All-vector survey cluster system and control method thereof

Abstract

The application discloses a full-vector survey cluster system and a control method of work of the full-vector survey cluster system. The full-vector survey cluster system comprises multiple robots, wherein the multiple robots comprise a survey robot and at least one negative cable robot; the survey robot and the negative cable robot each comprise: a support body having opposite top and bottom sides; a 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; and walking wheels arranged on the bottom side of the support body and used for walking cooperation with a working surface; the survey robot further comprises an information acquisition device installed on the support body and used for acquiring information data related to the working surface; and the negative cable robot further comprises a support base, and the survey robot and the negative cable robot are powered and communicated via a cable loaded on the support base in a working state. The full-vector survey cluster system can perform surface defect detection work on a natural building or an artificial building on the ground.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot technology, in particular to a full-vector survey cluster system and a control method thereof. BACKGROUND

[0002] The flight unmanned aerial vehicle technology continues to develop in the contemporary and is widely used in aerial detection, on-site investigation, ground building detection, special operation, etc. The conventional flight unmanned aerial vehicle can detect defects on the building surface. For example, the patent document with the publication number CN114379777B discloses a tilting rotor unmanned aerial vehicle structure and a working method thereof. The multi-rotor unmanned aerial vehicle can enhance the adaptability and flexibility of the unmanned aerial vehicle in moving control through the vector control of the tilting rotor.

[0003] However, when facing a larger working area, the power carried by the unmanned aerial vehicle cannot guarantee long-term endurance, and its working and communication capabilities are difficult to meet the demand due to the limitation of the load capacity.

[0004] Furthermore, the flight unmanned aerial vehicle has a very low working efficiency in a single machine mode. In the initial surveying and mapping or subsequent inspection process, the excessive sortie of the single machine increases the difficulty of logistics support. Further, even if multiple unmanned aerial vehicles work simultaneously, they are generally independently operated after planning. The synchronization and coordination of multiple unmanned aerial vehicles are not high. SUMMARY

[0005] The present application provides a full-vector survey cluster system and a control method thereof, which can implement investigation and surveying in special scenarios.

[0006] The full-vector survey cluster system of the present application comprises multiple robots, characterized in that the multiple robots comprise a survey robot and at least one negative cable robot, and the survey robot and the negative cable robot each comprise:

[0007] a support body;

[0008] a vector rotor system, the vector rotor system comprising at least two sets of rotor assemblies, and each set of rotor assembly is installed on the support body and used to provide vector power for the support body;

[0009] a walking wheel, the walking wheel being arranged below the support body, and the walking wheel being used to walk on a working surface;

[0010] an information collection device, the information collection device being installed on the support body, and the information collection device being used to collect information data related to the working surface;

[0011] The negative cable robot further comprises a cable rack mechanism, the cable rack mechanism being arranged on the support body, and the survey robot and the negative cable robot being powered and communicated via the cable loaded on the cable rack mechanism in a working state.

[0012] Optionally, the information collection device comprises a laser mapping assembly, an image collection assembly, an ultrasonic detection assembly, or a combination thereof.

[0013] The laser mapping assembly comprises:

[0014] a holder, the holder being arranged on the support body;

[0015] a laser scanner, the laser scanner being mounted on the holder, the laser scanner being used to map a three-dimensional space and acquire three-dimensional form data of the working face;

[0016] The image collection assembly comprises:

[0017] a camera, the camera being arranged on the support body and located between the two adjacent sets of rotor assemblies, the camera being used to capture images of the working face, the images captured by the camera being used to construct a two-dimensional form map of the working face;

[0018] a light supplement lamp, the light supplement lamp being arranged on the support body, the light supplement lamp being used to project light onto the working face;

[0019] The ultrasonic detection assembly comprises:

[0020] an ultrasonic probe, the ultrasonic probe being arranged on the support body, the ultrasonic probe being arranged in pairs, the distance between the same pair of ultrasonic probes being adjustable;

[0021] a moving mechanism, the moving mechanism being connected to the ultrasonic probe, the moving mechanism being used to drive the same pair of ultrasonic probes to move relative to each other;

[0022] a medium output head, the medium output head being mounted on the support body, the medium output head being in communication with a supply device mounted on the support body through a medium pipeline, the medium output head being used to supply working medium to the ultrasonic probe.

[0023] Optionally, the cable rack mechanism comprises:

[0024] a support, the support being fixed to the support body, part of the structure in the support being arranged as a tubular structure, the inside of the tubular structure serving as a guide groove, the cable being movably arranged in the guide groove;

[0025] a cable clamping wheel, the cable clamping wheel being arranged in pairs, the cable clamping wheel being mounted on the support, the cable clamping wheel being used to clamp and drive the cable to move along the guide groove;

[0026] a cable clamping motor, the cable clamping motor being mounted on the support, the cable clamping motor being connected to the cable clamping wheel to change the length of the cable between the negative cable robot and the adjacent robot.

[0027] Optionally, the end of the tubular structure is provided with a connecting sleeve, and a pressure sensor is arranged on the connecting sleeve.

[0028] Optionally, the support is provided with a swing frame, and among the pair of clamping wheels, one is a driven wheel and is rotatably installed on the support, and the other is a driving wheel and is rotatably installed on the swing frame.

[0029] The swing frame and the support are provided with an elastic member to limit the swing frame in the first state or the second state.

[0030] The first state: the elastic member drives the driving wheel to approach the driven wheel and clamps the cable;

[0031] The second state: the driving wheel is away from the driven wheel, and the swing frame abuts against the support to limit.

[0032] Optionally, the cable robot further comprises:

[0033] Two winding wheels, the two winding wheels are respectively installed on the support body, and the cable extending into the tubular structure is arranged in the corresponding winding wheel;

[0034] Two winding motors, the two winding motors independently drive a corresponding winding wheel.

[0035] The application also provides a control method based on a full-vector survey cluster system operation, characterized by adopting the full-vector survey cluster system in any one of the above aspects, and the control method comprises:

[0036] Constructing a working face map;

[0037] A plurality of robots march in a queue, when reaching a predetermined working position in the working face map, image information of the current working position is collected by an information collection device and surface feature recognition is performed, and the robot is kept at the current working position in a climbing mode during the information collection process;

[0038] According to the recognition result, corresponding processing is performed.

[0039] Optionally, the working face map comprises:

[0040] The robot reaches a specified origin position, moves to a reference point along a predetermined coordinate axis, obtains a connecting line between the origin and the reference point, corresponds the connecting line to the working face map, calculates the direction of another coordinate axis and the coordinate system formed by the two coordinate axes, constructs the working face and the coordinate system of the working face map.

[0041] The working surface is divided into several rectangular sub-regions in the coordinate system according to the predetermined side length, and the movement path within the sub-region is planned.

[0042] The robot queue moves between multiple work positions along the motion path, and when it reaches the predetermined work position, it uses information acquisition equipment to collect image information data and three-dimensional shape data of the work surface.

[0043] During the traversal of the working surface, 3D modeling is performed using the obtained 3D morphological data to obtain a 3D model.

[0044] After traversing the working surface, the obtained image information is stitched together to obtain a two-dimensional working surface map;

[0045] Finally, the two-dimensional working surface map is fitted to the three-dimensional model to obtain the three-dimensional working surface map.

[0046] Optionally, the control method includes inspection of the work surface, which includes: the robot confirming its current position; and the robot identifying and marking building defects on the work surface map.

[0047] Optionally, when multiple robots are moving in a queue, the cable-carrying robot collects the pressure signal of the cable relative to the cable frame mechanism, and adjusts the cable winding and unwinding operation of the cable frame mechanism and / or the vector power provided by the rotor assembly according to the pressure signal, thereby adjusting the robot's moving speed or orientation.

[0048] The full-vector survey cluster system and its operation control method of the present invention have at least the following technical effects:

[0049] The full-vector survey cluster system of this invention can perform ground building detection, special operations, and surface defect detection of natural or artificial buildings. It has strong endurance and anti-interference capabilities and can handle complex natural environments such as large areas, high magnetic fields, and no signal. Attached Figure Description

[0050] Figure 1 This is a schematic diagram of the structure of a full-vector survey cluster system;

[0051] Figure 2 for Figure 1 A schematic diagram of the structure of the medium-load cable robot opening the first housing;

[0052] Figure 3 for Figure 2 Enlarged view of B in the middle;

[0053] Figure 4 This is a schematic diagram of the swing frame in its second state.

[0054] Figure 5 for Figure 1Cross-sectional view of the medium-load cable robot;

[0055] Figure 6 This is a schematic diagram of the structure of the surveying robot using quadcopter vector drive provided by the present invention;

[0056] Figure 7 for Figure 6 Schematic diagram of the central support structure;

[0057] Figure 8 This is a schematic diagram of the structure of the surveying robot with dual-rotor vector drive provided by the present invention;

[0058] Figure 9 for Figure 8 Schematic diagram of the central support structure;

[0059] Figure 10-11 This is a schematic diagram of the rotor assembly.

[0060] Figure 12-13 This is a schematic diagram of the image acquisition component.

[0061] Figure 14 This is a schematic diagram of the laser mapping component.

[0062] Figure 15 This is a schematic diagram of the ultrasonic detection assembly with the medium output head in the second position.

[0063] Figure 16 for Figure 15 A sectional view;

[0064] Figure 17 A schematic diagram of the ultrasonic detection assembly with the medium output head in the first position;

[0065] Figure 18 Exploded view of the supply unit;

[0066] Figure 19 This is a schematic diagram of the walking wheel structure;

[0067] Figure 20 for Figure 19 A cross-sectional view of the central traveling wheel;

[0068] Figure 21 This is a schematic diagram of the static adsorption component.

[0069] Figure 22 for Figure 17 A schematic diagram of the static adsorption component with the first housing open;

[0070] Figure 23 This is a cross-sectional view of the static adsorption assembly;

[0071] Figure 24Structure diagram of the second shell and the support body fitting together;

[0072] Figure 25 Structure diagram of the lifting driving mechanism;

[0073] Figure 26 Structure diagram of the Figure 25 Structure diagram of the intermediate gear mechanism;

[0074] Figure 27 Sectional view of the survey robot without the support body;

[0075] Figure 28 Structure diagram of the Figure 27 Enlarged view of the middle A;

[0076] Figure 29 Explosion diagram of the pressure relief valve;

[0077] Figure 30 Structure diagram of the suction cup;

[0078] Figure 31 Structure diagram of the cleaner in the third shell;

[0079] Figure 32-33 Structure diagram of the cleaner;

[0080] Figure 34 Sectional view of the survey robot without the support body;

[0081] Figure 35 Structure diagram of the Figure 34 Enlarged view of the middle C;

[0082] Figure 36 Flowchart of the operation control method based on the full-vector survey cluster system in the present application;

[0083] Figures 37a-37c Implementation process diagram of the control method in the present application;

[0084] Figure 38 Flowchart of the rescue control method based on the robot cluster system in the present application Figure 1 ;

[0085] Figure 39 Flowchart of the rescue control method based on the robot cluster system in the present application Figure 2 ;

[0086] Figures 40-42 Implementation process diagram of the rescue control method of the robot cluster system;

[0087] Figure 43 Flowchart of the building structure spanning method based on the robot cluster system in the present application;

[0088] Figures 44-46 An implementation process schematic diagram for implementing the building structure spanning method of the robot cluster system;

[0089] Figure 47 A flowchart of the shaft hole detection method in the present application;

[0090] The reference signs in the drawings are explained as follows:

[0091] 100, top side; 101, bottom side; 200, survey robot; 201, first active robot; 202, second active robot; 203, passive robot; 204, head robot; 205, intermediate robot; 206, tail robot; 210, working face; 211, working face map; 212, picture; 1, support body; 11, top frame; 12, bottom frame; 13, stand column; 14, annular part; 15, wheel seat; 16, reinforcing rod; 161, edge rod; 162, inner side rod; 17, connecting sleeve; 171, entry side; 172, mounting ear; 18, cable;

[0092] 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;

[0093] 3, walking wheel; 31, damping mechanism;

[0094] 4, information acquisition device; 41, image acquisition assembly; 411, camera; 412, first camera; 413, second camera; 414, light supplement lamp; 415, annular part; 416, spoke; 417, illuminating lamp; 42, laser surveying assembly; 421, holder; 422, laser scanner; 423, supporting arm; 424, damping part; 43, ultrasonic detection assembly; 431, ultrasonic probe; 4311, spring; 432, moving mechanism; 433, medium output head; 4331, output hole; 434, flip mechanism; 4341, flip 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;

[0095] 5, static adsorption assembly; 51, outer sleeve; 52, cylinder; 521, external thread; 53, lifting driving mechanism; 531, motor; 5311, output shaft; 532, differential mechanism; 5321, main bevel gear; 5322, auxiliary bevel gear; 5323, intermediate shaft; 5324, universal joint; 5325, output shaft; 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 port; 5456, second avoiding port; 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 mainboard; 58, second housing; 581, bridge arm;

[0096] 7, cleaner; 71, cleaning motor; 711, guide; 712, brush head; 713, spring; 72, sliding mechanism; 721, sliding motor; 73, guide component; 731, sliding groove;

[0097] 8, full-vector survey cluster system; 81, negative cable robot; 82, cable rack mechanism; 821, support; 8211, guide groove; 8212, avoiding port; 8213, swing rack; 8214, tubular structure; 822, wire clamping wheel; 8221, driving wheel; 8222, driven wheel; 823, wire clamping motor; 824, tension spring; 825, outer gear; 826, coiled section; 831, wire winding wheel; 834, winding motor; 84, wire unwinding mechanism. DETAILED DESCRIPTION

[0098] 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.

[0099] 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.

[0100] 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. The use herein of the terms "and / or" includes a set of one or more associated listed items.

[0101] Reference Figures 1-5 The present application provides a full vector survey cluster system, comprising a survey robot 200 and at least one cable-free robot 81, the survey robot 200 and the cable-free robot 81 each comprising:

[0102] a support body 1 having opposite top and bottom sides 100 and 101; 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; a walking wheel 3 arranged at the bottom side 101 of the support body 1 for walking cooperation with a working surface; the survey robot 200 further comprising an information acquisition device 4 mounted to the support body 1 for acquiring information data related to the working surface; the cable-free robot 81 further comprising a cable rack mechanism 82, the survey robot 200 being powered and communicated via a cable 18 loaded on the cable rack mechanism 82 in a working state.

[0103] The survey robot 200 is mounted with the information acquisition device 4, while the cable-free robot 81 can be optionally mounted with the information acquisition device 4 according to requirements, each cable-free robot 81 needs to carry the cable 18, and is therefore configured with the cable rack mechanism 82.

[0104] The cable rack mechanism 82 comprises: a support 821 fixed to the support body 1, at least a portion of the support 821 being a tubular structure 8214 and having an inner portion as a guide groove 8211, the cable 18 being movably threaded in the guide groove 8211; a cable clamping wheel 822 mounted to the support 821 and clamping and driving the cable 18 to move along the guide groove 8211; and a cable clamping motor 823 mounted to the support 821 and linked with the cable clamping wheel 822.

[0105] When the cable clamping motor 823 is working, the cable clamping wheel 822 is driven to rotate, and at this time, the cable 18 moves along the guide groove 8211 under the action of the cable clamping wheel 822, in the present embodiment, a connection sleeve 17 provided with a pressure sensor is butted against an end of the tubular structure 8214, or the end of the tubular structure 8214 doubles as the connection sleeve 17, and the number of the connection sleeve 17 of each cable-free robot 81 is 2.

[0106] In the embodiment, the clamping wheels 822 are arranged in pairs, and at least one is a driving wheel 8221 connected with the clamping motor 823. In order to facilitate clamping the cable 18, the side wall of the tubular structure is provided with a radial through gap 8212, and the same pair of clamping wheels 822 clamps the cable 18 through the gap 8212 on the corresponding side.

[0107] Specifically, the support 821 is provided with a swing frame 8213, and one of the same pair of clamping wheels 822 is a driven wheel 8222 rotatably installed on the support 821; the other is a driving wheel 8221 rotatably installed on the swing frame 8213; the swing frame 8213 and the support 821 are provided with an elastic element, which drives the driving wheel 8221 to approach the driven wheel 8222 and clamp the cable 18, that is, the swing frame 8213 is in a first state (i.e. F1 position); the swing frame 8213 also has a second state (i.e. F2 position), in which the driving wheel 8221 is away from the driven wheel 8222, and the swing frame 8213 abuts against the support 821 to limit the position.

[0108] The elastic element is a tension spring 824, the two ends of which are connected to the swing frame 8213 and the support 821 respectively, and the tension spring 824 limits the swing frame 8213 in the second state by passing through the dead point. The swing frame 8213 can change state according to actual needs.

[0109] In the embodiment, the clamping motor 823 and the driving wheel 8221 are connected by gear meshing. The two ends of the tubular structure extend to the two opposite sides of the support body 1 respectively, in order to independently control the length of the cable 18 on each side of the robot, the two ends of the tubular structure are respectively provided with a clamping wheel 822 and a clamping motor 823. Further, the middle part of the tubular structure 8214 is provided with an open area or a semi-open area, one segment of the cable 18 extends out of the guide groove 8211 from the part, and the extended part is a coiled segment 826. In order to better coil the cable 18, the cable robot 81 further comprises:

[0110] Two winding wheels 831 are installed on the support body 1, and the cables 18 extending from the two ends of the tubular structure 8214 are respectively wound on one of the winding wheels 831; two winding motors 834 independently drive one of the winding wheels 831, which can adaptively adjust the two side cables 18 of the cable robot 81, making the cluster system more flexible and avoiding the limitation of simultaneous adjustment. Among them, the winding motor 834 and the winding wheel 831 can be connected by conventional gear meshing.

[0111] In order to improve the integration, two winding wheels 831 can also be packaged into the first shell 56, since the top of the outer sleeve 51 in the static adsorption assembly 5 is also in the first shell 56, the embodiment can also set two winding wheels 831 as a cylindrical structure, and the rotating sleeve is arranged on the corresponding outer sleeve 51, and the top edge of the cylindrical structure has outer gear teeth 825, which is driven in a gear meshing manner between the winding motor 834. The cable 18 extending into the tubular structure 8214 is connected to the power consuming components in the negative cable robot 81 after passing through the corresponding winding wheel 831, forming a power consuming circuit.

[0112] In an embodiment, three negative cable robots are connected in series, when crossing a larger span building structure, the two end negative cable robots are anchored to the working surface, and the two winding wheels 831 of the middle negative cable robot move synchronously, one winding relative to the negative cable robot, and the other unwinding relative to the negative cable robot, which can make the middle negative cable robot cross the building structure along the cable. Correspondingly, the survey robot 200 can also be provided with a cable rack mechanism 82 and winding wheels 831 and winding motors 834, and if it is located at the head of the queue, it can only be provided with a set of winding wheels 831 and winding motors 834.

[0113] The survey robot 200 and the negative cable robot 81 are both powered and communicated in a wired manner in the working state. In combination with the present disclosure, the connection sleeve 17 that can detect the slackness or bending of the cable 18 is mounted on the cable rack mechanism 82 of the negative cable robot 81, or is part of the cable rack mechanism 82 (can be considered as indirectly mounted on the support body 1). The cable 18 has a certain self-weight, and the survey robot 200 can only load a limited weight of the cable 18, when the working surface is far away, the negative cable robot 81 can better share the self-weight of the cable 18, improve the overall survey range, of course, the number of negative cable robots 81 can be set according to the demand. In the embodiment, the survey robot 200 and the negative cable robot 81 can respectively adopt four-rotor vector driving or two-rotor vector driving.

[0114] The full-vector survey cluster system 8 (also referred to as cluster system) also includes a cable unwinding mechanism 84, one end of the cable 18 is connected with the survey robot 200, the other end is connected with the cable unwinding mechanism 84, and the negative cable robot 81 is connected in series between the survey robot 200 and the cable unwinding mechanism 84 through the cable 18. The cable unwinding mechanism 84 can automatically wind and unwind the cable 18, which can be realized by existing technology.

[0115] The embodiment of the present application also provides a queue adjustment method based on a robot cluster system, the robot cluster system comprising a plurality of robots working on a working surface and a cable, all the robots being powered and communicated through the cable and being connected to the cable in sequence according to the extension direction of the cable; each robot is fixed with a connecting sleeve, the cable is connected to the corresponding circuit components in the robot after being inserted into the connecting sleeve from outside, and the inner wall of the connecting sleeve is provided with a pressure sensor arranged at the entrance side.

[0116] The queue adjustment method can be implemented in various scenes to realize cooperative work. In the scenes such as corridors, spatial holes and underground caves, the robots can also be provided with searchlights, the spatial positions and orientations of the robots are coordinated through the server, the working robots are directed to light supplement, and the collection of the relevant information data of the working surface is ensured.

[0117] In one embodiment, part of the robots are cable-free robots and are provided with cable storage mechanisms, the cable storage mechanisms implement cable winding or unwinding, the adjustment method comprises that each cable-free robot collects signals from the pressure sensor and adjusts the control of the cable storage mechanism and / or the rotor assembly according to the signals of the sensor. The setting mode and the number of the rotor assembly, the cable storage mechanism, the connecting sleeve and the pressure sensor can be referred to the related embodiments of the cable storage mechanism. For example, when the cables of the two adjacent robots are straightened, loosened or bent, the pressure sensor can provide detection signals, and the speed or orientation of the robot is adjusted appropriately.

[0118] In one embodiment, the adjustment method comprises that each robot collects signals from the pressure sensor and adjusts the moving speed of the robot according to the signals of the sensor. Further, along the extension direction of the cable, the other robot at the entrance side of the current robot is the adjacent robot, and the adjustment of the moving speed of the robot comprises: when the signal of the pressure sensor is greater than a first set value, the moving speed towards the adjacent robot is reduced; and when the signal of the pressure sensor is less than a second set value, the moving speed towards the adjacent robot is increased.

[0119] It can be understood that, as mentioned in the embodiments, the pressure sensor can detect the bending direction of the cable. When a plurality of pressure sensors are arranged circumferentially around the cable, the bending direction of the cable can be sensed, and when the detection signal is greater than a third set value, it is considered that the bending degree of the cable in a certain direction is too large and unnecessary pulling is generated, at this time, the relative moving speed of the two robots or the orientation of the two robots can be adjusted to make the overall moving state of the queue balanced and reduce the pulling of the cable to each other.

[0120] The inner wall of the connecting sleeve can also be provided with a Hall sensor at the entrance side to accurately control the winding and unwinding speed of the cable storage mechanism, so that the moving speed of the robot and the winding and unwinding speed of the cable storage mechanism are matched.

[0121] For the type of robot constituting the full vector survey cluster system, the application provides a vector-driven survey robot 200, comprising: a support body 1 having opposite top side 100 and bottom side 101; a vector rotor system comprising at least two sets of rotor assemblies 2, each rotor assembly 2 being installed on the support body 1 and providing vector power to the support body 1.

[0122] Walking wheels 3 arranged on the bottom side 101 of the support body 1 for walking cooperation with the working surface; information acquisition equipment 4 installed on the support body 1 for acquiring information data related to the working surface.

[0123] For the field operation site such as culvert and reservoir dam, especially for the vertical surface operation and the working surface that may have large building defects, the traditional unmanned aerial vehicle cannot meet the requirements in terms of endurance and stability of spatial posture when collecting information, although some existing technologies disclose the technology of combining flight mechanism with walking mechanism, the power for moving along the working surface mainly comes from the walking mechanism, which not only makes the device complex but also limits the flexibility of the walking mechanism, in the present application, the power for moving along the working surface of the survey robot 200 comes from the vector rotor system, which simplifies the control mode and the hardware requirements of the walking mechanism, and in terms of providing vector power itself, it can be realized through the attitude of the rotor assembly 2 itself and the mutual cooperation between multiple sets, and in terms of control, it can also apply conventional technology.

[0124] The survey robot 200 in the present application can also be used in combination with multiple robots to form a robot queue or cluster for cooperative operation on a working surface extending several kilometers or more, in the cluster, at least one or even all robots are equipped with information acquisition equipment 4, which is also called survey robot 200, some robots may not be equipped with information acquisition equipment 4 and are only used for accompanying assistance, etc., which can be collectively referred to as robots in this paper. In order to protect important building settings, there may be active electromagnetic protection or electromagnetic interference of large equipment, therefore, the traditional robot based on wireless mode will be greatly disturbed in signal transmission process and is not applicable.

[0125] As a preferred embodiment, the survey robot 200 of the present application uses wired power supply and communication. The wired power supply not only reduces the load of the robot's own power supply but also can be used for a long time, and when communicating, whether it is control instruction or information data return, the signal quality and speed can be guaranteed, especially for complex environments such as high magnetic field, no signal, crosswind, etc. can not be affected by the environment.

[0126] The information data related to the working face in the application can include a two-dimensional image of the working face itself, or three-dimensional terrain data, information of internal structure collected by ultrasound, and on-site climate, lighting conditions, etc. The information collection method itself uses corresponding equipment in the prior art. Of course, the specific mounting method and structure of the information collection device 4 are also improved in the embodiments below.

[0127] In the application, the survey robot 200 can form a survey system with a remote server. The storage and comparison of a large amount of data consume a lot of computing power, and the data processing can be completed by the server, and the server sends corresponding instructions to the robot. In some scenarios, a handheld terminal can also be configured to be connected to the robot and send instructions in real time. In the 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 face, the side facing the working face is the bottom side 101, and the other side is the top side 100.

[0128] Reference Figures 6-9 The support body 1 is a frame structure, and the frame structure as a whole is in a flat configuration, and 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 that can better adapt to the application scenarios of the application, and can reduce weight as much as possible under the premise of ensuring structural strength. The flat configuration can improve the wind resistance and overturning resistance.

[0129] 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. Each set of rotor assemblies 2 is located in a corresponding annular portion 14, and the wheel seat 15 is arranged outwardly protruding relative to the adjacent annular portion 14. The walking wheels 3 are a plurality of walking wheels respectively installed on the corresponding wheel seats 15. Considering the problem of simplifying the overall structure, the top frame 11 and the bottom frame 12 are respectively integrated structures, and the reinforcing members are a plurality of spaced columns 13. Each annular portion 14 is directly connected or connected through a strip-shaped reinforcing rod 16.

[0130] The frame structure of the application adopts carbon fiber material, has relatively light weight and relatively high strength, so that the survey robot 200 is more flexible when working. In the embodiment, the distance between the top frame 11 and the bottom frame 12 is 2-6 cm, and the single thickness of the top frame 11 and the bottom frame 12 is 2-5 mm.

[0131] In order to cooperate with the wired mode, one side of the support body 1 is provided with a connecting sleeve 17, and a cable 18 is connected to the corresponding circuit components in the survey robot 200 after being inserted into the connecting sleeve 17 from the outside. The cable 18 and the connecting sleeve 17 are relatively fixed, and conventional tightening, clamping or adhesion means can be used.

[0132] As preferred, in the connection sleeve 17, the side where the cable 18 is penetrated from outside is the inlet side 171, and the inner wall of the connection sleeve 17 is provided with a pressure sensor arranged at the inlet side 171 to detect the force between the cable 18 and the inner wall of the connection sleeve 17. The force can indicate the relative slack or tight state of the cable 18, or the turning direction of the cable 18 at the position of the connection sleeve 17, and these information can be used to participate in the control of the robot.

[0133] In order to identify the bending direction of the cable 18 relative to the connection sleeve 17, the inlet side 171 of the connection sleeve 17 is circumferentially provided with a plurality of (for example, 4-8) mounting lugs 172 uniformly spaced, and each pressure sensor is fixed to the inner side of each mounting lug 172. In this way, the relative values of the respective pressure sensors can identify whether the cable 18 is slack or not and the bending direction. For example, when the cable 18 tends to be straightened, the speed of the robot is adjusted to avoid additional pulling force on the cable 18.

[0134] The number of rotor assemblies 2 can be configured according to their power and the load of the survey robot 200, considering the rationality of the overall layout and taking into account the operation, preferably four sets, and accordingly, the frame structure has four annular parts 14, which are distributed at the four corners of the rectangular area (the area surrounded by the four annular parts 14), and the reinforcing rods 16 include: edge rods 161, which are arranged around the rectangular area; and inner side rods 162, which connect two annular parts 14 on the same side of the rectangular area to each other. The wheel seats 15 are four, which are protruding out of the four corners of the rectangular area and connected to the annular parts 14 at the positions.

[0135] As preferred for simplification and taking into account the total amount of the mounted equipment, the rotor assemblies 2 can also be two sets. The annular parts 14 are two and adjacent to each other in the shape of an 8, and the rotor assemblies 2 are correspondingly two sets. The wheel seats 15 are four, which are arranged in pairs on opposite sides of the corresponding annular parts 14. Specifically, the center line of the two annular parts 14 is a reference line, and each annular part 14 is connected with two wheel seats 15, which are located on both sides of the reference line. Especially for the negative cable state, the cable 18 extends basically along the direction of the reference line. This arrangement can make the survey robot 200 more uniform in force and more stable in operation.

[0136] Reference Figures 10-11, the vector rotor system is used to provide power for the walking, flying, obstacle crossing and other movements of the survey robot 200. For the convenience of 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. The rotor assembly 2 comprises: a first turnover frame 21 rotatably mounted on the annular part 14 about the 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 mounted on the first turnover frame 21 about the second axis, the second axis being 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 mounted on the second turnover frame 23; and a blade 26 mounted on the output shaft of the main motor 25.

[0137] The first steering engine 22 and the second steering engine 24 can respectively drive the first turnover frame 21 and the second turnover frame 23 to rotate 360°, and in addition, the output shaft of the main motor 25 can also be selected to have an angle that can be finely adjusted. Therefore, the blade 26 can rotate in all directions, realize full-vector control conversion of the spherical vector, and modulate the survey robot into various forms suitable for walking, climbing and flying. In addition, in the optional control mode, the power of each rotor of the survey robot is preferably kept constant to simplify mode control and form switching.

[0138] In the present embodiment, the main motor 25 is mounted at the middle position of the second turnover frame 23, and the output shaft is substantially perpendicular to the second axis. In order to reduce the interference of forces between each rotor assembly 2 when the rotor system is working, 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, so that the robot is more uniform in stress and less likely to roll over when the rotor assembly 2 is working.

[0139] The first turnover 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 turnover frame 23 is a strip, and the two ends of the strip in the length direction are respectively installed on the first turnover frame 21 through the second pivot 29. The second steering engine 24 is installed on the second turnover frame 23 and is linked with at least one second pivot 29.

[0140] The first pivot 28 and the first steering engine 22 of all rotor assemblies 2 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 turnover frames 21 of all rotor assemblies 2 are in a coplanar state, and the second axes of all rotor assemblies 2 are parallel and coplanar.

[0141] The survey robot 200 is internally provided with sensing devices (such as a gyroscope, a distance sensor, etc.) for sensing the current posture and relative position, and when encountering an obviously angular obstacle surface (such as a right-angle surface, an inverse slope, etc.) of the working surface, the real-time information or historical data collected can be used for identification, and the sensing devices provide real-time feedback when the full-vector control of the rotor is performed. When the obstacle is climbed, 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 flight mode can be switched to fly over the obstacle, and after flying over the obstacle, the climbing mode is switched.

[0142] When the control method provided herein is implemented by the robot provided by the present application, the survey robot has a climbing mode and a flight mode. In the climbing mode, the walking wheels are matched with the walking of 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 flight mode, the walking wheels are away from the working surface. If the robot cluster system (in addition to the survey robot, at least one negative cable robot is also included) is used to perform a work task, the negative cable robot corresponds to the survey robot during the working process of the survey robot.

[0143] In the present embodiment, there are two methods for switching the flight mode, one is manual operation, and the other is automatic operation of the system. When the flight mode is switched, the system automatically adjusts the first steering engine 22 and the second steering engine 24, adjusts the angle of the blades 26 to a suitable angle for flight, and 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 present 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.

[0144] Reference Figures 12-18 The information collection device 4 is installed on the support body 1 and is used to collect information data related to the working surface. The information collection device 4 includes at least one of an image collection assembly 41, a laser mapping assembly 42, and an ultrasonic detection assembly 43:

[0145] The image collection assembly 41 includes a camera 411 arranged on the support body 1 and located between the two adjacent sets of rotor assemblies 2, used to capture images; a fill light 414 used to project light onto the working surface; a mounting bracket connected to the support body 1, used to mount the camera 411 and the fill light 414;

[0146] The mounting frame comprises a plurality of spokes 416, each of which converges at one end to a central position and at the other end extends outwardly while bending downwardly to be fixed to the support body 1; a ring-shaped member 415 below the central position and connected to all the spokes 416; the camera 411 is installed at the middle position of the mounting frame, and the fill light 414 is installed on the ring-shaped member 415 and arranged at intervals from the projection position of the camera 411. The support body is also provided with a lighting lamp 417 for providing illumination in the forward direction.

[0147] 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 joint measurement accuracy is 0.01 mm, the minimum exposure time is 10 ms, the motion image collection speed is up to 2 m / s, and multiple cameras 411 can be combined.

[0148] In the embodiment, the camera 411 comprises a first camera 412 arranged higher than the central position and a second camera 413 arranged lower than the central position, wherein the first camera 412 is used for shooting the overall working surface outside (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 for shooting the real-time working surface of the survey robot 200.

[0149] 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-shaped member 415 is provided with a ring-shaped fill light 414 for providing illumination for the second camera 413, which is specifically a fluorescent lamp. In order to further enhance the shooting effect, a plurality of spokes 416 are arranged to form a hemispherical space, the second camera 413 is arranged at the top of the hemisphere, and the fluorescent lamp is arranged 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 photographic black cloth) installed 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 fill light effect of the fluorescent lamp, which can greatly improve the image acquisition effect, and ensure the image stitching and feature recognition effect of the building defects in the image.

[0150] Similarly, in order to ensure the illumination intensity of the first camera 412, the side surface of the ring-shaped member 45 towards the projection position of the first camera 412 is also provided with a fill light 414 (such as an LED lamp).

[0151] The laser mapping assembly 42 comprises: a holder 421 arranged on the support body 1 and connected with the support body 1; and a laser scanner 422 installed on the holder 421 and used for mapping a three-dimensional space. 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 three-dimensional modeling can be performed according to the three-dimensional shape data. After modeling, the image obtained by the image acquisition assembly 41 can be used for texture rendering, so that the working face can be vividly expressed.

[0152] The holder 421 is provided with a plurality of support arms 423. In the embodiment, the number of the 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 ends of the support arms 423 are connected to the bottom frame 12 of the support body 1 through damping components 424 (for example, damping pads). Specifically, the bottom ends of the support arms 423 are provided with screw holes. During installation, bolts are sequentially inserted through the screw holes, the damping components 424 and the bottom frame 12 of the support body 1 to be fixedly connected.

[0153] When the survey robot 200 encounters an obstacle, the damping components 424 can greatly alleviate the vibration of the support arms 423, so that a better damping effect is achieved. The damping components 424 can also filter the vibration from the rotor. The laser scanner 422 can adopt the existing technology and can be rotated to a suitable angle according to actual shooting requirements to map a three-dimensional space.

[0154] 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 for measuring 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, or can be arranged on other components, that is, integrated with other assemblies and indirectly installed on the support body 1.

[0155] The ultrasonic detection assembly 43 comprises: ultrasonic probes 431 arranged in pairs and having an adjustable spacing between the pairs; a moving mechanism 432 for driving the ultrasonic probes 431 between the pairs to move relative to each other; and a medium output head 433 for providing a working medium to the ultrasonic probes 431. The ultrasonic detection assembly 43 can automatically apply the working medium. Compared with the conventional manual application method, the present application can apply the working medium at any time according to the actual condition of the working face, thereby improving the work efficiency.

[0156] In one of the pairs of ultrasonic probes 431, one transmits a detection signal, and the other receives a returned signal. The relative positions of the two ultrasonic probes 431 can be adjusted to facilitate detection at different relative positions to obtain more accurate data. According to different connection modes of the ultrasonic detection assembly 43 and the support body 1, in a preferred mode, the ultrasonic probes 431 can also be lifted relative to the support body 1 to adjust the distance between the ultrasonic probes 431 and the working face.

[0157] The moving mechanism 432 can be driven in various ways, such as including a moving motor and a screw-nut pair, and the moving motor drives the ultrasonic probe 431 through the screw-nut pair. In order to facilitate operation, each ultrasonic probe 431 is independently configured with a moving mechanism 432 and a corresponding medium output head 433.

[0158] 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 of the medium output head 433 can be changed to avoid the ultrasonic probe 431, for example, the medium output head 433 is installed on the support body 1 through a turnover mechanism 434, and the turnover mechanism 434 includes a turnover motor 4341 and a movable frame 4342. The output shaft of the turnover motor 4341 is connected with the movable frame 4342, the medium output head 433 is fixed on the movable frame 4342 and is connected with the supply device 435 through a medium pipeline 436. The rotation angle of the turnover mechanism 434 is the rotation angle between the first position and the second position, which can be set according to requirements. In the embodiment, the rotation angle is 180°.

[0159] 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 communicating 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.

[0160] The supply device 435 includes a cartridge 4351 for storing the working medium, the cartridge 4351 is closed at one end and has a discharge hole 4352, the discharge hole 4352 is connected with the medium output head 433 through the medium pipeline 436, a pushing piston 4353 is slidingly fitted in the cartridge 4351, and an electric push rod 4354 extends to the other end of the cartridge 4351 and is connected with the pushing piston 4353.

[0161] Specifically, the ultrasonic detection assembly 43 uses the supply device 435 to push the working medium in the cartridge 4351 to the medium output head 433 through the electric push rod 4354, and then uses the turnover mechanism to turn the medium output head 433 from 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 from the first position to the starting position (i.e. the second position), and at this time the ultrasonic probe 431 formally works.

[0162] The ultrasonic detection assembly 43 further comprises a microscopic camera 4343 arranged at the middle position of the ultrasonic probe 431, which can take microscopic photos of the cracks, and the resolution accuracy can reach 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.

[0163] With reference to Figures 19-20 The walking wheels 3 are all universal wheels to ensure flexibility in walking, and can move in any direction on the working surface under the driving of the vector rotor system. Whether considering the turning radius or not, this is more obvious in the planning of the operation route and the operation walking.

[0164] According to the distribution of the wheel seats 15, the walking wheels 3 can be configured with 4 sets or more, and in the same set, single wheels or double wheels can be used, and are installed on the corresponding wheel seats 15 through the damping mechanisms 31. Among them, the damping mechanisms 31 can use the damper in the prior art, and can also use a combination of multiple 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 damping.

[0165] With reference to Figures 21-30 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 through vacuum adsorption. When the survey robot 200 is adsorbed and fixed to the working surface, the obtained data is more accurate, and even the rotor can be stopped for a long time to save energy and filter noise. In a specific scenario, the survey robot 200 adsorbed and fixed to the working surface can be used as a relatively stable anchor point to rescue or cooperate with other survey robots 200 through the cable 18.

[0166] The rotor works will produce sound wave interference, and ultrasonic detection cannot be performed at the same time, so 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, and finally the ultrasonic detection assembly 43 starts to work.

[0167] The static adsorption assembly 5 comprises: a cylinder body 52 movably mounted on the support body 1; a lifting driving mechanism 53 mounted on the support body 1 and linked with the cylinder body 52 to drive the cylinder body 52 to lift relative to the support body 1; a suction cup 54 fixed to the bottom of the cylinder body 52; and a vacuum pump 55 connected to the suction cup 54 through a pipeline.

[0168] In specific work, 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 stably adsorbed on the working surface for a long time, the vacuum pump 55 also has the function of automatic pressure compensation, which can detect the change of vacuum degree through the detection sensor and keep the vacuum state at any time. Considering the uniformity of the overall load of the survey robot 200 and the smooth switching of the robot state after the adsorption is released, each rotor assembly 2 is arranged on the outer periphery of the static adsorption assembly 5 as a whole.

[0169] The cylinder body 52 is two sets and arranged side by side, and the two sets of cylinder bodies 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. The vacuum pump 55 is between the top of the two cylinder bodies 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 of each cylinder body 52. The top 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.

[0170] When the rotor assembly 2 is four sets, the first shell 56 is provided with a second shell 58 below, the lifting driving mechanism 53 is in the second shell 58 and located between the two cylinder bodies 52. The cylinder body 52 extends out of the second shell 58, and 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 part 14. The second shell 58 is approximately the same height as 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, and the vacuum pump 55 is fixed on the top surface of the second shell 58.

[0171] When the rotor assembly 2 is two sets, the lifting driving mechanism 53 is between the top frame 11 and the bottom frame 12 and located between the two cylinder bodies 52. The cylinder body 52 extends out of the bottom frame 12. In this embodiment, the control mainboard 57 of the survey robot 200 is 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.

[0172] The lifting driving mechanism 53 comprises: a motor 531; a distribution mechanism 532 connected with the motor 531 and having two output shafts 5325, each output shaft being fixed with a driving gear 533;

[0173] Two gear rings 534 are respectively rotatably sleeved on the outer periphery of the cylinder body 52 and respectively engaged with the corresponding driving gear 533. The inner periphery of each gear ring 534 is threadedly connected with the corresponding cylinder body 52.

[0174] The end face of the ring gear 534 is provided with the teeth 535, and the teeth 535 are engaged with the corresponding driving gear 533. The transfer mechanism 532 can realize the synchronous movement of the two sets of cylinders 52 driven by the same motor 531, and the transfer mechanism 532 comprises: a main bevel gear 5321 fixed to the output shaft 5311 of the motor 531; two auxiliary bevel gears 5322 engaged with the main bevel gear 5321 and located on both sides of the main bevel gear 5321, and each auxiliary bevel gear 5322 is fixed with an intermediate shaft 5323; and two output shafts 5325 connected with the corresponding intermediate shaft 5323 through universal joints 5324.

[0175] 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 correspondingly, thereby driving the driving gear 533 to rotate, and the driving gear 533 drives the ring gear 534 located on the outer periphery of the cylinder 52.

[0176] The cylinder 52 is provided with an external thread 521, the ring gear 534 is provided with an internal thread and cooperates with the external thread 521, so as to drive the cylinder 52 to ascend or descend relative to the support body 1, that is, the lifting of the suction cup 54 is realized. The suction cup 54 comprises a base plate 545 fixedly installed at the bottom end of the cylinder 52, and 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, and the pressure relief valve 543 is installed at the pressure relief port 542.

[0177] 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 rigid pipe 5521a is connected to the vacuum port 541, and the other rigid pipe 5521b extends in the cylinder 52 and then connects to the external pipeline 553 through the opening of the corresponding part of the sleeve 51 and is connected to the vacuum pump 55.

[0178] The internal pipeline 552 is mainly used to adapt to the lifting of the cylinder 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 5521a connected to the vacuum port 541 moves downward relative to the other rigid pipe 5521b and sealingly cooperates with each other. Although a hose can be used to adapt to the relative movement, the movable insertion of the two rigid pipes in the embodiment can avoid the interference of the pipeline winding and can provide additional stable guidance.

[0179] When the work is completed, the pressure relief valve 543 can be opened when the vacuum is released, 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, and the radial gap between the valve rod 5433 and the sealing sleeve 5431 is a pressure relief gap;

[0180] An elastic member 5434 acts on the valve rod 5433 to drive the valve core 5432 to seal with the sealing sleeve 5431; and an electromagnetic driving assembly acts on the valve rod 5433 to drive the valve core 5432 to separate from the sealing sleeve 5431 to release pressure. 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 driving 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.

[0181] The bottom surface of the suction cup 54 is also provided with a limiting pad 544, the position of the limiting pad 544 is lower than the vacuum port 541 and the pressure relief port 542, that is, the limiting pad 544 is the limit position of the working surface and the suction cup 54, which can prevent the vacuum port 541 and the pressure relief port 542 from contacting the working surface and causing unnecessary interference and friction.

[0182] The suction cup 54 comprises: a base plate 545 which is installed on the support body 1 and can be lifted, the vacuum port 541 and the pressure relief port 542 are arranged on the bottom surface of the base plate 545; when the limiting pad 544 is arranged, the limiting pad 544 is also arranged on the bottom surface of the base plate 545; a sealing assembly comprising a plurality of sealing rings arranged inside and outside, used for sealing with the working surface, and the plurality of sealing rings are located at the periphery of the vacuum port 541 and the pressure relief port 542 (when the limiting pad 544 is arranged). The plurality of sealing rings and the base plate 545 form a cover structure, and a vacuum cavity is formed in the cover structure when cooperating with the working surface.

[0183] 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 546a, sealing ring 546b and sealing ring 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.

[0184] 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 three sealing rings are gradually widened from inside to outside, and the sealing ring 546c and the sealing ring 546b can be made of foaming material.

[0185] In order to facilitate the integration of other components and provide hardware utilization, the bottom surface of the base plate 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. The base plate 545 has a length direction, and the two barrels 52 are arranged along the length direction in sequence; 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 located on the two sides of the sealing assembly along the length direction.

[0186] 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 base plate 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.

[0187] The top surface of the base plate 545 is provided with a third shell 5451, the moving mechanism 432 is located in the third shell 5451 and drives the ultrasonic probe 431 to slide, the spacing adjustment direction of the two ultrasonic probes 431 is the width direction of the base plate 545, and the supply device 435 is installed in the first shell 56 and is arranged on the top surface of the two outer sleeves 51.

[0188] Reference Figures 31-35 When the ultrasonic detection assembly 43 works, the calcium precipitation and stains attached to the surface of the crack will affect the final detection result, so the survey robot 200 also includes a cleaner 7 for cleaning the calcium precipitation and stains on the working surface in order to minimize the measurement error. It is preferably installed in a lifting manner relative to the support body 1.

[0189] In the present embodiment, the cleaner 7 can be installed on a component that is lifted relative to the support body 1, which can be independently matched, and can also be integrated with the base plate 545 in the static adsorption assembly 5, i.e. installed on the extension area 5452 (specifically the second extension area 5454) of the base plate 545. The cleaner 7 comprises a cleaning motor 71 located in the third shell 5451 and slidingly installed relative to the base plate 545.

[0190] The brush head 712 is connected with the output shaft of the cleaning motor 71, the second avoiding opening 5456 is arranged in the extension area 5452, and the brush head extends out of the second avoiding opening 5456 downwards; the sliding mechanism 72 is arranged in the third shell 5451 and drives the cleaning motor 71 to slide. The cleaning device 7 is arranged in the third shell 5451, so that the structure of the survey robot 200 is more compact.

[0191] The sliding mechanism 72 comprises a sliding motor 721 and a screw-nut pair, and the sliding motor 721 drives the cleaning motor 71 through the screw-nut pair. In order to enable the cleaning device 7 to move within a certain range, the third shell 5451 is further provided with a guide component 73, and the cleaning motor 71 slides in cooperation with the guide component 73.

[0192] The guide component 73 is a cover structure, and a sliding groove 731 is arranged on the two opposite side walls of the cover structure, and the outer shell of the cleaning motor 71 is provided with a guide piece 711 matched with the sliding groove 731. The sliding mechanism 72 drives the cleaning motor 71 to slide back and forth along the sliding groove 731, so as to avoid the problem that the brush head 712 shakes in other directions during work. In this embodiment, the sliding direction of the cleaning motor 71 is the width direction of the base plate 545.

[0193] During work, in order to more stably clean the surface of the crack, the survey robot 200 aims the cleaning device 7 at the part to be cleaned, then the suction cup 54 is anchored by being vacuum-attached to the working surface through the lifting driving mechanism 53, and then the cleaning motor 71 is driven by the sliding mechanism 72 to slide in the width direction of the base plate 545, at this time, the brush head 712 not only rotates but also reciprocates synchronously with the cleaning motor 71 under the driving of the cleaning motor 71, for example, a left-right moving algorithm is adopted. The part to be cleaned achieves better cleaning effect under the repeated brushing of the brush head 712. In addition, the spring 713 arranged in the cleaning device 7 can dampen the brush head 712 connected with the cleaning motor 71.

[0194] When the control method provided in the present application is implemented by the robot provided in the present application, if the building crack is identified, the building crack can be cleaned and measured. The vacuum adsorption assembly is anchored to the working surface before cleaning, the anchoring is released after cleaning is completed, the position of the robot is adjusted, and then the anchoring is performed again and the measurement is performed.

[0195] The cleaning method for the building crack comprises the following steps: making the brush head of the cleaning device close to the working surface; driving the cleaning device to reciprocate; and making the brush head of the cleaning device away from the working surface.

[0196] The measurement of the building crack comprises the following steps: controlling the vector rotor system to stop running, so as to prevent the vector rotor system from interfering with the work of the ultrasonic detection assembly. The building crack is measured at least twice by the ultrasonic detection assembly, and the intervals between the ultrasonic probes are different during different times of crack surveying, and one time specifically comprises the following steps: providing a working medium to the ultrasonic probe; and controlling the ultrasonic probe to perform crack surveying.

[0197] Since the survey robot 200 is powered and communicated in a wired manner, when the working distance is far, the negative cable robot 81 can be configured to work cooperatively, which can carry and share the weight of the cable 18, and the negative cable robot 81 can also carry the information acquisition device 4.

[0198] Referring to Figures 39-40 In an embodiment of the present application, a control method is also provided, which is implemented in the process of working based on the full-vector survey cluster system, and includes: constructing a working surface map; a plurality of robots advancing in a queue, collecting image information of the current working position and identifying the surface features when reaching the predetermined working position in the working surface map, and maintaining the current working position in a climbing mode during the information data collection process; and performing corresponding processing according to the identification result.

[0199] The control method mainly includes the establishment of the working surface map and the inspection of the working surface. The establishment of the working surface map includes: establishing a coordinate system and dividing sub-regions; obtaining a two-dimensional form of the working surface map; and obtaining a three-dimensional form of the working surface map. The inspection of the working surface includes: confirming the current position of the robot; identifying and marking the construction defects on the working surface map.

[0200] In an embodiment, for a working surface of a larger area, the control method further includes:

[0201] The establishment of the coordinate system specifically includes: the survey robot reaching the origin position P, moving to the reference point along the predetermined coordinate axis, obtaining the connecting line between the origin and the reference point, corresponding the connecting line to the working surface map, and calculating to obtain the direction of another coordinate axis and the coordinate system formed by the two coordinate axes.

[0202] The division of the sub-regions specifically includes: dividing the working surface into a plurality of rectangular sub-regions in the coordinate system according to a predetermined side length.

[0203] It can be understood that the position feedback of the survey robot and the server is completed through the coordinate system during the working process of the survey robot. As shown in the figure, the X and Y coordinate system in the working surface 210 is the real physical coordinate system, and the coordinate system in the working surface map 211 is the X' and Y' coordinate system based on the mapping of the working surface 210. Similarly, the origin position P is mapped as P' in the working surface map. The divided sub-regions can be, for example, A1, A2, and A3 sub-regions.

[0204] Therefore, the establishment of the coordinate system is needed at the beginning of the working of the survey robot. The establishment of the coordinate system relies on the collected and spliced image information. The origin is the position of the survey robot at the beginning of the work, and the reference point and the origin are both on the spliced image, so that the establishment of the coordinate system can be realized to facilitate the instruction interaction of the survey robot and the server.

[0205] The division of the working sub-area may be performed according to the maximum length of the adjacent robot cable, or according to the working limit path of the robot. When multiple robots are used, the robots walk synchronously with a constant relative distance, improving the working efficiency. The sub-area may be a square, and the side length may be, for example, ten meters to two hundred meters, for example, fifty meters.

[0206] When the current position is confirmed, the surface feature is matched, and the user views the working face map, the data unit of each sub-area is called one by one, improving the working efficiency. The survey robot performs path planning before working, and the path planning is performed for each sub-area. By dividing the individual sub-area, the path planning process is optimized. The division of the sub-area may rely on the physical marker, or the working face with the coordinate system obtained may be divided by the server.

[0207] When the working face map is constructed and modified, and when the working face map is used for data calling, three levels of clarity may be involved, and the clarity (or the size of the data amount) from low to high may be used for display:

[0208] The overall working face map, the overall working face map with the lowest clarity may also be obtained by photographing the robot in the flight mode; the working face map of a sub-area; the working face map near the specified coordinates after the specific coordinates are specified.

[0209] The working face map is obtained by splicing the image information collected from multiple working positions in the historical working process, specifically including: traversing all areas of the working face, splicing the obtained image information, and obtaining a two-dimensional working face map. Traversing all areas of the working face includes traversing one or all of the divided sub-areas. The image information may be, for example, the picture 212 shown in FIG. 2, and the dashed line in the figure represents the robot travel path. Figure 37c

[0210] In this embodiment, the image information is obtained by using an image acquisition component. The survey robot transfers between multiple working positions during the working process, and uses the information acquisition device to collect the information data of the working face when reaching the predetermined working position.

[0211] The obtained image information is spliced to obtain a two-dimensional working face map, specifically including: locating the surface features in the image information by using an image texture algorithm; when the local area of the to-be-spliced picture has the same surface feature, the to-be-spliced picture is spliced according to the same surface feature.

[0212] ​The texture of the construction defect is characteristic and distinctive, like a person's fingerprint, and no two construction defect textures are exactly the same. By collecting, storing, comparing, and splicing the texture of the construction defect, the server can recognize and label the construction defect (cracks, pits, roughness, protrusions, etc.) through image information, and instruct the robot to measure and feedback the label. By overlapping the same texture of the image, high-precision image splicing can also be performed. The degree of coincidence of image information in adjacent positions can be set according to the information collection device and the step length of the survey robot, for example, the degree of coincidence for image splicing can be more than 20%.

[0213] During the detection process, the server also uses an autonomous decision algorithm to identify defects on the working surface, and uses a fill light to reduce image noise, analyzes the surface features in combination with the position of the fill light, and improves the detection accuracy.

[0214] It can be understood that when comparing surface features, different construction defects can be graded or classified, for example, cracks are obvious construction defects and can be recorded. The present embodiment detects the working surface by data splicing instead of manual and conventional unmanned aerial vehicles, and the efficiency of the robot detection controlled by the present embodiment is higher, the safety is higher, the data is more accurate, and the cost is lower.

[0215] In one embodiment, the control method further comprises obtaining a working surface map in three-dimensional form:

[0216] When traversing all areas of the working surface, the three-dimensional modeling is obtained by collecting three-dimensional form data through the laser scanner included in the information collection device;

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

[0218] The working surface map includes a working surface map in two-dimensional form or three-dimensional form, both of which can be used for current position confirmation. The three-dimensional form of the working surface map, i.e., three-dimensional terrain data, has better three-dimensional visualization effect and can reflect height changes, providing data support for obstacle avoidance of the survey robot and assisting in mode adjustment for obstacle avoidance and flight state.

[0219] In the present embodiment, the surface features in the image information can be obtained, the detection accuracy is high, and the operation speed is fast; the image splicing can correct and uniform the brightness, and can correct the distorted image; the two-dimensional form of the working surface map is fitted to the three-dimensional model, and can be adaptively rendered. In addition, the server can also generate a data report through the captured surface feature information.

[0220] In one embodiment, the control method further comprises confirming the current position of the robot:

[0221] transferring along the planned path between the plurality of work positions, comparing the image information collected from the current work position with a work surface map to obtain a comparison result, the work surface map being obtained by splicing image information collected from the plurality of work positions in a historical work process;

[0222] confirming the current work position according to the comparison result.

[0223] comparing the image information collected from the current work position with the work surface map, specifically comprising:

[0224] extracting surface features from the image information;

[0225] matching the surface features with the work surface map to obtain position coordinates of the surface features relative to the work surface map, the position coordinates corresponding to the current position of the survey robot.

[0226] The work surface map is not limited to a specific plane, but refers to a spatial map composed of all work positions of the survey robot. During the image information collection process, the image information of the current work position at least partially overlaps with the work surface map (including image information that has been completed splicing), that is, the current work position can be positioned relative to the work surface map through the image information, facilitating data archiving and splicing of the image information collection. In the specific comparison of surface features, the surface features of the image information include architectural defects, which can be used for feature matching.

[0227] Further, physical markers can also be set in the work surface. When the survey robot reaches the position of the physical marker or detects architectural defects, the current position of the robot is confirmed by matching the corresponding pre-stored image in the server gallery, that is, the self-positioning is completed. The physical marker can be a two-dimensional code, for example, and the server gallery stores information related to the two-dimensional code. The physical marker can also be pre-marked according to the work area, and the work area is divided after identification. Wireless visual field monitoring stations can also be erected on the work surface to monitor the trajectory and position of the robot, and real-time data can be transmitted to the robot to correct the movement direction.

[0228] In one embodiment, the control method further comprises:

[0229] identifying surface features from the image information collected from the work surface;

[0230] After identifying the architectural cracks, the architectural cracks are labeled to the work surface map.

[0231] The marking to the working face map can include coordinate marking and simulation display, and the surface feature identification can be performed by using an autonomous learning algorithm, for example, a neural network model. The autonomous learning algorithm can be continuously optimized in the subsequent process to improve the accuracy of identification. For example, image information identifying a building crack is taken as a new sample to participate in the update of the autonomous learning algorithm, and the building crack feature database constructed is updated.

[0232] If the working task is performed based on the robot cluster system, the control method further includes a rescue control method, a building structure crossing method, and a queue adjustment method, and a shaft hole detection method.

[0233] Reference Figure 41 In the following two embodiments, two rescue control methods are proposed based on the robot cluster system. The robots include a survey robot at the distal end of the cable and a negative cable robot connected to the survey robot through the cable. The survey robot and the negative cable robot can use the corresponding robots provided in the above embodiments.

[0234] In one embodiment, the present application further provides a rescue control method based on a robot cluster system. The robot cluster system includes multiple robots working on a working face and a cable. All the robots are powered and communicated through the cable and connected to the cable in sequence according to the extension direction of the cable.

[0235] According to the extension direction of the cable, one of the two adjacent robots is a passive robot to be rescued, and the other is an active robot to implement rescue. The rescue control method includes:

[0236] Step S911, the active robot is anchored to the working face in a vacuum adsorption manner;

[0237] Step S912, the length of the cable between the active robot and the passive robot is changed to make the two robots close to each other;

[0238] Step S913, the active robot is controlled to drag the passive robot.

[0239] Reference Figures 42-45 In one embodiment, the present application further provides a rescue control method based on a robot cluster system, which is implemented by using the robot cluster system herein. According to the extension direction of the cable, the passive robot 203 has an active robot on both sides, which are the first active robot 201 and the second active robot 202, respectively. The rescue control method includes:

[0240] Step S921, the first active robot is anchored to the working face in a vacuum adsorption manner;

[0241] Step S922, the length of the cable between the second active robot and the passive robot is changed, so that the second active robot and the passive robot are close to each other;

[0242] Step S923, the second active robot is anchored to the working surface in a vacuum suction manner;

[0243] Step S924, the first active robot releases the anchoring between the first active robot and the working surface;

[0244] Step S925, the length of the cable between the first active robot and the passive robot is changed, so that the first active robot and the passive robot are close to each other, and then the passive robot is adjacent to the first active robot and the second active robot at the same time;

[0245] Step S926, the first active robot and the second active robot control the passive robot to drag.

[0246] In steps S922 and S925, it can be understood that the first active robot and the second active robot move close to the passive robot. It can be understood that in the normal state, each robot communicates with the server through the cable to realize interactive control. Through the information acquisition device of each robot and the transmission of communication signals, the working condition of the robot is comprehensively judged. When the judgment result is abnormal, it is determined that the robot may have a fault, that is, the passive robot to be rescued. For example, the image returned by the information acquisition device is interrupted, the suction cup operation is reported as an error, etc. The two adjacent robots refer to the adjacent connection through the cable, not the spatial distance. After the robot fails, it can also perform self-checking of hardware and software, and if the self-checking is qualified, the rescue control method is cancelled.

[0247] In steps S912, S922 and S925, the length of the cable between the passive robot and the adjacent robot can be changed through the cable rack mechanism. For specific implementation, please refer to the related embodiments of the cable rack mechanism in this paper.

[0248] In steps S911-S913, the passive robot and the active robot are not limited to the type of robot, as long as the cable connection between them can be realized. In steps S921-S926, the passive robot and the two adjacent robots are connected through the cable. The passive robot is a back cable robot, but the type of the first active robot and the second active robot is not limited. In steps S913 and S926, the passive robot is dragged away from the current site to a designated area (such as returning to the origin) without falling risk, which can be determined as realizing rescue.

[0249] Reference Figure 46In an embodiment of the present application, a method for spanning a building structure based on a robot cluster system is also provided, the robot cluster system comprising at least three robots working on a work surface and a cable, all the robots being powered and communicated through the cable and being connected to the cable in sequence according to the extension direction of the cable; in sequence according to the extension direction of the cable, the three robots are a leading robot, a middle robot and a trailing robot.

[0250] Before the method for spanning a building structure is implemented, the method further comprises: based on image information collected from multiple work positions in a historical work process, splicing is performed to obtain a work surface map and obtain a position coordinate of the building structure relative to the work surface. The specific content of obtaining the work surface map and the position coordinate can be referred to the related embodiments herein. The method for spanning a building structure in the embodiment comprises:

[0251] Step S1, the leading robot 204 spans to the opposite side of the building structure;

[0252] Step S2, the leading robot 204 and the trailing robot 206 are respectively anchored to the work surface in a vacuum adsorption manner, and the cable extending between the two is tightened;

[0253] Step S3, the lengths of the cables between the three robots are simultaneously changed, so that the middle robot 205 gradually approaches the leading robot and gradually moves away from the trailing robot, until the middle robot 205 moves to the opposite side of the building structure in a suspended manner.

[0254] After the work surface map is obtained and the position coordinate of the building crack relative to the work surface is obtained, the leading robot can span to the opposite side of the building structure in other manners such as flying and avoiding walking. The “moving in a suspended manner” means that the position adjustment relative to the leading robot and the trailing robot is achieved by controlling the cable winding and unwinding instead of the vector power provided by the robot itself.

[0255] It has been illustrated herein that wireless robots cannot meet the work requirements in natural environment. The robot cluster system in the embodiment can share the cable pressure with each other and coordinate work with each other, thereby improving the use safety. In this case, the robot at the leading end has relatively small interference caused by the cable when crossing to the opposite side of the building structure, that is, the weight of a part of the cable is shared, and the flight of the leading end robot is not affected. If the robot cluster system is used to fly at the same time, the synchronous translation flies over the building structure, at this time, the interference is too much, the control algorithm is complex, and the damage caused by the environmental risk cannot be ruled out. Multiple robots are damaged at the same time, and rescue is difficult. If the middle robot crosses the structure by flying, simultaneous interference in front and behind the cable will occur, causing flight difficulty. If the middle robot avoids crossing the structure, it cannot cross the building structure which is larger (more than the length of the cable). In summary, the building structure crossing method provided in the embodiment can stably achieve the problem of building structure crossing.

[0256] Further, the building structure crossing method further comprises a step S4: repeating the steps S1-S3 until all the robots in the robot cluster system to be crossed the building structure move to the opposite side of the building structure, wherein the middle robot in the current cycle is the leading end robot in the next cycle.

[0257] In the embodiment, the three consecutive robots can be selected as survey robots or cable-bearing robots according to the requirements, for example, the middle robot should be selected as a cable-bearing robot.

[0258] In step S3, the length of the cable between the three robots is changed synchronously, specifically including: driving the middle robot towards the winding wheel of the leading end robot to shorten the length of the cable between the middle robot and the leading end robot; driving the middle robot towards the winding wheel of the terminal end robot to lengthen the length of the cable between the middle robot and the terminal end robot.

[0259] In step S3, when the middle robot passes through the building structure, it further includes: controlling the winding motor to stop driving the two winding wheels, controlling the middle robot to stop moving, and collecting relevant information data by using the image acquisition assembly and / or the ultrasonic detection assembly. The building structure may, for example, be a building trench, or a span between two building bodies, or a building crack, and the middle robot stopping in the middle can facilitate the collection of scene information. The specific manner of the position setting, function implementation, and driving of the winding wheel can be referred to the related embodiments about the cable support mechanism in this document.

[0260] The embodiment of the present application also provides a well hole detection method, the robot cluster system comprises a plurality of robots working on a working surface and a cable, all the robots are powered and communicated through the cable, and are sequentially connected to the cable according to the extension direction of the cable; according to the extension direction of the cable, the three robots in sequence are a leading robot, an intermediate robot and a terminal robot. The detection method comprises:

[0261] In step S931, the leading robot and the terminal robot reach and are anchored to the well wall in a vacuum adsorption mode in sequence;

[0262] In step S932, the intermediate robot moves into the well hole, is hung in the well hole under the action of the cable, and collects well hole related information data;

[0263] In step S933, the cable is reeled in and out by using the cable rack mechanism possessed by the leading robot and the terminal robot, and the depth of the intermediate robot in the well hole is adjusted.

[0264] In the scene of signal shielding of the well hole, the robot must be controlled in a wired mode. The situation in the well hole is not clear, and there is a great risk to the robot, a high-value electromechanical article. Considering the implementation scene of the well hole detection and the building crack span, the operation of the vector rotor system can be stopped during the movement of the intermediate robot. In this embodiment, the well hole is detected by the intermediate robot in the robot cluster system, and the depth of the intermediate robot in the well is extended and shortened by reeling in and out the cable to complete the detection. The collection of well hole related information data can be completed by the information collection device provided in the related embodiments.

[0265] It should be understood that, although the steps in the embodiments of the present 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 in rotation or alternation with at least part of other steps or sub-steps or stages of other steps.

[0266] The technical features of the above-described embodiments can be combined in any manner. To make the description concise, all possible combinations of the technical features in the above-described embodiments are not described, however, as long as the combination of the technical features does not exist contradictory, it should be considered that the combination is within the scope of the present disclosure. When the technical features in different embodiments are embodied in the same figure, it can be considered that the figure also discloses the combination of the embodiments involved.

[0267] The above embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the patent. It should be noted that for ordinary skilled in the art, without departing from the concept of the present application, several modifications and improvements can be made, which are within the scope of protection of the present application.

Claims

1. A building structure spanning method based on a full vector survey cluster system, comprising a plurality of robots, characterized in that, The vector survey cluster system comprises a plurality of robots including a survey robot and at least one cable robot, the survey robot and the cable robot each comprising: a support body; a vector rotor system comprising at least two sets of rotor assemblies, each set of rotor assemblies being mounted on the support body and configured to provide vector power to the support body; a walking wheel arranged below the support body and configured to walk on a working surface; an information acquisition device mounted on the support body and configured to acquire information related to the working surface; the cable robot further comprises a cable storage mechanism arranged on the support body, the survey robot and the cable robot being powered and communicated via a cable loaded on the cable storage mechanism in a working state; the cable storage mechanism comprises a support fixed to the support body, part of the structure in the support being arranged as a tubular structure, the inside of the tubular structure serving as a guide groove, and the cable being movably arranged in the guide groove; a wire clamping wheel arranged in pairs, the wire clamping wheel being mounted on the support and configured to clamp and drive the cable to move along the guide groove; a wire clamping motor mounted on the support and linked with the wire clamping wheel to change the length of the cable between the cable robot and an adjacent robot; one of the wire clamping wheels is a driven wheel rotatably mounted on the support, and the other is a driving wheel rotatably mounted on the swing frame; an elastic member is arranged between the swing frame and the support to limit the swing frame in a first state or a second state; in the first state, the elastic member drives the driving wheel to approach the driven wheel and clamp the cable; in the second state, the driving wheel is away from the driven wheel, and the swing frame abuts against the support to limit the swing frame; all the robots are sequentially connected to the cable according to the extension direction of the cable, and the three consecutive robots are sequentially a leading robot, a middle robot and a trailing robot for implementing a building structure crossing method; the building structure crossing method comprises the following steps: step S1, the leading robot flies and crosses to the opposite side of the building structure; step S2, the leading robot and the trailing robot are respectively anchored to the working surface in a vacuum adsorption manner, and the cable extended therebetween is tightened; step S3, the length of the cable between the three robots is simultaneously changed, so that the middle robot gradually approaches the leading robot and gradually moves away from the trailing robot, until the middle robot moves to the opposite side of the building structure in a suspended manner; and step S4, the steps S1-S3 are repeated until all the robots in the robot cluster system to be crossed over the building structure move to the opposite side of the building structure, wherein the middle robot in the current cycle serves as the leading robot in the next cycle.

2. The building structure spanning method based on the full vector survey cluster system according to claim 1, characterized in that, the information acquisition device comprises one or more of a laser mapping assembly, an image acquisition assembly and an ultrasonic detection assembly; the laser mapping assembly comprises: a gimbal arranged on the support body; a laser scanner mounted on the gimbal and configured to map a three-dimensional space and acquire three-dimensional shape data of the working surface; The image acquisition assembly comprises: a camera arranged on the support body and located between the two adjacent sets of rotor assemblies, the camera being configured to capture images of the working surface, and the captured images being used to construct a two-dimensional working surface map; a light supplement lamp arranged on the support body, the light supplement lamp being configured to project light onto the working surface; The ultrasonic detection assembly comprises: an ultrasonic probe arranged on the support body, the ultrasonic probes being arranged in pairs, and the distance between the ultrasonic probes in the same pair being adjustable; a moving mechanism connected to the ultrasonic probes, the moving mechanism being configured to drive the ultrasonic probes in the same pair to move relative to each other; a medium output head mounted on the support body, the medium output head being in communication with a supply device mounted on the support body through a medium pipeline, and the medium output head being configured to supply working medium to the ultrasonic probes.

3. The building structure spanning method based on the full vector survey cluster system according to claim 1, characterized in that, The end of the tubular structure is provided with a connecting sleeve, a pressure sensor is arranged on the connecting sleeve, the cable is inserted into one side of the connecting sleeve from the outside, and the inner wall of the connecting sleeve is uniformly and circumferentially spaced apart at the inlet side and is provided with a plurality of mounting lugs, and the pressure sensor is fixed to the inner side of the mounting lug.

4. The building structure spanning method based on the full vector survey cluster system according to claim 1, characterized in that, The negative cable robot further comprises: two wire winding wheels mounted on the support body, and the cable extending into the tubular structure is arranged in the corresponding wire winding wheel; two wire winding motors independently driving one corresponding wire winding wheel.

5. The building structure spanning method based on the full vector survey cluster system according to claim 1, characterized in that, The method further comprises: constructing a working surface map; a plurality of robots advancing in a queue, when reaching a predetermined working position in the working surface map, collecting image information of the current working position through an information acquisition device and performing surface feature recognition, and during the information collection process, the robot remains at the current working position in a climbing mode; processing according to the recognition result.

6. The building structure spanning method based on the full vector survey cluster system according to claim 5, characterized in that, The method further comprises: the robot reaches a specified origin position, moves to a reference point along a predetermined coordinate axis, obtains a connecting line between the origin and the reference point, corresponds the connecting line to the working surface map, calculates the direction of another coordinate axis and the coordinate system formed by the two coordinate axes, constructs the working surface and the coordinate system of the working surface map; dividing the working surface into a plurality of rectangular sub-regions in the coordinate system according to a predetermined side length, and planning a movement path in the sub-region; the robot queue moves between a plurality of working positions along the movement path, and collects image information data and three-dimensional form data of the working surface using the information acquisition device when reaching a predetermined working position; when traversing the working surface, three-dimensional modeling is performed based on the obtained three-dimensional form data to obtain a three-dimensional model; after traversing the working surface, the obtained image information is spliced to obtain a two-dimensional working surface map; finally, the two-dimensional working surface map is fitted to the three-dimensional model to obtain a three-dimensional working surface map.

7. The building structure spanning method based on the full vector survey cluster system according to claim 5, characterized in that, The method further comprises inspection of the working surface, which comprises: confirmation of the current position by the robot; and identification and labeling of construction defects on the working surface map by the robot.

8. The building structure spanning method based on the full vector survey cluster system according to claim 6, characterized in that, When multiple robots travel in a queue, the negative cable robot collects the pressure signal of the cable relative to the cable rack mechanism, and adjusts the control of the cable rack mechanism according to the corresponding pressure signal. The line winding and / or un-winding work and / or the vector power provided by the rotor assembly are adjusted, so as to adjust the travel speed or direction of the robot.

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