Surveying robot for collecting multiple types of information and control method thereof

Abstract

The application discloses a survey robot for collecting multiple types of information and a control method thereof. The survey robot comprises a support body, a vector rotor system, at least two sets of rotor assemblies, each rotor assembly being installed on the support body and providing vector power to the support body, a walking wheel arranged on the support body and used for walking on a working surface, a static adsorption assembly arranged on the support body and capable of ascending or descending relative to the support body, the static adsorption assembly being capable of fixing the survey robot to the working surface in a vacuum adsorption mode, the working surface being a building surface in a field operation site, which is related to a facade operation and has a large building defect, an ultrasonic detection assembly being liftable and installed on the support body, a laser surveying assembly being installed on a holder, the holder being installed on the support body, and an image collecting assembly being arranged on the support body. The application can complete a close-range single collection of multiple types of signals by adhering to the building surface.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a survey robot for collecting multiple types of information and a control method thereof. BACKGROUND

[0002] Whether important buildings or natural structures, often need to be inspected to detect defects or structural changes, in this field of work, drones or other types of robots are gradually widely used.

[0003] Patent document CN111591095A discloses a multi-rotor flying wall-climbing robot that can inhabit, which can realize wall-climbing function and flight function, and can quickly switch between the two. The four-rotor is used to realize free flight in space, and the rotor direction is tilted to provide adsorption force to make the robot adhere to the wall surface when climbing. However, during the vertical wall climbing process, the rotor needs to keep running at high speed to provide sufficient adsorption force, which consumes a lot of energy and cannot provide a long running time.

[0004] When detecting defects on the surface of a building, the above multi-rotor flying wall-climbing robot can only perform basic movement control functions, and cannot accurately position during movement, nor can it realize detection of the building surface.

[0005] Even if some drones can carry a camera, the function is relatively single, cannot realize direct close-range information collection work attached to the surface of a building, the information collection accuracy is not high, and cannot realize the collection task of multiple types of signals. SUMMARY

[0006] In view of the deficiencies in the prior art, the first object of the present application is to provide a survey robot for collecting multiple types of information, which can complete the close-range single collection of multiple types of signals attached to the surface of a building.

[0007] To solve the above technical problems, the present application realizes the following technical scheme:

[0008] The survey robot for collecting multiple types of information comprises:

[0009] a support body;

[0010] 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;

[0011] a walking wheel, the walking wheel being arranged on the support body, and the walking wheel being used for walking on a working surface;

[0012] A static adsorption assembly is arranged on the support body and can ascend or descend relative to the support body, and the static adsorption assembly can fix the survey robot to the working surface in a vacuum adsorption manner; the working surface is a building surface in a field operation site, which involves vertical surface operation and has a large building defect;

[0013] An ultrasonic detection assembly is arranged on the support body in a liftable manner;

[0014] A laser mapping assembly is arranged on the holder, and the holder is arranged on the support body;

[0015] An image acquisition assembly is arranged on the support body.

[0016] The following also provides several optional modes, but not as an additional limitation of the above general scheme, just a further supplement or preferred, without technical or logical contradiction, each optional mode can be combined with the above general scheme alone, and can also be combined between multiple optional modes.

[0017] Optionally, the static adsorption assembly comprises a suction disc arranged on the support body and capable of ascending or descending relative to the support body, the suction disc is communicated with a vacuum pump, the suction disc fixes the survey robot to the working surface in a vacuum adsorption manner through the vacuum pump, and a base plate is arranged on the suction disc; the ultrasonic detection assembly comprises ultrasonic probes arranged in pairs and having an adjustable spacing between the same pair; the ultrasonic probes are arranged in the base plate in an integrated manner, and the ultrasonic probes of the same pair are slidingly arranged relative to the base plate.

[0018] Optionally, the base plate is provided with a first avoiding opening, the ultrasonic probes correspond to the first avoiding opening and extend downward out of the first avoiding opening; a third housing is arranged on the top surface of the base plate, a moving mechanism is arranged in the third housing on the base plate, the ultrasonic probes are connected with the moving mechanism, and the moving mechanism drives the ultrasonic probes between the same pair to move relatively.

[0019] Optionally, each pair of ultrasonic probes is independently provided with a corresponding medium output head, the medium output head is used for providing a working medium to the ultrasonic probe, the medium output head is matched with the ultrasonic probe through a turnover mechanism, the medium output head has a first position adjacent to the ultrasonic probe and a second position away from the ultrasonic probe, and the medium output head and the turnover mechanism are arranged in the base plate in an integrated manner.

[0020] Optionally, the turnover mechanism comprises a turnover motor and a movable frame, an output shaft of the turnover motor is rotationally connected with the movable frame, and the medium output head is fixed on the movable frame.

[0021] Optionally, the medium output head is communicated with a supply device through a medium pipeline, the supply device is fixed on the support frame, and the supply device comprises:

[0022] a barrel used for storing the medium, the first end of the barrel being closed and provided with a discharge hole, the discharge hole being communicated with the medium output head through the medium pipeline;

[0023] a pushing piston in sliding fit with the barrel;

[0024] an electric push rod connected with the pushing piston and arranged to extend out of the second end of the barrel.

[0025] Optionally, the moving mechanism comprises a moving motor and a ball screw nut pair, the moving motor being connected with the ultrasonic probe through the ball screw nut pair, and the moving motor drives the ultrasonic probe between the moving motor and the ball screw nut pair to move relatively.

[0026] Optionally, the laser mapping assembly comprises a laser scanner installed on the holder, and is used for mapping a three-dimensional space.

[0027] Optionally, the image acquisition assembly comprises a mounting frame connected with the support body, a camera and a fill light being installed on the mounting frame; the camera is used for shooting and acquiring images; the mounting frame comprises a plurality of spokes and a ring-shaped member, the top ends of the plurality of spokes are gathered at the same position and are fixedly connected with the camera, the bottom ends of the plurality of spokes extend outward and are bent downward at the same time until the bottom ends are fixed with the support body; the ring-shaped member is below the camera and is connected with all the spokes; and the fill light is installed on the ring-shaped member and is used for projecting light to the working surface.

[0028] A second object of the present application is to provide a control method of a survey robot for collecting multiple types of information.

[0029] To achieve the above object, the present application adopts the following technical solutions.

[0030] A control method of a survey robot for collecting multiple types of information, the survey robot being transferred between multiple working positions, information data of a working surface being collected by an information collection device when the survey robot reaches a predetermined working position, and the survey robot being kept at the current working position in a climbing mode during the collection process.

[0031] Compared with the prior art, the present application has the following advantages and beneficial effects:

[0032] This invention relates to a surveying robot capable of acquiring multiple types of information. This robot can be configured with various information acquisition components, including laser mapping, image acquisition, and ultrasonic detection. These components enable it to acquire multiple types of signals in a single operation. Furthermore, by incorporating the ultrasonic detection component, this invention allows for on-the-spot application of smears and crack depth measurements based on the actual working surface conditions, improving work efficiency and obtaining more accurate data. Attached Figure Description

[0033] Figure 1a This is a schematic diagram of the structure of the surveying robot using quadcopter vector drive provided by the present invention;

[0034] Figure 1b for Figure 1a Schematic diagram of the central support structure;

[0035] Figure 2a This is a schematic diagram of the structure of the surveying robot with dual-rotor vector drive provided by the present invention;

[0036] Figure 2b for Figure 2a Schematic diagram of the central support structure;

[0037] Figures 3-4 This is a schematic diagram of the image acquisition component.

[0038] Figure 5 This is a schematic diagram of the laser mapping component.

[0039] Figure 6 This is a schematic diagram of the ultrasonic detection assembly with the medium output head in the second position.

[0040] Figure 7 for Figure 6 A sectional view;

[0041] Figure 8 A schematic diagram of the ultrasonic detection assembly with the medium output head in the first position;

[0042] Figure 9 Exploded view of the supply unit;

[0043] Figure 10 This is a schematic diagram of the static adsorption component.

[0044] Figure 11a for Figure 10 A schematic diagram of the static adsorption component with the first housing open;

[0045] Figure 11b This is a cross-sectional view of the static adsorption assembly;

[0046] Figure 11c This is a schematic diagram of the structure in which the second shell mates with the support.

[0047] Figure 12 Structure diagram of lifting driving mechanism;

[0048] Figure 13 Structure diagram of Figure 12 Structure diagram of center differential mechanism;

[0049] Figure 14 Sectional view of survey robot omitting support body;

[0050] Figure 15 Structure diagram of Figure 14 Enlarged view of A in the middle;

[0051] Figure 16 Explosion diagram of pressure relief valve;

[0052] Figure 17 Structure diagram of suction cup;

[0053] Figures 18-19 Structure diagram of rotor assembly;

[0054] Figure 20 Structure diagram of walking wheel;

[0055] Figure 21 Structure diagram of Figure 20 Sectional view of walking wheel in the middle.

[0056] Explanation of reference numerals in the drawings is as follows:

[0057] 100, top side; 101, bottom side; 200, survey robot;

[0058] 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;

[0059] 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;

[0060] 3, walking wheel; 31, damping mechanism;

[0061] 4, information collection device; 41, image collection assembly; 411, camera; 412, first camera; 413, second camera; 414, light supplement lamp; 415, ring; 416, spoke; 417, illuminating lamp; 42, laser mapping assembly; 421, holder; 422, laser scanner; 423, support arm; 424, damping component; 43, ultrasonic detection assembly; 431, ultrasonic probe; 4311, spring; 432, moving mechanism; 433, medium output head; 4331, output hole; 434, turnover mechanism; 4341, turnover motor; 4342, movable frame; 4343, microscopic camera; 435, supply device; 4351, cartridge; 4352, discharge hole; 4353, pushing piston; 4354, electric push rod; 436, medium pipeline;

[0062] 5, static adsorption assembly; 51, outer sleeve; 52, cylinder body; 521, outer thread; 53, lifting driving mechanism; 531, motor; 5311, output shaft one; 532, distribution mechanism; 5321, main bevel gear; 5322, secondary 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; 5452, expansion area; 5453, first expansion area; 5454, second expansion area; 5455, first avoiding opening; 5456, second avoiding opening; 546a, sealing ring one; 546b, sealing ring two; 546c, sealing ring three; 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

[0063] 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. 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.

[0064] 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 "disposed on" another component, it can be directly disposed on the other component or there can be a middle component.

[0065] 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 herein is for 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.

[0066] The application provides a survey robot for multi-type information collection, comprising:

[0067] A support body 1 having opposite top and bottom sides 100 and 101;

[0068] A vector rotor system comprising 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;

[0069] Walking wheels 3 arranged on the bottom side 101 of the support body 1, the walking wheels 3 being used for walking on a working surface;

[0070] An ultrasonic detection assembly 43 being mounted to the support body 1 in a liftable manner;

[0071] A laser mapping assembly 42, a holder 421 being mounted on the support body 1, the laser mapping assembly 42 being mounted to the holder 421;

[0072] An image acquisition assembly 41 being arranged on the support body 1.

[0073] For field operation sites such as culverts and reservoir dams, especially in the case of vertical surface operation and possible large building defects on the working surface, the traditional unmanned aerial vehicle cannot meet the requirements in terms of endurance and stability of spatial posture during information collection. Although some existing technologies disclose the 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 method and the hardware requirements of the walking mechanism. In terms of providing vector power itself, it can be achieved through the attitude of the rotor assembly 2 itself and the mutual cooperation between multiple sets, and conventional technology can also be applied in control.

[0074] 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.

[0075] Reference Figures 1a-2bThe 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.

[0076] 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.

[0077] 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.

[0078] 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:

[0079] The edge rod 161 is arranged around the rectangular area;

[0080] The inner side rod 162 connects two annular portions 14 on the same side of the rectangular area to each other.

[0081] The wheel seat 15 is four, which protrudes outwardly at the four corners of the rectangular area and is connected with the annular portion 14 at the corresponding position.

[0082] As a preferred simplification and taking into account the total amount of the mounted equipment, the rotor assembly 2 can also adopt two sets.

[0083] 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.

[0084] Specifically, the center connecting line of the two annular portions 14 is a reference line, and each annular portion 14 is connected with two wheel seats 15 and located on both sides of the reference line.

[0085] Reference Figures 3-9 The image acquisition assembly 41 comprises a mounting frame connected to the support body 1, a camera 411 and a light supplement lamp 414 mounted on the mounting frame; the camera 411 is used to shoot acquisition images; the mounting frame comprises a plurality of spokes 416 and a ring member 415, the top ends of the plurality of spokes 416 converge at the same position and are fixedly connected with the camera 411, the bottom ends extend outwardly while bending downwardly until being fixed with the support body 1; the ring member 415 is below the camera 411 and connects all the spokes 416; the light supplement lamp 414 is mounted on the ring member 415 and is arranged at intervals at the projection position of the camera 411 to project light to the working surface. A lighting lamp 417 is also mounted on the support body 1 to provide illumination in the forward direction.

[0086] The camera 411 can adopt one or more, and the resolution of a single camera 411 is 20 million pixels or higher, the shooting area is 0.12-0.24 m2, the minimum resolution is 0.01 mm, the seam measurement accuracy is 0.01 mm, the minimum exposure time is 10 ms, the motion image acquisition speed is up to 2 m / s, and multiple cameras 411 can be combined.

[0087] In the embodiment, the camera 411 comprises a first camera 412 arranged higher than the top end of the spoke 416 and a second camera 413 arranged lower than the top end of the spoke 416, wherein the first camera 412 is used to shoot the overall external working surface (in the embodiment, the first camera 412 is specifically a binocular camera, and a distance sensor for measuring the distance of obstacles, the movement distance and assisting the positioning of the system is arranged at the position), and the second camera 413 is used to shoot the real-time working surface of the survey robot 200.

[0088] The binocular camera can be installed on the mounting frame through a rotating holder and can be rotated to a suitable shooting angle as needed. Of course, in order to avoid the problem of image noise caused by insufficient illumination, the bottom surface of the ring member 415 is provided with a ring-shaped light supplement lamp 414 for providing illumination for the second camera 413, and the light supplement lamp 414 is specifically a fluorescent lamp. In order to further enhance the shooting effect, the plurality of spokes 416 surround to form a hemispherical space, the second camera 413 is at the top of the ball, and the fluorescent lamp is in the hemispherical space, and the hemispherical space is open to the working surface. The outer periphery of the hemispherical space is closed by a light-shielding cloth (such as a photography black cloth) mounted on the mounting frame, which can form a nearly closed shooting space in the working surface area shot by the second camera 413, and cooperate with the light supplement effect of the fluorescent lamp, so that the image acquisition effect can be greatly improved, and the effects of image splicing and feature recognition of building defects in the image in the later stage are guaranteed.

[0089] Similarly, in order to ensure the light intensity of the first camera 412, the projection position of the side of the ring-shaped part 45 towards the first camera 412 is also provided with a light supplement lamp 414 (for example, an LED lamp).

[0090] The laser mapping assembly 42 comprises a laser scanner 422 mounted on the holder 421 for mapping a three-dimensional space.

[0091] The information collected by the laser scanner 422 can be processed to obtain three-dimensional shape data of the periphery of the working face, and a three-dimensional model can be established accordingly. After modeling, the image obtained by the image acquisition assembly 41 can be used for texture rendering to vividly express the working face.

[0092] The bottom of the holder 421 is provided with a plurality of support arms 423. In the embodiment, the number of support arms 423 is four, and the support arms 423 are substantially X-shaped. In order to make the laser scanner 422 more stable during mapping, the bottom end of each support arm 423 is connected to the bottom frame 12 of the support body 1 through a damping component 424 (for example, a damping pad). Specifically, the bottom end of the support arm 423 is provided with a threaded hole, and during installation, a bolt is sequentially threaded through the threaded hole, the damping component 424, and the bottom frame 12 of the support body 1 to be fixedly connected.

[0093] When the surveying robot 200 encounters an obstacle, the damping component 424 can greatly alleviate the vibration of the support arm 423, achieving a good damping effect. The damping component 424 can also filter the vibration from the rotor. The laser scanner 422 can adopt existing technology and can be rotated to a suitable angle according to actual shooting needs to map a three-dimensional space.

[0094] For ease of understanding, the first position of the following embodiment is X1, and the second position is X2. The ultrasonic detection assembly 43 can be used to measure the depth of cracks on the working face. As for the installation position, the ultrasonic detection assembly 43 can be directly installed on the support body 1, and of course can also be arranged on other components, that is, integrated with other assemblies and indirectly installed on the support body 1.

[0095] The ultrasonic detection assembly 43 comprises:

[0096] The ultrasonic probes 431 are arranged in pairs and the distance between the pairs can be adjusted;

[0097] The moving mechanism 432 drives the relative movement of the ultrasonic probes 431 between the pairs;

[0098] The medium output head 433 is used to provide a working medium to the ultrasonic probes 431.

[0099] The ultrasonic detection assembly 43 can automatically apply the working medium, compared with the traditional manual application, the application can apply the survey at any time according to the actual working face, and the working efficiency is improved.

[0100] The same as the ultrasonic probe 431, one probe transmits the detection signal, and the other probe receives the returned signal, the relative position of the two probes can be adjusted, so that detection can be carried out at different relative positions, and more accurate data can be obtained.

[0101] According to different connection modes of the ultrasonic detection assembly 43 and the support body 1, in the preferred mode, the ultrasonic probe 431 can also be lifted relative to the support body 1 to adjust the distance from the working face.

[0102] The moving mechanism 432 includes a moving motor and a ball screw nut pair, the moving motor is connected with the ultrasonic probe through the ball screw nut pair, and the moving motor drives the ultrasonic probe 431 between the two probes to move relatively through the ball screw nut pair. In order to facilitate operation, the independent probe in each pair of ultrasonic probes 431 is independently provided with a moving mechanism 432 and a corresponding medium output head 433.

[0103] The medium 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 the medium output head 433 supplies the working medium to the ultrasonic probe 431, the position can be changed to avoid the ultrasonic probe 431, for example, the medium output head 433 is installed on the support body 1 through the turnover mechanism 434, the turnover mechanism 434 includes a turnover motor 4341 and a movable frame 4342, the output shaft of the turnover motor 4341 is linked with the movable frame 4342, the medium output head 433 is fixed to the movable frame 4342 and is communicated with the supply device 435 through the medium pipeline 436. The turnover angle of the turnover mechanism 434 is the rotation angle between the first position and the second position, which can be set according to the requirement, and in the embodiment, the turnover angle is 180°.

[0104] The ultrasonic detection assembly 43 further includes a supply device 435 for providing the working medium to the medium output head 433, and the supply device 435 outputs the working medium. The medium output head 433 is disc-shaped and has an output hole 4331 in the middle for communication with the medium pipeline 436, and the supply device 435 outputs the working medium to the medium output head 433 through the output hole 4331.

[0105] The supply device 435 includes:

[0106] The barrel 4351 is used to store the working medium, the first end of the barrel 4351 is closed and has a discharge hole 4352, and the discharge hole 4352 is communicated with the medium output head 433 through the medium pipeline 436;

[0107] A pushing piston 4353 is slidingly fitted in the barrel 4351;

[0108] An electric pushing rod 4354 is connected to the pushing piston 4353 and extends out of the second end of the barrel 4351.

[0109] Specifically, the ultrasonic detection assembly 43 uses the supply device 435 to push the working medium in the barrel 4351 to the medium output head 433 through the electric pushing rod 4354, and then uses the turnover mechanism to turn the medium output head 433 in the second position to the first position to apply the working medium to the ultrasonic probe 431. Then the turnover mechanism works again to turn the medium output head 433 in the first position to the starting position (i.e. the second position), at which time the ultrasonic probe 431 formally works.

[0110] The ultrasonic detection assembly 43 further comprises a microscopic camera 4343 arranged at a position intermediate to the ultrasonic probe 431 and capable of microscopic photographing of the crack, with a resolution accuracy of 0.005 mm. The ultrasonic probe 431 has a spring 4311 inside, which can buffer and protect when in contact with the working surface, and can also adapt to the ruggedness of the working surface.

[0111] Reference Figures 10-17 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 adsorption assembly 5, which can be fixed to the working surface by vacuum adsorption. When the survey robot 200 is adsorbed and fixed to the working surface, the data obtained is more accurate, and even the rotor can be stopped to work for energy saving and noise filtering during long-term operation.

[0112] The rotor will produce 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 static adsorption assembly 5 must be used to adsorb the survey robot 200 to the working surface first, then the rotor is stopped to work, and finally the ultrasonic detection assembly 43 starts to work.

[0113] The static adsorption assembly 5 comprises: a barrel 52 movably mounted to the support body 1; a lifting drive mechanism 53 mounted to the support body 1 and linked with the barrel 52 to drive the barrel 52 to lift relative to the support body 1; a suction cup 54 fixed to the bottom of the barrel 52; and a vacuum pump 55 connected to the suction cup 54 through a pipeline.

[0114] In specific operation, the suction cup 54 is lowered to adhere to the working surface, and the vacuum pump 55 draws out the gas between the suction cup 54 and the working surface through the pipeline until a preset vacuum degree is reached. Of course, in order to enable the suction cup 54 to be adsorbed to the working surface stably for a long time, the vacuum pump 55 also has the function of automatic pressure compensation, which can detect the change of the vacuum degree through a detection sensor to keep the vacuum state at all times.

[0115] In consideration of the uniformity of the overall load of the survey robot 200 and the smooth switching of the state of the robot after the release of adsorption, each rotor assembly 2 is arranged on the outer periphery of the static adsorption assembly 5 as a whole.

[0116] The two sets of barrels 52 can be synchronously lifted under the action of the lifting driving mechanism 53, thereby maintaining the stability of lifting and the necessary structural strength.

[0117] The vacuum pump 55 is between the top portions of the two barrels 52. In order to play a protective role such as dust prevention, an outer sleeve 51 can be covered on the outer periphery of the top portion of each barrel 52. The top portion of the outer sleeve 51 and the periphery of the vacuum pump 55 are provided with a first shell 56. The first shell 56 can not only protect the components inside, but also achieve the effect of noise reduction.

[0118] When the rotor assembly 2 is four sets, the lower portion of the first shell 56 is provided with a second shell 58. The lifting driving mechanism 53 is located in the second shell 58 and between the two barrels 52. The barrel 52 extends 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 bridge arms 581 is four. One end is connected to the second shell 58, and the other end is connected to the corresponding direction of the annular portion 14.

[0119] 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 on the top surface of the second shell 58.

[0120] When the rotor assembly 2 is two sets, the lifting driving mechanism 53 is located between the top frame 11 and the bottom frame 12 and between the two barrels 52. The barrel 52 extends downward out of the bottom frame 12. In this embodiment, the control mainboard 57 of the survey robot 200 is located between the top frame 11 and the bottom frame 12. In order to facilitate fixation, the vacuum pump 55 is directly fixed on the top surface of the top frame 11. The gyroscope, distance sensor and the like carried by the survey robot 200 itself can be integrated and installed on the control mainboard 57.

[0121] The lifting driving mechanism 53 comprises a motor 531, a transfer mechanism 532 which is linked with the motor 531 and has two output shafts 5325, each of which is fixed with a driving gear 533, and two gear rings 534 which are respectively rotatably sleeved on the outer periphery of the barrel 52 and are respectively engaged with the corresponding driving gear 533. The inner periphery of each gear ring 534 is threadedly connected with the corresponding barrel 52.

[0122] The end surface of the gear ring 534 in the axial direction is provided with a gear 535, and the gear 535 is engaged with the corresponding driving gear 533.

[0123] The distributing mechanism 532 can realize synchronous movement of the two sleeves 52 driven by the same motor 531, and the distributing mechanism 532 comprises:

[0124] a main bevel gear 5321 fixed to the output shaft one 5311 of the motor 531;

[0125] two auxiliary bevel gears 5322 respectively engaged with the main bevel gear 5321 and located at two sides of the main bevel gear 5321, and each auxiliary bevel gear 5322 is fixed with an intermediate shaft 5323,

[0126] two output shafts two 5325 respectively connected with the corresponding intermediate shaft 5323 through a universal joint 5324.

[0127] In specific work, the motor 531 drives the main bevel gear 5321 to rotate, and the two auxiliary 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 at the outer periphery of the sleeve 52.

[0128] The sleeve 52 is provided with external threads 521, the gear ring 534 is provided with internal threads and cooperates with the external threads 521, so as 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.

[0129] 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, 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.

[0130] 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.

[0131] 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.

[0132] 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 pipeline winding and can provide additional stable guidance.

[0133] After the work is completed, when the vacuum is released, the pressure relief valve 543 can be opened, the pressure relief valve 543 comprises: a sealing sleeve 5431 fixed to the edge of the pressure relief port 542; a valve core 5432 matched with the sealing sleeve 5431; 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 the pressure relief gap; an elastic member 5434 acting on the valve rod 5433 to drive the valve core 5432 to seal with the sealing sleeve 5431; an electromagnetic drive assembly acting on the valve rod 5433 to drive the valve core 5432 to separate from the sealing sleeve 5431 to release pressure.

[0134] The end face of the sealing sleeve 5431 has an annular flange 5435, in the sealing state, the valve core 5432 cooperates with the end face of the sealing sleeve 5431 and tightly abuts the flange 5435, when pressure relief is needed, the electromagnetic drive assembly drives the valve rod 5433 to move downward, at this time, the valve core 5432 is separated from the end face of the sealing sleeve 5431, the gas enters from the pressure relief gap, the suction cup 54 and the working surface restore normal pressure, and 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.

[0135] 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 abutment 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.

[0136] The suction cup 54 comprises:

[0137] The base plate 545 is installed on the support body 1 in a lifting manner, 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;

[0138] The sealing assembly comprises a plurality of sealing rings arranged inside and outside, which are used to abut and seal 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 a vacuum cavity is formed in the cover structure when it cooperates with the working surface.

[0139] 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 in turn, which are sealing ring one 546a, sealing ring two 546b and sealing ring three 546c, and the height of the bottom surface of each sealing ring from the working surface decreases in turn. The outermost one contacts the working surface first, and the other two are the same.

[0140] The height of the outermost sealing ring 546c is 2.5-3 cm, the height of the middle sealing ring 546b is 1.3-1.7 cm, and the height of the inner sealing ring 546a is 0.75-1.25 cm. As a preferred, the width of the three sealing rings is gradually widened from inside to outside, and the sealing ring 546c and the sealing ring 546b can be made of foaming material.

[0141] In order to facilitate the integration of other components and provide hardware utilization, the bottom surface of the substrate 545 is provided with an extension area 5452 extending to the outside of the sealing assembly, and other components such as the ultrasonic probe 431 can be installed to the corresponding extension area 5452.

[0142] The substrate 545 has a length direction, and the two barrels 52 are arranged along the length direction in sequence.

[0143] The extension area 5452 at least includes a first extension area 5453 and a second extension area 5454, and the two extension areas 5452 are respectively arranged on the two sides of the sealing assembly along the length direction.

[0144] The ultrasonic probe 431 of the present application can be installed in the above-mentioned static adsorption assembly 5, specifically, the ultrasonic detection assembly 43 is installed in the extension area 5452 (the first extension area 5453), wherein the same pair of ultrasonic probes 431 are slidingly installed relative to the substrate 545, the extension area 5452 is provided with a first avoiding opening 5455, the position of the ultrasonic probe 431 corresponds to the first avoiding opening 5455, and the ultrasonic probe 431 extends out of the first avoiding opening 5455 downward.

[0145] The top surface of the substrate 545 is provided with a third housing 5451, the moving mechanism 432 is arranged in the third housing 5451 to drive the ultrasonic probe 431 to slide, the spacing adjustment direction of the two ultrasonic probes 431 is the width direction of the substrate 545, and the supply device 435 is installed in the first housing 56 and arranged on the top surface of the two outer sleeves 51.

[0146] Reference Figures 19-20 The vector rotor system is used to provide power for the walking, flying, and obstacle crossing of the survey robot 200, and in order to facilitate understanding, the first axis and the second axis involved in the following embodiment rotor assembly 2 are specifically the L1 direction and the L2 direction.

[0147] The rotor assembly 2 comprises: a first turnover frame 21 rotatably installed on the annular part 14 about a first axis; a first steering engine 22 acting between the annular part 14 and the first turnover frame 21; a second turnover frame 23 rotatably installed on the first turnover frame 21 about a second axis perpendicular to the first axis; a second steering engine 24 acting between the second turnover frame 23 and the first turnover frame 21; a main motor 25 installed on the second turnover frame 23; and a paddle 26 installed on the output shaft of the main motor 25.

[0148] The first steering engine 22 and the second steering engine 24 can respectively drive the first overturning frame 21 and the second overturning 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 kept constant to simplify the mode control and form switching.

[0149] In the embodiment, the main motor 25 is installed at the middle position of the second overturning 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.

[0150] The first overturning 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 overturning frame 23 is a strip, and the two ends of the strip in the length direction are respectively installed on the first overturning frame 21 through the second pivot 29. The second steering engine 24 is installed on the second overturning frame 23 and is linked with at least one second pivot 29.

[0151] The first pivot 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 overturning 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.

[0152] The survey robot 200 is internally provided with sensing devices (such as a gyroscope, a distance sensor, etc.), which are used to sense the current posture and relative position. When an obstacle surface with an obvious angle (such as a right-angle surface, an inverse slope, etc.) is encountered, the real-time information or historical data collected can be used for identification, and the sensing devices can provide real-time feedback when full vector control of the rotor is performed. When obstacles are 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.

[0153] When the control method provided in the application is implemented by the robot, 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.

[0154] In the 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 obstacle. After landing after flying over the obstacle, the climbing mode is switched. The survey robot 200 of the embodiment can automatically adjust the angle of the blades 26 according to the angle of the position, so that it can smoothly move freely in the current environment.

[0155] Reference Figures 20-21 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 advantages of operation route planning and operation walking.

[0156] According to the distribution of the wheel seats 15, the walking wheels 3 can be configured with 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 the damper in the prior art, and can also use a combination of various ways, such as air damping and mechanical spring. 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.

[0157] It should be understood that although the steps in the embodiments of the application are sequentially described, these steps are not necessarily sequentially executed in the order of description. Unless otherwise stated herein, the execution of these steps has no strict order limitation, and these steps can be executed in other orders. Moreover, at least part of the steps can include multiple sub-steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution order of these sub-steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least part of other steps or sub-steps or stages of other steps.

[0158] Any combination of the technical features in the above-described embodiments can be made, and for the sake of brevity, not all possible combinations are described, however, it is to be understood that the scope of protection includes all possible combinations of the technical features described herein. Technical features in different embodiments can be embodied in the same drawing when they are in the same drawing, and it can be considered that the drawing also discloses the combination of each embodiment involved.

[0159] The above-described 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 pointed out that for ordinary skilled persons in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of protection of the present application.

Claims

1. A surveying robot for collecting multiple types of information, characterized in that, include: Support structure; The vector rotor system includes at least two sets of rotor assemblies, each rotor assembly being mounted on a support and providing vector power to the support; The traveling wheels are arranged on the support body and are used to travel on the working surface; A static adsorption component is mounted on a support body and can rise or fall relative to the support body. The static adsorption component can fix the survey robot to the working surface by vacuum adsorption. The working surface is a building surface in the field where vertical operations are involved and there are large building defects. An ultrasonic detection assembly, wherein the ultrasonic detection assembly is mounted on a support body in a height-adjustable manner; A laser mapping component, wherein the laser mapping component is mounted on a gimbal, and the gimbal is mounted on a support body; An image acquisition component is disposed on a support. The static adsorption assembly includes a suction cup mounted on a support body that can rise or fall relative to the support body. The suction cup is connected to a vacuum pump, and the suction cup fixes the survey robot to the working surface by vacuum adsorption. A base plate is mounted on the suction cup. The ultrasonic detection assembly includes ultrasonic probes arranged in pairs with adjustable spacing between them. The ultrasonic probes are integrated into the base plate, and the ultrasonic probes in the same pair are slidably mounted relative to the base plate. The substrate has a first clearance opening, and the ultrasonic probe corresponds to the first clearance opening and extends downward from the first clearance opening; the top surface of the substrate is covered with a third housing, and a moving mechanism is set on the substrate inside the third housing. The ultrasonic probe is connected to the moving mechanism, and the moving mechanism drives the ultrasonic probes of the same pair to move relative to each other.

2. The surveying robot for collecting multiple types of information according to claim 1, characterized in that, Each pair of ultrasonic probes is independently configured with a corresponding medium output head. The medium output head is used to provide working medium to the ultrasonic probe. The medium output head cooperates with the ultrasonic probe through a flipping mechanism. The medium output head has a first position adjacent to the ultrasonic probe and a second position away from the ultrasonic probe. The medium output head and the flipping mechanism are integrated in the substrate.

3. The surveying robot for collecting multiple types of information according to claim 2, characterized in that, The flipping mechanism includes a flipping motor and a movable frame. The output shaft of the flipping motor is rotatably connected to the movable frame, and the medium output head is fixed on the movable frame.

4. The surveying robot for acquiring multiple types of information according to claim 2, characterized in that, The medium output head is connected to the supply device via a medium pipeline. The supply device is fixed on the support frame. The supply device includes: A barrel for storing a medium, the first end of the barrel being closed and having a discharge port, the discharge port being connected to a medium output head via a medium pipeline; A pusher piston, which is slidably fitted with a material cylinder; An electric push rod is connected to a pusher piston and extends outward to the second end of the material cylinder.

5. The surveying robot for acquiring multiple types of information according to claim 1, characterized in that, The moving mechanism includes a moving motor and a ball screw and nut pair. The moving motor is connected to the ultrasonic probe through the ball screw and nut pair, and the moving motor drives the ultrasonic probes of the same pair to move relative to each other through the ball screw and nut pair.

6. The surveying robot for acquiring multiple types of information according to claim 1, characterized in that, The laser mapping component includes a laser scanner mounted on a pan-tilt unit for mapping three-dimensional space.

7. The surveying robot for acquiring multiple types of information according to claim 1, characterized in that, The image acquisition component is connected to a support frame, on which a camera and a fill light are mounted. The camera is used to capture images. The mounting frame includes multiple spokes and an annular component. The tops of the spokes converge at the same position and are fixedly connected to the camera. The bottoms extend outwards and bend downwards until they are fixed to the support. The annular component is located below the camera and connects all the spokes. The fill light is mounted on the annular component to project light onto the work surface.

8. The control method for a surveying robot for acquiring multiple types of information as described in any one of claims 1 to 7, characterized in that, The surveying robot moves between multiple work positions. When it reaches a predetermined work position, it uses information acquisition equipment to collect information data of the work surface. During the acquisition process, it maintains its current work position in a climbing mode.

Images