frame 12 is 2-5 mm.

[0081] The number of rotor assemblies 2 can be configured according to the power and the load of the survey robot 200, and considering the rationality of the overall layout and the operation, four sets are preferred. Correspondingly, the frame structure has four annular portions 14 distributed at the four corners of the rectangular area (the area surrounded by the four annular portions 14), and the reinforcing rod 16 includes:

[0082] The edge rod 161 is arranged around the rectangular area;

[0083] The inner side rod 162 connects two annular portions 14 on the same side of the rectangular area to each other.

[0084] The wheel seat 15 is four, which is outwardly protruding at the four corners of the rectangular area and connected with the annular portion 14 at the part.

[0085] As a preferred simplification and taking into account the total amount of the mounted equipment, the rotor assembly 2 can also adopt two sets.

[0086] The annular portion 14 is two and adjacent to each other in the shape of 8, the rotor assembly 2 is correspondingly two sets, and the wheel seat 15 is four and arranged in pairs on the opposite sides of the corresponding annular portion 14.

[0087] Specifically, the center connecting line of the two annular portions 14 is a reference line, each annular portion 14 is connected with two wheel seats 15, and is located on both sides of the reference line.

[0088] Referring to FIG. 5-7 Figure 11 In order to firmly adhere to the working surface and keep the survey robot 200 stable and stationary when other equipment is working, the survey robot 200 further comprises a static suction assembly 5 which can be fixed to the working surface by vacuum suction. When the survey robot 200 is fixed to the working surface by suction, the data obtained is more accurate, and even the rotor can be stopped to save energy and filter noise during long-term operation.

[0089] The rotor will generate sound wave interference when working, so ultrasonic detection cannot be performed at the same time. Therefore, when the ultrasonic detection assembly 43 needs to be used, the survey robot 200 must be first suctioned to the working surface by the static suction assembly 5, then the rotor is stopped, and finally the ultrasonic detection assembly 43 starts to work.

[0090] The static suction assembly 5 comprises:

[0091] A cylinder 52 is mounted on the support body 1 and can be raised or lowered relative to the support body 1; the bottom of the cylinder 52 is fixed with the suction cup 54; the cylinder 52 is provided in two sets and arranged side by side; the vacuum pump 55 through 551 extends to the suction cup 54, in communication with the suction cup 54 The other cylinder is used to set a pressure relief device for the suction cup 54 to be separated from the working surface after vacuum suction;

[0092] A lifting drive mechanism 53 is mounted on the support body 1 and linked with the cylinder 52, and the lifting drive mechanism 53 drives the cylinder 52 to be raised or lowered relative to the support body 1.

[0093] In specific operation, the suction cup 54 is lowered to adhere to the working surface, the vacuum pump 55 draws out the gas between the suction cup 54 and the working surface through the pipeline until a predetermined vacuum degree is reached. Of course, in order to enable the suction cup 54 to be stably suctioned to the working surface for a long time, the vacuum pump 55 also has the function of automatic pressure compensation, which can keep the vacuum state at all times by detecting the change of vacuum degree through a detection sensor.

[0094] Considering the uniformity of the overall load of the survey robot 200 and the smooth switching of the state of the robot after the suction is released, each rotor assembly 2 is arranged on the outer periphery of the static suction assembly 5 as a whole.

[0095] The two sets of cylinders 52 can be synchronously raised and lowered under the action of the lifting drive mechanism 53, maintaining the stability of the lifting and the necessary structural strength.

[0096] The vacuum pump 55 is arranged between the top of the two barrels 52. In order to prevent dust and the like, an outer cover 51 can be arranged on the outer periphery of the top of each barrel 52. The top of the outer cover 51 and the periphery of the vacuum pump 55 are provided with a first shell 56. The first shell 56 can protect the components inside and achieve the effect of noise reduction.

[0097] When the number of the rotor assemblies 2 is four, the first shell 56 is provided with a second shell 58 below. The lifting driving mechanism 53 is arranged in the second shell 58 and between the two barrels 52. The barrels 52 extend downward out of the second shell 58. The second shell 58 is connected to the support body 1 by a plurality of bridge arms 581. Specifically, the number of the bridge arms 581 is four. One end of each bridge arm 581 is connected to the second shell 58. The other end of each bridge arm 581 is connected to the corresponding annular part 14 in the outward radiation direction.

[0098] The second shell 58 is substantially level with or slightly higher than the support body 1. The lifting driving mechanism 53 and the control mainboard 57 of the survey robot 200 are arranged in the second shell 58. The vacuum pump 55 is fixed to the top surface of the second shell 58.

[0099] When the number of the rotor assemblies 2 is two, the lifting driving mechanism 53 is arranged between the top frame 11 and the bottom frame 12 and between the two barrels 52. The barrels 52 extend downward out of the bottom frame 12. In this embodiment, the control mainboard 57 of the survey robot 200 is arranged between the top frame 11 and the bottom frame 12. In order to facilitate fixation, the vacuum pump 55 is directly fixed to the top surface of the top frame 11. The gyroscope, distance sensor and the like carried by the survey robot 200 can be integrated and installed on the control mainboard 57.

[0100] The lifting driving mechanism 53 comprises:

[0101] A motor 531 fixedly connected to the support body 1;

[0102] A transfer mechanism 532 for driving two barrels 52 by one motor 531. The transfer mechanism 532 is linked with the motor 531 and has two output shafts 5325. Each output shaft 5325 is fixed with a driving gear 533.

[0103] Two gear rings 534 rotatably sleeved on the outer periphery of the two barrels 52 and respectively engaged with the corresponding driving gears 533. The inner periphery of each gear ring 534 is threadedly connected with the corresponding barrel 52.

[0104] The end surface of the gear ring 534 in the axial direction is provided with a gear 535. The gear 535 is engaged with the corresponding driving gear 533.

[0105] The distributing mechanism 532 can realize synchronous movement of the two sets of sleeves 52 driven by the same motor 531, and the distributing mechanism 532 comprises:

[0106] A main bevel gear 5321 fixed to the output shaft one 5311 of the motor 531;

[0107] Two sub-bevel gears 5322 respectively engaged with the main bevel gear 5321 and located at two sides of the main bevel gear 5321, and each sub-bevel gear 5322 is fixed with an intermediate shaft 5323,

[0108] Two output shafts two 5325 respectively connected with the corresponding intermediate shaft 5323 through a universal joint 5324.

[0109] In specific work, the motor 531 drives the main bevel gear 5321 to rotate, and the two sub-bevel gears 5322 engaged with the main bevel gear 5321 also start to rotate accordingly, thereby driving the driving gear 533 to rotate, and the driving gear 533 drives the gear ring 534 located on the outer periphery of the sleeve 52.

[0110] The sleeve 52 is provided with external threads 521, and the gear ring 534 is provided with internal threads and cooperates with the external threads 521 to drive the sleeve 52 to ascend or descend relative to the support body 1, that is, to realize the lifting of the suction cup 54.

[0111] The suction cup 54 comprises a base plate 545 fixedly installed at the bottom end of the sleeve 52, and the bottom surface of the base plate 545 is provided with a vacuum port 541 and a pressure relief port 542, and a vacuum pump 55 is connected to the vacuum port 541 through a vacuum pipeline 551, and a pressure relief valve 543 is installed at the pressure relief port 542.

[0112] The vacuum pipeline 551 extends to the vacuum port 541 through one of the sleeves, and the pressure relief valve 543 is located at the other sleeve.

[0113] The vacuum pipeline 551 comprises an internal pipeline 552 and an external pipeline 553, and the internal pipeline 552 comprises two rigid pipes which are movably inserted and sealingly cooperated, one of the rigid pipes one 5521a is connected to the vacuum port 541, and the other rigid pipe two 5521b extends in the sleeve 52 and then connects to the external pipeline 553 through the opening of the corresponding part of the outer sleeve 51 and then to the vacuum pump 55.

[0114] The internal pipeline 552 is mainly used to adapt to the lifting of the sleeve 52 (i.e. the base plate 545) relative to the support body 1, and under the action of the lifting driving mechanism 53, the rigid pipe one 5521a connected to the vacuum port 541 moves downward relative to the other rigid pipe two 5521b and sealingly cooperates with each other. Although a hose can be used to adapt to the relative movement, the movable insertion of the two rigid pipes in the embodiment can avoid the interference of the pipeline winding and can provide additional stable guidance.

[0115] After the work is completed, when the vacuum is released, the pressure relief valve 543 can be opened, the pressure relief valve 543 comprises:

[0116] a sealing sleeve 5431 fixed to the edge of the pressure relief port 542;

[0117] a valve core 5432 matched with the sealing sleeve 5431;

[0118] a valve rod 5433 connected with the valve core 5432 through the sealing sleeve 5431, the radial gap between the valve rod 5433 and the sealing sleeve 5431 is a pressure relief gap;

[0119] a spring 5434 acting on the valve rod 5433 to drive the valve core 5432 to seal with the sealing sleeve 5431;

[0120] an electromagnetic driving assembly acting on the valve rod 5433 to drive the valve core 5432 to separate from the sealing sleeve 5431 to release pressure.

[0121] The spring 5434, the electromagnetic driving assembly and part of the valve rod are in one cylinder.

[0122] The end surface of the sealing sleeve 5431 has an annular flange 5435, in the sealing state, the valve core 5432 cooperates with the end surface of the sealing sleeve 5431 and tightly abuts the flange 5435, when pressure relief is needed, the electromagnetic driving assembly drives the valve rod 5433 to move downward, at this time, the valve core 5432 separates from the end surface of the sealing sleeve 5431, gas enters from the pressure relief gap, the suction cup 54 and the working surface restore normal pressure, then the suction cup 54 can be lifted to avoid interference between the suction cup 54 and the working surface when other equipment is working.

[0123] The bottom surface of the suction cup 54 is also provided with a limiting pad 544, the position of the limiting pad 544 is lower than the vacuum port 541 and the pressure relief port 542, that is, the limiting pad 544 is the limit position of the working surface and the suction cup 54, which can prevent the vacuum port 541 and the pressure relief port 542 from contacting the working surface and causing unnecessary interference and friction.

[0124] The suction cup 54 comprises:

[0125] a base plate 545 which is installed on the support body 1 and can be lifted, the vacuum port 541 and the pressure relief port 542 are arranged on the bottom surface of the base plate 545; when the limiting pad 544 is arranged, the limiting pad 544 is also arranged on the bottom surface of the base plate 545;

[0126] The sealing assembly comprises a plurality of sealing rings arranged from inside to outside, used for sealing with the working surface, and the plurality of sealing rings are located at the periphery of the vacuum port 541 and the pressure relief port 542 (when the limiting pad 544 is arranged). The plurality of sealing rings and the base plate 545 form a cover structure, and when the cover structure cooperates with the working surface, a vacuum cavity is formed in the cover structure.

[0127] In order to ensure the sealing effect, especially to adapt to the working surface with building defects (there are convex and concave structures or cracks on the surface, that is, not smooth and flat), the sealing assembly comprises three sealing rings arranged from inside to outside, respectively, the sealing ring 546a, the sealing ring 546b and the sealing ring 546c, and the height of the bottom surface of each sealing ring from the working surface decreases in turn. The outermost one is the first to contact the working surface, and the other two are the same.

[0128] Among them, the height of the outermost sealing ring 546c is 2.5-3 cm, the height of the middle layer sealing ring 546b is 1.3-1.7 cm, and the height of the inner layer sealing ring 546a is 0.75-1.25 cm. As a preferred, the width of the three sealing rings increases from inside to outside, and the sealing ring 546c and the sealing ring 546b can be made of foaming material.

[0129] The base plate 545 has a length direction, and the two barrel bodies 52 are arranged along the length direction in turn;

[0130] The top surface of the base plate 545 is covered with a third shell 5451.

[0131] The information acquisition device 4 is installed on the support body 1, and is used for acquiring information data related to the working surface. The information acquisition device 4 comprises at least one of an image acquisition assembly 41, a laser mapping assembly 42 and an ultrasonic detection assembly 43.

[0132] Reference Figures 13-14 The vector rotor system is used to provide power for the walking, flying and obstacle crossing of the survey robot 200. In order to facilitate understanding, the first axis and the second axis involved in the following embodiment of the rotor assembly 2 are specifically the L1 direction and the L2 direction.

[0133] The rotor assembly 2 comprises:

[0134] The first turnover frame 21 is rotatably installed on the annular part 14 about the first axis;

[0135] The first steering engine 22 acts between the annular part 14 and the first turnover frame 21;

[0136] The second turnover frame 23 is rotatably installed on the first turnover frame 21 about the second axis, and the second axis and the first axis are perpendicular to each other;

[0137] The second steering engine 24 acts between the second turnover frame 23 and the first turnover frame 21;

[0138] A main motor 25 is installed on the second rotating frame 23.

[0139] A paddle 26 is installed on the output shaft of the main motor 25.

[0140] The first steering engine 22 and the second steering engine 24 can respectively drive the first rotating frame 21 and the second rotating frame 23 to rotate 360°, and the output shaft of the main motor 25 can also be selected to have an angle that can be finely adjusted. Therefore, the paddle 26 can rotate in all directions, realize full vector control conversion of the spherical vector, and modulate the survey robot into various forms suitable for walking, climbing, and flying. In addition, in the optional control mode, the power of each rotor of the survey robot is preferably kept constant to simplify mode control and form switching.

[0141] In the present embodiment, the main motor 25 is installed at the middle position of the second rotating frame 23, and the output shaft is substantially perpendicular to the second axis. In order to reduce the interference of forces between the rotor assemblies 2 when the rotor system is working, the first axes of the rotor assemblies 2 are parallel and coplanar. In addition, the first axes of all the rotor assemblies 2 are located between the top frame 11 and the bottom frame 12 in the frame structure, so that the robot is more uniform in force and less likely to roll over when the rotor assemblies 2 are working.

[0142] The first rotating frame 21 is a circular ring, and the two ends of the circular ring in the radial direction are respectively installed on the annular part 14 through the first pivot 28. The first steering engine 22 is installed on the annular part 14 and is linked with at least one first pivot 28. The second rotating frame 23 is a strip, and the two ends of the strip in the length direction are respectively installed on the first rotating frame 21 through the second pivot 29. The second steering engine 24 is installed on the second rotating frame 23 and is linked with at least one second pivot 29.

[0143] The first pivots 28 of all the rotor assemblies 2 and the first steering engine 22 are installed on the top frame 11 in the frame structure, or are installed on the bottom frame 12 in the frame structure. The first rotating frames 21 of all the rotor assemblies 2 are in a coplanar state, and the second axes of all the rotor assemblies 2 are parallel and coplanar.

[0144] The survey robot 200 is internally provided with sensing devices (such as a gyroscope, a distance sensor, etc.) for sensing the current posture and relative position. When encountering an obstacle surface with an obvious angle to the working surface (such as a right-angle surface, an inverse slope, etc.), the real-time information or historical data collected can be used for identification, and the sensing devices can provide real-time feedback when the full vector control of the rotor is performed. When the obstacle is encountered, the first steering engine 22 and the second steering engine 24 start to work, change the rotation angle of the vector rotor system, and make the front end of the survey robot 200 tilt up to directly climb the obstacle. When an obstacle that cannot be climbed is encountered, the flying mode can be switched to fly over the obstacle, and then the climbing mode can be switched again.

[0145] When the control method provided by the robot is implemented, the survey robot has a climbing mode and a flying mode. In the climbing mode, the walking wheels are matched with the working surface under the action of the vector rotor system, and when the working surface is relatively inclined, the vector rotor system provides a downward pressure of the walking wheels on the working surface. In the flying mode, the walking wheels are away from the working surface. In this embodiment, there are two methods for switching the flying mode, one is manual operation, and the other is automatic operation of the system. When the flying mode is switched, the system automatically adjusts the first steering gear 22 and the second steering gear 24 to adjust the angle of the blades 26 to facilitate flying, so that the survey robot 200 can smoothly fly over the obstacles. After landing after flying over the obstacles, the climbing mode is switched. The survey robot 200 of this embodiment can automatically adjust the angle of the blades 26 according to the angle of the position, so that it can freely move in the current environment.

[0146] Reference Figure 15 The walking wheels 3 are all universal wheels to ensure flexibility of walking, and can be driven by the vector rotor system to move in any direction along the working surface. Regardless of the turning radius, this is more obvious in the planning of the operation route and the operation walking.

[0147] According to the distribution of the wheel seats 15, the walking wheels 3 can be configured in four sets or more. In the same set, a single wheel or a double wheel structure can be used, and the walking wheels 3 are installed on the corresponding wheel seats 15 through the damping mechanisms 31. The damping mechanisms 31 can use dampers in the prior art, and can also use a combination of various ways, such as air damping and mechanical springs. When the wheels move on the uneven working surface, the damping mechanisms 31 can combine multiple bounces in an instant into one relatively gentle movement, thereby achieving the effect of shock absorption.

[0148] In this embodiment, the image information is obtained by using the image acquisition assembly. During the working process of the survey robot, the survey robot is transferred between multiple working positions. When a predetermined working position is reached, the information acquisition device is used to collect information data of the working surface, and the survey robot is kept at the current working position in the climbing mode during the collection process.

[0149] The technical features of the above-described embodiments can be combined in any manner. To make the description concise, all possible combinations of the technical features in the above-described embodiments are not described, but as long as the combinations of the technical features do not exist, they should be considered as the scope of the present disclosure. When the technical features in different embodiments are embodied in the same figure, it can be considered that the figure also discloses the combination of the embodiments involved.

[0150] The above embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the patent. It should be noted that for ordinary skilled in the art, without departing from the concept of the present application, several modifications and improvements can be made, which are within the scope of protection of the present application.

Claims

1. A survey robot that can perform static adsorption positioning, characterized in that, The utility model relates to a surveying robot, comprising: a support body; a static adsorption assembly comprising a suction disc and a vacuum pump in communication with the suction disc, the suction disc being fixed to a working surface by the vacuum adsorption of the vacuum pump; the suction disc is capable of being raised and lowered relative to the support body to adhere to the working surface to be fixed; a vector rotor system comprising at least two sets of rotor assemblies, each rotor assembly being mounted on the support body and providing vector power to the support body, each rotor assembly being arranged at the outer periphery of the static adsorption assembly; a walking wheel arranged on the support body, the walking wheel being used for walking on the working surface; the walking wheel is a universal wheel; the frame structure comprises a top frame and a bottom frame which are spaced and stacked and are both sheet-shaped, and a plurality of reinforcing members fixed between the top frame and the bottom frame, the top frame and the bottom frame are matched in shape and each comprise a plurality of annular portions and a plurality of wheel seats, each set of rotor assemblies is located in a corresponding annular portion, the wheel seats are arranged outward relative to the adjacent annular portions, the walking wheels are a plurality of wheels respectively mounted on corresponding wheel seats, the top frame and the bottom frame are respectively integrated structures, and the reinforcing members are a plurality of spaced columns, each annular portion is directly connected or connected through a strip-shaped reinforcing rod; the frame structure has four annular portions distributed at four corners of a rectangular region; the annular portions are arranged in two and adjacent to each other in an 8-shaped manner, and the rotor assemblies are correspondingly two sets; the rotor assembly comprises: a first turnover frame rotatably mounted on the annular portion about a first axis; a first steering engine acting between the annular portion and the first turnover frame; a second turnover frame rotatably mounted on the first turnover frame about a second axis perpendicular to the first axis; a second steering engine acting between the second turnover frame and the first turnover frame; a main motor mounted on the second turnover frame; a paddle mounted on the output shaft of the main motor; the first steering engine and the second steering engine can respectively drive the first turnover frame and the second turnover frame to rotate by 360 degrees; an information acquisition device mounted on the support body, the information acquisition device being used for acquiring information data related to the working surface; the static adsorption assembly comprises: a cylinder mounted on the support body and capable of being raised or lowered relative to the support body; the bottom of the cylinder is fixed with the suction disc; the cylinders are arranged in two and side by side, the vacuum pump extends to the suction disc through one of the cylinders and is in communication with the suction disc through a vacuum pipeline, and the other cylinder is used to set a pressure relief device for the suction disc to separate from the working surface after vacuum adsorption; a lifting driving mechanism mounted on the support body and linked with the cylinder, the lifting driving mechanism driving the cylinder to be raised or lowered relative to the support body; the suction disc comprises: a base plate fixedly mounted at the bottom end of the cylinder, the bottom surface of the base plate being provided with a vacuum port, a pressure relief port and a limiting pad; the limiting pad is arranged on the bottom surface of the base plate, and the bottom surface of the limiting pad is lower in elevation than the bottom surface of the vacuum port and the pressure relief port; The sealing assembly comprises a plurality of sealing rings arranged on the bottom surface of the base plate, and is used for sealing with the working surface. The plurality of sealing rings are located at the periphery of the vacuum port, the pressure relief port and the limiting pad. The plurality of sealing rings and the base plate form a cover structure, and a vacuum cavity is formed in the cover structure when the cover structure cooperates with the working surface. The sealing assembly comprises three sealing rings arranged from inside to outside. The height of the bottom surface of each sealing ring from the working surface decreases in turn. The outermost sealing ring is the first to contact the working surface.

2. The survey robot of claim 1, wherein, The vacuum pipeline comprises an internal pipeline and an external pipeline. The internal pipeline is located inside the cylinder. The internal pipeline comprises two rigid pipes which are connected in a movable and sealing manner. One of the two rigid pipes is connected to the suction disc, and the other rigid pipe extends in the cylinder and communicates with the external pipeline located outside the cylinder. The external pipeline communicates with the vacuum pump.

3. The survey robot of claim 1, wherein, The vacuum pump is located between the top portions of the two cylinders. The outer sides of the top portions of the two cylinders are covered with outer sleeves. The top portions of the outer sleeves and the periphery of the vacuum pump are provided with a first housing.

4. The survey robot of claim 3, wherein, The support body is provided with a second housing. The first housing is arranged above the second housing. The lifting driving mechanism is located between the two cylinders in the second housing. The cylinders are arranged deep below the second housing. The second housing is connected to the support body by a plurality of bridge arms. The vacuum pump is directly fixed to the top surface of the second housing.

5. The survey robot of claim 3, wherein, The support body is a frame structure. The frame structure comprises a top frame and a bottom frame which are spaced and stacked and are both in a sheet shape. The lifting driving mechanism is located between the top frame and the bottom frame and between the two cylinders. The cylinders are arranged to protrude below the bottom frame. The vacuum pump is directly fixed to the top surface of the top frame.

6. The statically adsorptively positionable survey robot of claim 1, wherein, The lifting driving mechanism comprises: a motor fixedly connected to the support body; a distribution mechanism for driving the two cylinders by one motor. The distribution mechanism is linked with the motor and has two output shafts. Each output shaft is fixed with a driving gear. two gear rings rotatably sleeved on the outer periphery of the two cylinders and respectively engaged with the corresponding driving gears. The inner periphery of each gear ring is threadedly connected with the corresponding cylinder.

7. The survey robot of claim 2, wherein, The vacuum port and the pressure relief port are respectively arranged corresponding to the two cylinders. The vacuum pipeline of the vacuum pump is connected to the vacuum port through the inside of one of the cylinders.

8. The survey robot of claim 7, wherein, The pressure relief valve is installed at the pressure relief port. The pressure relief valve comprises: a sealing sleeve fixed to the edge of the pressure relief port; a valve core matched with the sealing sleeve; a valve rod connected with the valve core through the sealing sleeve. The radial gap between the valve rod and the sealing sleeve is a pressure relief gap; an elastic member acting on the valve rod to drive the valve core to sealingly cooperate with the sealing sleeve; an electromagnetic driving assembly acting on the valve rod to drive the valve core to separate from the sealing sleeve for pressure relief; The elastic member, the electromagnetic driving assembly and part of the valve rod are located in one of the cylinders.

9. The control method of a survey robot capable of static adsorption positioning according to any one of claims 1 to 8, characterized by, The control method comprises: the survey robot transfers between a plurality of working positions, adheres to the working surface to be fixed by the static adsorption assembly when reaching a predetermined working position, collects information data of the working surface by the information collection device, and remains at the current working position in a climbing mode during the collection process.

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