Surveying robot with dual-rotor vector drive and control method

Abstract

The application provides a survey robot with dual-rotor vector driving and a control method, which comprises a support body, a frame structure comprising two annular parts and four wheel seats, the two annular parts being adjacent to each other and in the shape of an 8, and the wheel seats being arranged in pairs on the circumferential sides of the annular parts; a vector rotor system comprising two sets of rotor assemblies, each rotor assembly being installed on a corresponding annular part and providing vector power for the support body; walking wheels installed in corresponding wheel seats and on the bottom side of the support body, used for walking on a working surface; and an information acquisition device installed on the support body, used for acquiring information data related to the working surface. The application implements vector driving in a dual-rotor mode, compactly arranges the wheel groups and the walking wheels, simplifies the structural arrangement of the survey robot, and simultaneously realizes information acquisition of the working surface by using the information acquisition device.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, and in particular relates to a surveying robot and its control method that employs a dual-rotor vector drive. Background Technology

[0002] Robotics technology continues to advance in modern times, with miniaturized robots widely used in aerial inspection, on-site reconnaissance, ground building detection, and special operations. Multi-rotor unmanned aerial vehicles (UAVs) (such as quadcopter and octocopter helicopters) are becoming more common. Many of these aircraft include a frame that supports multiple propellers, control components, power sources (such as batteries), cameras, etc. Images obtained from the cameras can be used for photography and / or other purposes.

[0003] A team led by Morgan T. Pope at Stanford University has developed a robot called SCAMP, which can fly and climb vertical walls (Pope M, Kimes C, Jiang H, et al. A Multimodal Robot for Perching and Climbing on Vertical Outdoor Surfaces[J]. IEEE Transactions on Robotic: A publication of the IEEE Robotics and Automation Society, 2017, 33(1): 38-48.). It uses a biomimetic micro-spine structure to adhere to rough building exteriors and achieves wall climbing by extending and retracting its legs via micro-motors. However, for detecting surface defects in ground structures such as high-rise buildings, reservoirs, bridge arches, and dams, this robot, which uses micro-motors to extend and retract its legs to climb walls, has a relatively complex structure. Furthermore, the excessive number of rotor components places higher demands on the robot's size and motion control. Optimizing the rotor components and their arrangement to meet actual needs remains to be solved. Summary of the Invention

[0004] The first objective of this invention is to provide a surveying robot that employs a dual-rotor design for vector drive, addressing the problem of complex rotor components in the prior art.

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

[0006] A surveying robot employing a dual-rotor vector drive system, characterized in that the surveying robot employing a dual-rotor vector drive system comprises:

[0007] The support body is a frame structure and includes two annular portions and four wheel seats. The two annular portions are adjacent to each other and form a figure-eight shape. The wheel seats are arranged in pairs on the periphery of the annular portions.

[0008] The vector rotor system includes two sets of rotor assemblies, each rotor assembly is installed on a corresponding annular part and provides vector power to the support body;

[0009] The traveling wheels are installed in corresponding wheel seats and located on the bottom side of the support body. The traveling wheels are used to travel on the working surface; the working surface is a vertical surface or a near-vertical surface.

[0010] An information acquisition device is installed on a support structure and is used to collect information data related to the working face.

[0011] While adopting the above technical solutions, the present invention may also adopt or combine the following technical solutions:

[0012] As a preferred embodiment of the present invention: each rotor assembly includes:

[0013] A first tilting frame is installed inside the annular portion and rotates about a first axis;

[0014] A first servo motor is used to drive the first tilting bracket to rotate.

[0015] The second tilting frame is installed inside the first tilting frame and rotates about a second axis, the second axis being perpendicular to the first axis;

[0016] The second servo motor is used to drive the second tilting bracket to rotate;

[0017] The main motor is installed inside the second tilting frame and is used to drive the blades to rotate.

[0018] The blades are mounted on the output shaft of the main motor.

[0019] As a preferred embodiment of the present invention: the surveying robot employing a dual-rotor vector drive further includes a cable frame mechanism, wherein the surveying robot is powered and communicates via cables loaded on the cable frame mechanism during operation.

[0020] The cable frame mechanism includes:

[0021] 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;

[0022] The wire clamping wheel is mounted on a support and is used to clamp and drive the cable to move along the guide groove; the wire clamping wheels are arranged in pairs, and at least one is a drive wheel that is linked to the wire clamping motor;

[0023] A wire clamping motor is mounted on a support and is used to drive the wire clamping wheel.

[0024] 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.

[0025] As a preferred embodiment of the present invention: the end of the tubular structure is provided with a connecting sleeve for a pressure sensor, the side through which the cable passes is the inlet side of the connecting sleeve, and the inlet side of the connecting sleeve is provided with a plurality of mounting lugs evenly spaced along the circumference, and each pressure sensor is fixed on the inner side of each mounting lug.

[0026] 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;

[0027] 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.

[0028] The first state of the swing frame is: the elastic element drives the driving wheel to approach the driven wheel and clamp the cable;

[0029] 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.

[0030] As a preferred technical solution of the present invention: the elastic element is a tension spring, the two ends of the tension spring are respectively connected to the swing frame and the support, and the swing frame is restricted to the second state of the swing frame by means of passing the dead point.

[0031] As a preferred embodiment of the present invention: the two ends of the tubular structure extend to the two opposite sides of the support body, and are respectively equipped with a wire clamping wheel and a wire clamping motor.

[0032] As a preferred embodiment of the present invention, the surveying robot further includes:

[0033] Two reels are mounted on the support body, and the cables extending from both ends of the tubular structure of the support are wound around one of the reels.

[0034] Two winding motors independently drive their respective winding reels.

[0035] Another objective of this invention is to provide a control method for a surveying robot that employs a dual-rotor configuration for vector drive.

[0036] Therefore, the above-mentioned objective of the present invention is achieved through the following technical solution:

[0037] A control method for a surveying robot using a dual-rotor vector drive includes: the surveying robot moving between multiple working positions; collecting information data of the working face using an information acquisition device when it reaches a predetermined working position; and maintaining its current working position in a climbing mode during the data acquisition process.

[0038] This invention provides a surveying robot and its control method that employs a dual-rotor vector drive system. By using a dual-rotor vector drive system, the wheel set and walking wheels are arranged compactly, simplifying the structural design of the surveying robot. Simultaneously, it allows for the acquisition of information from the working surface using information acquisition equipment. Specifically, each rotor assembly includes: a first tilting frame, mounted within an annular section and rotating about a first axis; a first servo motor, used to drive the first tilting frame to rotate; a second tilting frame, mounted within the first tilting frame and rotating about a second axis, the second axis being perpendicular to the first axis; a second servo motor, used to drive the second tilting frame to rotate; a main motor, mounted within the second tilting frame, used to drive the propeller blades to rotate; and propeller blades, mounted on the output shaft of the main motor. By simplifying the rotor assembly structure, the robot's overall size is reduced, and the motion control requirements for the surveying robot are also lowered. Attached Figure Description

[0039] Figure 1a This is a schematic diagram of the structure of the surveying robot with dual-rotor vector drive provided by the present invention;

[0040] Figure 1b for Figure 2 Schematic diagram of the central support structure;

[0041] Figure 1c This is a schematic diagram of a surveying robot using a dual-rotor vector drive.

[0042] Figure 1d for Figure 1c Enlarged view of B in the middle;

[0043] Figure 1e This is a schematic diagram of the swing frame in its second state.

[0044] Figures 2-3 This is a schematic diagram of the image acquisition component.

[0045] Figure 4This is a schematic diagram of the laser mapping component.

[0046] Figure 5 This is a schematic diagram of the ultrasonic detection assembly with the medium output head in the second position.

[0047] Figure 6 for Figure 5 A sectional view;

[0048] Figure 7 A schematic diagram of the ultrasonic detection assembly with the medium output head in the first position;

[0049] Figure 8 Exploded view of the supply unit;

[0050] Figures 9-10 This is a schematic diagram of the rotor assembly.

[0051] Figure 11 This is a schematic diagram of the static adsorption component.

[0052] Figure 12 for Figure 11 A schematic diagram of the static adsorption component with the first housing open;

[0053] Figure 13 This is a schematic diagram of the lifting drive mechanism;

[0054] Figure 14 for Figure 13 Schematic diagram of the middle transfer mechanism;

[0055] Figure 15 The cross-sectional view of the support structure is omitted for the survey robot;

[0056] Figure 16 for Figure 15 Enlarged view of A in the middle;

[0057] Figure 17 This is an exploded view of the pressure relief valve;

[0058] Figure 18 This is a schematic diagram of the suction cup structure;

[0059] Figure 19 A cross-sectional view of a survey robot employing dual-rotor vector drive;

[0060] The annotations in the figure are explained as follows:

[0061] 100. Top side; 101. Bottom side; 200. Survey robot;

[0062] 1. Support body; 11. Top frame; 12. Bottom frame; 13. Column; 14. Circular part; 15. Wheel seat; 16. Reinforcing rod; 161. Edge rod; 162. Inner rod; 17. Connecting sleeve; 171. Entrance side; 172. Mounting lug; 18. Cable;

[0063] 2. Rotor assembly; 21. First tilting frame; 22. First servo motor; 23. Second tilting frame; 24. Second servo motor; 25. Main motor; 26. Blade; 28. First pivot; 29. ​​Second pivot;

[0064] 3. Wheels; 31. Shock absorption mechanism;

[0065] 4. Information acquisition equipment; 41. Image acquisition component; 411. Camera; 412. First camera; 413. Second camera; 414. Fill light; 415. Ring component; 416. Spoke; 42. Laser mapping component; 421. Gimbal; 422. Laser scanner; 423. Support arm; 424. Shock absorption component; 43. Ultrasonic detection component; 431. Ultrasonic probe; 4311. Spring; 432. Moving mechanism; 433. Medium output head; 4331. Output hole; 434. Tilting mechanism; 4341. Tilting motor; 4342. Movable frame; 4343. Microscope camera; 435. Supply device; 4351. Material cylinder; 4352. Discharge hole; 4353. Push piston; 4354. Electric push rod; 436. Medium pipeline;

[0066] 5. Static adsorption assembly; 51. Outer jacket; 52. Cylinder; 521. External thread; 53. Lifting drive mechanism; 531. Motor; 5311. Output shaft; 532. Transfer mechanism; 5321. Main bevel gear; 5322. Secondary bevel gear; 5323. Intermediate shaft; 5324. Universal joint; 5325. Output shaft; 533. Drive 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 stem; 5434. Elastic element; 5435, Flange; 544, Limiting pad; 545, Base plate; 5451, Third housing; 5452, Extension area; 5453, First extension area; 5454, Second extension area; 5455, First clearance opening; 5456, Second clearance opening; 546a, Sealing ring; 546b, Sealing ring; 546c, Sealing ring; 55, Vacuum pump; 551, Vacuum pipeline; 552, Internal pipeline; 5521a, Rigid pipe; 5521b, Rigid pipe; 553, External pipeline; 56, First housing; 57, Control main board; 58, Second housing; 581, Bridge arm;

[0067] 82. Cable frame mechanism; 821. Support; 8211. Guide groove; 8212. Clearance opening; 8213. Swing frame; 8214. Tubular structure; 822. Wire clamping wheel; 8221. Driving wheel; 8222. Driven wheel; 823. Wire clamping motor; 824. Tension spring; 825. Outer gear tooth; 826. Winding section; 831. Winding wheel; 834. Winding motor; 84. Wire unloading mechanism. Detailed Implementation

[0068] 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.

[0069] 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.

[0070] 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.

[0071] One embodiment of this application provides a surveying robot 200 that employs a dual-rotor vector drive system, comprising:

[0072] The support body 1 has a top side 100 and a bottom side 101. The support body 1 is a frame structure and includes two annular parts 14 and multiple wheel seats 15. The two annular parts 14 are adjacent to each other in a figure-eight shape, and there are four wheel seats 15 arranged in pairs on opposite sides of the corresponding annular parts.

[0073] The vector rotor system includes two sets of rotor components 2, each rotor component 2 is installed on a corresponding annular part 14 and provides vector power to the support body 1;

[0074] The traveling wheel 3 is installed on the corresponding wheel seat 15 and arranged on the bottom side of the support body 1. The traveling wheel 3 is used to travel with the working surface.

[0075] Information acquisition device 4 is installed on support body 1 and is used to collect information data related to the working face.

[0076] 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.

[0077] The surveying robot 200 in this application can also be used in combination to form a robot queue or cluster to carry out collaborative operations on a work surface extending for several kilometers or more. In the cluster, 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.

[0078] 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.

[0079] 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.

[0080] 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.

[0081] 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.

[0082] 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.

[0083] refer to Figures 1a-1e 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.

[0084] 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. The wheel seats 15 protrude outward relative to the adjacent annular portions 14, and multiple walking wheels 3 are respectively mounted on the corresponding wheel seats 15. The line connecting the centers of the two annular portions 14 is a reference line. Each annular portion 14 connects to two wheel seats 15, which are 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 be subjected to more even force and run more smoothly.

[0085] 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 parts 14 are directly connected or connected by strip-shaped reinforcing rods 16.

[0086] 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.

[0087] 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.

[0088] 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.

[0089] 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.

[0090] 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.

[0091] 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.

[0092] To accommodate a wired connection, the surveying robot 200 can be configured with a cable tray mechanism 82, which includes:

[0093] 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.

[0094] The cable clamping wheel 822 is mounted on the support 821, clamps and drives the cable 18 to move along the guide groove 8211;

[0095] The wire clamping motor 823 is mounted on the support 821 and is linked with the wire clamping wheel 822.

[0096] 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 surveying robot 200 is 2.

[0097] 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.

[0098] 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.

[0099] 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).

[0100] The swing frame 8213 also has a second state (i.e., F2 position), 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.

[0101] 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.

[0102] The swing frame 8213 can be changed in state according to actual needs.

[0103] In this embodiment, the wire clamping motor 823 and the drive wheel 8221 are driven by gear meshing.

[0104] 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.

[0105] 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 surveying robot 200 also includes:

[0106] 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;

[0107] Two winding motors 834 independently drive a corresponding winding reel 831, enabling adaptive adjustments to the cables 18 on both sides of the surveying robot 200, 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.

[0108] refer to Figures 2-8 The information acquisition device 4 is installed on the support body 1 and is used to collect information data related to the working face. The information acquisition device 4 includes at least one of the following: image acquisition component 41, laser mapping component 42, and ultrasonic detection component 43:

[0109] The image acquisition component 41 includes:

[0110] Camera 411 is mounted on the support 1 and located between two adjacent rotor assemblies 2, and is used to capture images;

[0111] A supplementary light 414 is used to project light onto the work surface;

[0112] The mounting bracket, connected to the support body 1, is used to mount the camera 411 and the fill light 414;

[0113] The mounting frame includes multiple spokes 416, with one end of each spoke 416 converging at the center and the other end extending outward while bending downward until it is fixed to the support 1.

[0114] The annular component 415 is located below the center position and connects all the spokes 416;

[0115] The camera 411 is installed in the middle of the mounting bracket, and the fill light 414 is installed on the ring part 415 and arranged at intervals at the projection position of the camera 411.

[0116] One or more cameras 411 may be used, with each camera 411 having a resolution of 20 megapixels or higher and a shooting area of ​​0.12-0.24m². 2 It has a minimum resolution of 0.01mm, a seam measurement accuracy of 0.01mm, a minimum exposure time of 10ms, supports motion image acquisition up to 2m / s, and can be combined with multiple cameras.

[0117] In this embodiment, the camera 411 includes a first camera 412 positioned above the center and a second camera 413 positioned below the center. The first camera 412 is used to capture images of the overall external working surface (in this embodiment, the first camera 412 is specifically a binocular camera, and a distance sensor for measuring obstacle distance, movement distance, and auxiliary system positioning is provided at this position). The second camera 413 is used to capture images of the real-time working surface of the survey robot 200.

[0118] The binocular camera can be mounted on the mounting frame via a rotating gimbal, allowing it to be rotated to a suitable shooting angle as needed. To avoid image noise caused by insufficient lighting, the bottom surface of the annular component 415 is equipped with a ring-shaped arrangement of supplementary lights 414 to provide illumination for the second camera 413. These supplementary lights 414 are specifically fluorescent lamps. To further enhance the shooting effect, multiple spokes 416 are arranged to form a hemispherical space, with the second camera 413 positioned at the top of the hemisphere and the fluorescent lamps located within it. This hemispherical space is open towards the work surface. A light-blocking cloth (such as a photographic black cloth) is placed on the mounting frame to enclose the outer perimeter of the hemispherical space, creating a nearly enclosed shooting space in the work surface area captured by the second camera 413. Combined with the supplementary lighting effect of the fluorescent lamps, the image acquisition effect is significantly improved, ensuring effective image stitching and feature recognition of architectural defects in the images.

[0119] Similarly, in order to ensure the light intensity of the first camera 412, a supplementary light 414 (e.g., an LED light) is also provided on the side of the annular component 45 facing the projection position of the first camera 412.

[0120] Laser mapping component 42 includes:

[0121] The gimbal 421 is mounted on and connected to the support body 1;

[0122] Laser scanner 422, mounted on pan-tilt unit 421, is used for mapping three-dimensional space.

[0123] The information collected by the laser scanner 422 can be processed to obtain three-dimensional shape data of the working surface and can be used to perform three-dimensional modeling. After modeling, the image obtained by the image acquisition component 41 is used for texture rendering, which can vividly express the working surface.

[0124] The bottom of the gimbal 421 has multiple support arms 423. In this embodiment, there are four support arms 423, which are roughly X-shaped. To make the laser scanner 422 more stable during measurement, the bottom end of each support arm 423 is connected to the bottom frame 12 of the support body 1 through a shock-absorbing component 424 (e.g., a shock-absorbing pad). Specifically, the bottom end of the support arm 423 has a screw hole. During installation, the bolt passes through the screw hole, the shock-absorbing component 424, and is fixedly connected to the bottom frame 12 of the support body 1 in sequence.

[0125] When the surveying robot 200 encounters an obstacle, the shock-absorbing component 424 can significantly reduce the vibration of the support arm 423, achieving a good shock absorption effect. The shock-absorbing component 424 can also filter vibrations from the rotor. The laser scanner 422 can utilize existing technology and can rotate to a suitable angle with the gimbal 421 to perform three-dimensional spatial mapping according to actual shooting needs.

[0126] For ease of understanding, the first position in the following embodiments is X1, and the second position is X2. The ultrasonic detection component 43 can be used to measure the depth of cracks on the working surface. Regarding its installation position, the ultrasonic detection component 43 can be directly installed on the support 1, or it can be set in other components, that is, integrated with other components and indirectly installed on the support 1.

[0127] Ultrasonic detection component 43 includes:

[0128] Ultrasonic probe 431, arranged in pairs with adjustable spacing between pairs;

[0129] The moving mechanism 432 drives the relative movement of the ultrasonic probes 431 between the same pair;

[0130] The medium output head 433 is used to provide the working medium to the ultrasonic probe 431.

[0131] The ultrasonic detection component 43 can automatically apply the working medium. Compared with the traditional manual application method, this application can apply and survey the working surface at any time according to the actual working surface conditions, thus improving work efficiency.

[0132] In the same pair of ultrasonic probes 431, one transmits a detection signal and the other receives the returned signal. The relative position of the two ultrasonic probes 431 can be adjusted to facilitate detection at different relative positions in order to obtain more accurate data. Generally, for building cracks, at least two detections are performed, and the spacing between the same pair of ultrasonic probes is different when crack detection is carried out in different times.

[0133] Depending on the different connection methods between the ultrasonic probe 43 and the support 1, in a preferred embodiment, the ultrasonic probe 431 can also be raised and lowered relative to the support 1 to adjust the distance between it and the working surface.

[0134] The moving mechanism 432 can be driven in various ways, such as by a moving motor and a lead screw and nut assembly, with the moving motor driving the ultrasonic probe 431 via the lead screw and nut assembly. For ease of operation, each ultrasonic probe 431 is independently equipped with a moving mechanism 432 and a corresponding media output head 433.

[0135] The media output head 433 has a first position (X1) adjacent to the ultrasonic probe 431 and a second position (X2) away from the ultrasonic probe 431. After supplying working medium to the ultrasonic probe 431, the media output head 433 can change its position to avoid the ultrasonic probe 431, for example, by being mounted on the support body 1 via a flipping mechanism 434. The flipping mechanism 434 includes a flipping motor 4341 and a movable frame 4342. The output shaft of the flipping motor 4341 is linked to the movable frame 4342. The media output head 433 is fixed to the movable frame 4342 and connected to the supply device 435 via a media pipeline 436. The flipping angle of the flipping mechanism 434 is the rotation angle between the first position and the second position, which can be set according to requirements. In this embodiment, the flipping angle is 180°.

[0136] The ultrasonic detection assembly 43 also includes a supply device 435 for supplying working medium to the media output head 433, and the supply device 435 outputs the working medium. The media output head 433 is disc-shaped and has an output hole 4331 in the middle that communicates with the media pipeline 436. The supply device 435 outputs the working medium to the media output head 433 through the output hole 4331.

[0137] The supply device 435 includes:

[0138] The barrel 4351 is used to store the working medium. One end of the barrel 4351 is closed and has a discharge hole 4352. The discharge hole 4352 is connected to the medium output head 433 through the medium pipeline 436.

[0139] The pusher piston 4353 is slidably fitted inside the material cylinder 4351;

[0140] An electric push rod 4354 extends to the other end of the material cylinder 4351 and is connected to the push piston 4353.

[0141] Specifically, the ultrasonic detection component 43 uses the supply device 435 to push the working medium in the barrel 4351 to the medium output head 433 via the electric push rod 4354. Then, using the flipping mechanism, the medium output head 433 in the second position is flipped to the first position to apply the working medium to the ultrasonic probe 431. Then, the flipping mechanism works again to flip the medium output head 433 in the first position to the starting position (i.e., the second position), at which point the ultrasonic probe 431 officially starts working.

[0142] The ultrasonic detection assembly 43 also includes a microscope camera 4343, which is positioned in the middle of the pair of ultrasonic probes 431. It can take microscopic pictures of cracks with a resolution accuracy of up to 0.005 mm. The ultrasonic probe 431 contains a spring 4311, which can buffer and protect when in contact with the working surface, and can also adapt to the roughness of the working surface.

[0143] refer to Figures 9-10 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.

[0144] Rotor assembly 2 includes:

[0145] The first tilting frame 21 is rotatably mounted on the annular part 14 around the first axis;

[0146] The first servo motor 22 acts between the annular portion 14 and the first tilting frame 21;

[0147] 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.

[0148] The second servo motor 24 acts between the second tilting frame 23 and the first tilting frame 21;

[0149] The main motor 25 is mounted on the second tilting frame 23;

[0150] The blade 26 is mounted on the output shaft of the main motor 25.

[0151] 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.

[0152] 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.

[0153] 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.

[0154] 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.

[0155] 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.

[0156] When implementing the control method described below using the robot provided in this application, 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.

[0157] 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.

[0158] refer to Figures 11-19 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.

[0159] When the rotor is working, it will generate sound wave interference, making it impossible to perform ultrasonic detection at the same time. Therefore, when the ultrasonic detection component 43 is needed, the survey robot 200 must first be adsorbed onto the working surface using the static adsorption component 5, then the rotor must be stopped, and finally the ultrasonic detection component 43 will start working.

[0160] The static adsorption component 5 includes:

[0161] Cylinder 52 is movably mounted on support 1;

[0162] 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.

[0163] Suction cup 54 is fixed to the bottom of cylinder 52;

[0164] Vacuum pump 55 is connected to suction cup 54 via a pipeline.

[0165] 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.

[0166] 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.

[0167] 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.

[0168] 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.

[0169] 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 surveying 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, and other components carried by the surveying robot 200 can be integrated and installed on the control motherboard 57.

[0170] The lifting drive mechanism 53 includes:

[0171] Motor 531;

[0172] 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;

[0173] 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.

[0174] The axial end face of the gear ring 534 has teeth 535, which mesh with the corresponding drive gear 533.

[0175] 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:

[0176] The main bevel gear 5321 is fixed to the output shaft 5311 of the motor 531;

[0177] 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.

[0178] The two output shafts 5325 are connected to the corresponding intermediate shafts 5323 via universal joints 5324.

[0179] 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.

[0180] 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.

[0181] 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.

[0182] Vacuum line 551 extends through one of the cylinders to vacuum port 541, and pressure relief valve 543 is located in the other cylinder.

[0183] 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.

[0184] 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.

[0185] After the operation is completed, when releasing the vacuum, the pressure relief valve 543 can be opened. The pressure relief valve 543 includes:

[0186] The sealing sleeve 5431 is fixed to the edge of the pressure relief port 542;

[0187] Valve core 5432 is matched with sealing sleeve 5431;

[0188] 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.

[0189] The elastic element 5434 acts on the valve stem 5433, driving the valve core 5432 to seal with the sealing sleeve 5431.

[0190] 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.

[0191] The end face of the sealing sleeve 5431 has an annular flange 5435. In the sealed state, the valve core 5432 mates 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.

[0192] 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.

[0193] Suction cup 54 includes:

[0194] 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.

[0195] 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.

[0196] 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.

[0197] 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.

[0198] 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. Other components such as the ultrasonic probe 431 can be installed into the corresponding extension area 5452.

[0199] The substrate 545 has a length direction, and the two cylinders 52 are arranged sequentially along this length direction;

[0200] 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.

[0201] The ultrasonic probe 431 of this application can be installed on the above-mentioned static adsorption assembly 5. Specifically, the ultrasonic detection assembly 43 is installed in the extension area 5452 (first extension area 5453). The ultrasonic probes 431 of the same pair are slidably installed relative to the substrate 545. The extension area 5452 is provided with a first clearance opening 5455. The position of the ultrasonic probe 431 corresponds to the first clearance opening 5455 and extends downward from the first clearance opening 5455.

[0202] The top surface of the substrate 545 is covered with a third housing 5451. The moving mechanism 432 is located inside the third housing 5451 and drives the ultrasonic probe 431 to slide. The spacing between the two ultrasonic probes 431 is adjusted in the width direction of the substrate 545. The supply device 435 is installed inside the first housing 56 and mounted on the top surface of the two outer housings 51. To improve integration, the two winding wheels 831 can also be encapsulated inside the first housing 56. Since the top of the outer housing 51 in the static adsorption assembly 5 is also inside the first housing 56, in this embodiment, the two winding wheels 831 can also be set as a cylindrical structure and rotatably sleeved on the corresponding outer housing 51. The top edge of the cylindrical structure has outer gear teeth 825, which are driven by gear meshing with the winding motor 834.

[0203] All three traveling wheels are omnidirectional wheels to ensure flexibility of movement. Driven by the vector rotor system, they can move in any direction along the working surface, regardless of turning radius, which is more advantageous in work route planning and work movement.

[0204] 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.

[0205] In one embodiment, for a larger working area, the control method further includes:

[0206] 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;

[0207] Dividing into sub-regions specifically includes: dividing the working surface into several rectangular sub-regions in the coordinate system according to predetermined side lengths.

[0208] 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.

[0209] 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.

[0210] 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.

[0211] 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.

[0212] 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.

[0213] 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.

[0214] 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%.

[0215] 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.

[0216] 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.

[0217] The two-dimensional working surface map is fitted to the three-dimensional model to obtain the three-dimensional working surface map.

[0218] 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.

[0219] In this embodiment, surface features in image information can be obtained with high detection accuracy and fast processing speed.

[0220] During inspection, the robot moves between multiple work positions according to the planned path, extracts features from the image information collected from the current work position, and obtains surface features.

[0221] 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.

[0222] Surface feature identification is performed on the image information collected from the working surface;

[0223] Once the building crack is identified, it is marked on the work surface map.

[0224] 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.

[0225] 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.

[0226] 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 survey robot with vector drive implemented in a dual rotor configuration, characterized in that, The survey robot driven by vector force by using double-rotor mode comprises: a support body, which is a frame structure and comprises two annular parts adjacent to each other in an 8-shaped manner and four wheel seats arranged on the circumferential sides of the annular parts in pairs; a vector rotor system, which comprises two sets of rotor assemblies, each rotor assembly being installed on a corresponding annular part and providing vector power for the support body; traveling wheels, which are installed in corresponding wheel seats on the bottom side of the support body and are used for traveling on a working surface; an information acquisition device, which is installed on the support body and is used for acquiring information data related to the working surface; The survey robot driven by vector force by using double-rotor mode further comprises a cable rack mechanism, the survey robot being powered and communicated via a cable loaded on the cable rack mechanism in a working state, and the cable rack mechanism comprising: a support base, which is fixed to the support body, at least a part of the support base being a tubular structure and having an internal guide groove, and the cable being movably arranged in the guide groove; a cable clamping wheel, which is installed on the support base and is used for clamping and driving the cable to move along the guide groove; the cable clamping wheels are arranged in pairs, and at least one is a driving wheel linked with a cable clamping motor; a cable clamping motor, which is installed on the support base and is used for being linked with the cable clamping wheel; a connecting sleeve, which is fixed to the end of the tubular structure, the side of the connecting sleeve through which the cable is externally inserted being an inlet side, the inlet side of the connecting sleeve being provided with a plurality of mounting lugs arranged uniformly in the circumferential direction, and each mounting lug being provided with a pressure sensor on the inner side thereof; when a plurality of the survey robots are used and the cable tends to be straightened, the traveling speed of the survey robots is adjusted to keep the relative distance between the survey robots constant and synchronized.

2. The survey robot of claim 1, wherein the vector drive is implemented in a dual-rotor configuration. Each set of rotor assemblies comprises: a first overturning bracket, which is installed in the annular part and rotates around a first axis; a first steering wheel, which is used for driving the first overturning bracket to rotate; a second overturning bracket, which is installed in the first overturning bracket and rotates around a second axis perpendicular to the first axis; a second steering wheel, which is used for driving the second overturning bracket to rotate; a main motor, which is installed in the second overturning bracket and is used for driving the paddle to rotate; a paddle, which is installed on the output shaft of the main motor.

3. The survey robot of claim 1, wherein the survey robot is implemented in a dual-rotor configuration. The sidewall of the tubular structure is provided with a radial through-relief opening, and the cable clamping wheel clamps the cable through the relief opening on the corresponding side.

4. The survey robot of claim 1, wherein the vector drive is implemented in a dual-rotor configuration. The support base is provided with a swing bracket; among the pair of cable clamping wheels, one is a driven wheel and is rotatably installed on the support base, and the other is a driving wheel and is rotatably installed on the swing bracket; an elastic member is arranged between the swing bracket and the support base to limit the swing bracket in a first state or a second state; the first state of the swing bracket is that the elastic member drives the driving wheel to approach the driven wheel and clamp the cable; the second state of the swing bracket is that the driving wheel is overturned through the swing bracket and away from the driven wheel, and the swing bracket abuts against the support base to limit.

5. The survey robot of claim 4, wherein the dual-rotor vector drive is implemented in a coaxial configuration. The elastic member is a tension spring, two ends of the tension spring are connected to the swing frame and the support respectively, and the swing frame is limited in the second state of the swing frame by passing the dead point.

6. The survey robot of claim 1, wherein the survey robot is implemented in a dual-rotor configuration. Two ends of the tubular structure extend to two opposite sides of the support body respectively, and are respectively provided with a wire clamping wheel and a wire clamping motor.

7. The survey robot of claim 1, wherein the survey robot is implemented in a dual-rotor configuration. The survey robot further comprises: Two wire winding wheels are mounted on the support body, and the cable extending from the two ends of the tubular structure of the support body is wound around one of the wire winding wheels. Two wire winding motors are used to independently drive the corresponding wire winding wheel.

8. The control method of the survey robot using dual-rotor vector drive according to any one of claims 1 to 7, characterized by, The control method comprises: the survey robot is transferred between multiple working positions, information data of a working surface is collected by using an information collecting device when reaching a predetermined working position, and the survey robot is kept in the current working position in a climbing mode during the collection.

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