Obstacle avoidance method for building facade wall climbing detection

Abstract

The invention relates to the technical field of building detection, in particular to an obstacle avoidance method for building facade wall climbing detection, which comprises the following steps: S1, placing a robot at a building facade, and acquiring a bottom image of the robot through a binocular camera; s2, observing whether there is an obstacle at the bottom of the robot, and if there is no obstacle, continuing to repeat the step S1 until the obstacle is found; s3, the shape of the obstacle is obtained through shooting, specific parameters of the obstacle are obtained through comparison, the target is the ground, and the robot does not take obstacle avoidance measures; and S4, obtaining the distance between the robot and the obstacle. According to the wall climbing machine, when the wall climbing machine moves and when broken stones appear, the broken stones fall into a recycling box, when the wall climbing machine moves, moving wheels synchronously move, so that the moving wheels drive third rotating rods to rotate, drive connecting rings and T-shaped shovels to rotate and push the broken stones into the recycling box, and the broken stones are prevented from being stacked and falling off.

Description

Technical Field

[0001] The invention relates to the technical field of building detection, and in particular to an obstacle avoidance method for wall climbing detection of building facades. Background Art

[0002] Construction project quality inspection refers to the activity of testing the materials, components, equipment, and engineering entity quality, usage functions, etc. of the construction project to determine its quality characteristics based on the mandatory standards and design documents of engineering construction. After the construction of the building's exterior wall is completed, quality inspection is required, which requires the use of a wall-climbing robot.

[0003] After the existing building exterior walls are built, they will be inspected for voids in the exterior cement pouring. The existing detection method is manual knocking, which is time-consuming and labor-intensive. After improvement, a wall-climbing robot is used to knock on the wall to collect relevant information. However, many building exterior walls are not a whole, and sometimes there are exterior wall accessories, which need to be avoided. During the inspection, knocking to detect voids may cause some gravel to fall off, which is somewhat dangerous. Summary of the invention

[0004] To this end, the present invention provides an obstacle avoidance method for building facade wall climbing detection to solve the above-mentioned problems.

[0005] The present invention provides the following technical solution: an obstacle avoidance method for building facade wall climbing detection, comprising the following steps: S1, placing the robot on the building facade and obtaining the bottom image of the robot through the binocular camera; S2, observe whether there is an obstacle at the bottom of the robot. If there is no obstacle, continue to repeat the steps in S1 until an obstacle is found; S3, photograph and obtain the shape of the obstacle, and obtain the specific parameters of the obstacle through comparison. The target is the ground, and the robot does not take any obstacle avoidance measures; S4, obtain the distance between the robot and the obstacle; S5: Is the distance less than the safety distance? If the distance is within the safety distance, the robot continues to move and repeats the steps in S4 until the distance between the robot and the obstacle is less than the safety distance. S6, the robot avoids obstacles.

[0006] As a preferred solution of the present invention, more specifically in step S3, before the robot performs exterior wall detection, it calls the building construction drawings to determine the parameters of the obstacles, and then imports the obstacle parameters into the database inside the robot through wireless transmission.

[0007] As a preferred solution of the present invention, more specifically in steps S4-S6, if the distance between the robot and the obstacle is less than the first safety distance and greater than the second safety distance, the robot will perform an alarm action to prompt that there is an obstacle ahead; if the distance between the robot and the obstacle is less than the second safety distance and greater than the third safety distance, the robot will enter a braking action until it stops at the third safety distance; if the robot stops at a distance less than the third safety distance from the obstacle, the robot automatically retreats to a fourth safety distance from the obstacle, wherein the fourth safety distance is greater than the third safety distance and less than the second safety distance.

[0008] As a preferred solution of the present invention, in step S1, more specifically, the binocular camera obtains an image of the bottom of the robot, and the image is compared with a database inside the robot to obtain specific parameters of the image. The detection process is from the upstairs building facade to the downstairs building facade.

[0009] As a preferred solution of the present invention, the robot includes a wall climber, which contacts the building facade through negative pressure, and the left and right sides of the wall climber are fixedly connected with vertical thrusters, and the front side of the vertical thruster is fixedly connected with a horizontal thruster.

[0010] As a preferred solution of the present invention, the front side of the wall climbing machine is fixedly connected to a shell, the left and right sides of the front side of the shell are fixedly connected to a fixed frame, the inner wall of the fixed frame is rotatably connected to a first rotating rod, and a pulley is fixedly sleeved on the surface of the first rotating rod.

[0011] As a preferred solution of the present invention, the rear end of the first rotating rod on the left side is fixedly connected to the second rotating rod, the surface of the second rotating rod is rotatably connected to the inner wall of the outer shell, a connecting groove is opened on the back surface of the wall climbing machine, a moving box is slidably connected to the groove wall of the connecting groove, an identifier is fixedly installed inside the moving box, a billiard ball is fixedly connected to the back surface of the moving box, a connecting plate is fixedly connected to the front surface of the moving box, and a connecting block is fixedly connected to the front surface of the connecting plate.

[0012] As a preferred solution of the present invention, the rear end of the second rotating rod is fixedly connected to a cylindrical cam, the groove wall of the cylindrical cam is slidably connected to a driven rod, and the left side of the connecting block is fixedly connected to the right end of the driven rod.

[0013] As a preferred solution of the present invention, the top and bottom of the front side of the wall climber are fixedly connected to support plates, the inner wall of the support plate is fixedly connected to a connecting pipe, and the inner wall of the connecting pipe is slidably connected to a balance rope.

[0014] As a preferred solution of the present invention, the left and right sides of the wall climbing machine are fixedly connected with connecting frames, the inner side of the connecting frame is fixedly connected with a recovery box, the inner wall of the recovery box is rotatably connected with a third rotating rod, the left and right ends of the third rotating rod are fixedly connected with moving wheels, the moving wheels are in contact with the exterior facade of the building, the surface of the third rotating rod is fixedly connected with a connecting ring, the surface of the connecting ring is fixedly connected with a T-shaped shovel, the number of the T-shaped shovels is four, and the four T-shaped shovels are distributed in a circular array.

[0015] Compared with the prior art, the present invention has the following beneficial effects: In the present invention, a binocular camera is used to obtain an image of the bottom of the robot, and the image is compared with a database inside the robot to obtain specific parameters of the image, and the distance between the robot and the obstacle is obtained. If the distance between the robot and the obstacle is less than the first safety distance and greater than the second safety distance, the robot performs an alarm action to prompt that there is an obstacle ahead. If the distance between the robot and the obstacle is less than the second safety distance and greater than the third safety distance, the robot enters a braking action until it stops at the third safety distance. If the robot stops at a distance less than the third safety distance from the obstacle, the robot automatically retreats to a fourth safety distance from the obstacle, wherein the fourth safety distance is greater than the third safety distance and less than the second safety distance. At this time, the robot bypasses the obstacle and continues to detect the exterior wall through the coordinated use of the vertical thrusters and horizontal thrusters set up.

[0016] In the present invention, friction is generated between the balance rope and the pulley, so that the pulley rotates, thereby driving the first rotating rod and the second rotating rod to rotate, so that the second rotating rod drives the cylindrical cam to rotate, and because the connecting groove limits the billiard ball, the billiard ball can only move horizontally forward and backward, so that the cylindrical cam drives the driven rod to move horizontally forward and backward, so that the connecting block drives the connecting plate and the moving box to move horizontally forward and backward, and drives the billiard ball to hit the outer wall. The identifier arranged inside the moving box receives and identifies the sound to complete the detection of the wall. When the wall climbing machine moves, when gravel appears, the gravel will fall into the recovery box. When the wall climbing machine moves, the moving wheel moves synchronously, so that the moving wheel drives the third rotating rod to rotate, drives the connecting ring and the T-shovel to rotate, and pushes the gravel into the interior of the recovery box to avoid the accumulation of gravel and the falling of gravel. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a flow chart of the obstacle avoidance method of the present invention; Figure 2 This is a schematic diagram of the robot structure of the present invention; Figure 3 For the present invention Figure 2 Schematic diagram of the local structure of the robot; Figure 4 For the present invention Figure 3 Cross-sectional view of the internal structure of the medium wall climbing machine; Figure 5 For the present invention Figure 4 The transmission structure plan.

[0018] In the figure: 1, robot; 101, wall climber; 102, shell; 103, vertical thruster; 104, horizontal thruster; 105, connecting frame; 106, recovery box; 107, third rotating rod; 108, moving wheel; 109, connecting ring; 110, T-shovel; 111, support plate; 112, connecting pipe; 113, moving box; 114, billiard ball; 115, connecting plate; 116, connecting groove; 117, connecting block; 118, driven rod; 119, cylindrical cam; 120, second rotating rod; 121, fixed frame; 122, pulley; 123, first rotating rod. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] See also Figure 1-5 The technical solution provided by the present invention specifically includes the following embodiments: Embodiment: An obstacle avoidance method for building facade wall climbing detection comprises the following steps: S1, placing the robot 1 at the building facade, obtaining the bottom image of the robot 1 through the binocular camera, and comparing the image with the database inside the robot 1 to obtain specific parameters of the image. The detection process is from the building facade upstairs to the building facade downstairs; S2, observe whether there is an obstacle at the bottom of the robot 1. If there is no obstacle, continue to repeat the steps in S1 until an obstacle is found; S3, photograph and obtain the shape of the obstacle, and obtain the specific parameters of the obstacle through comparison. The target is the ground, and the robot 1 does not take any obstacle avoidance measures. Before the robot 1 performs the exterior wall inspection, it calls the building construction drawing to determine the parameters of the obstacle, and then imports the obstacle parameters into the database inside the robot 1 through wireless transmission; S4, obtaining the distance between the robot 1 and the obstacle; S5, whether it is less than the safety distance. If it is at the safety distance, the robot 1 continues to move and continues to repeat the steps in S4 until the distance between the robot 1 and the obstacle is less than the safety distance; S6, robot 1 avoids obstacles. If the distance between robot 1 and the obstacle is less than the first safety distance and greater than the second safety distance, robot 1 performs an alarm action to prompt that there is an obstacle ahead. If the distance between robot 1 and the obstacle is less than the second safety distance and greater than the third safety distance, robot 1 starts braking action until it stops at the third safety distance. If the distance between robot 1 and the obstacle is less than the third safety distance after stopping, robot 1 automatically retreats to the fourth safety distance from the obstacle, where the fourth safety distance is greater than the third safety distance and less than the second safety distance.

[0021] The robot 1 includes a wall climber 101, which contacts the building facade through negative pressure. The left and right sides of the wall climber 101 are fixedly connected to vertical thrusters 103, and the front side of the vertical thrusters 103 is fixedly connected to a horizontal thruster 104; The robot 1 uses the vertical propeller 103 and the horizontal propeller 104 in coordination, so that the robot 1 can bypass obstacles and continue to inspect the exterior wall.

[0022] The front side of the wall climber 101 is fixedly connected to the shell 102, and the left and right sides of the front side of the shell 102 are fixedly connected to the fixing frame 121. The inner wall of the fixing frame 121 is rotatably connected to the first rotating rod 123, and the surface of the first rotating rod 123 is fixedly sleeved with a pulley 122.

[0023] The rear end of the first rotating rod 123 on the left side is fixedly connected to the second rotating rod 120, the surface of the second rotating rod 120 is rotatably connected to the inner wall of the shell 102, the back surface of the wall climbing machine 101 is provided with a connecting groove 116, the groove wall of the connecting groove 116 is slidably connected to the moving box 113, an identifier is fixedly installed inside the moving box 113, the back surface of the moving box 113 is fixedly connected to the billiard ball 114, the front surface of the moving box 113 is fixedly connected to the connecting plate 115, and the front surface of the connecting plate 115 is fixedly connected to the connecting block 117; The connecting block 117 drives the connecting plate 115 and the moving box 113 to move horizontally forward and backward, driving the billiard ball 114 to hit the outer wall. The identifier set inside the moving box 113 receives and recognizes the sound, completing the detection of the wall; The identifier is a sound sensor. An identifier is a device that can convert sound signals into electrical signals or convert electrical signals into sound signals. The function of a sound sensor is equivalent to a microphone. It is used to receive sound waves and display the vibration image of sound, but it cannot measure the intensity of noise. The sensor has a built-in sound-sensitive capacitive electret microphone. The sound waves make the electret film in the microphone vibrate, causing the capacitance to change, and generating a small voltage corresponding to the change. This voltage is then converted into a voltage of 0-5V, received by the data acquisition device after A / D conversion, and transmitted to the computer.

[0024] The rear end of the second rotating rod 120 is fixedly connected to a cylindrical cam 119, the groove wall of the cylindrical cam 119 is slidably connected to a driven rod 118, and the left side of the connecting block 117 is fixedly connected to the right end of the driven rod 118; The cam mechanism is a common motion mechanism, which is a high-pair mechanism composed of a cam, a follower and a frame. When the displacement, speed and acceleration of the follower must change strictly according to a predetermined law, especially when the prime mover moves continuously and the follower must move intermittently, it is most convenient to use a cam mechanism. The motion law of the cam follower depends on the shape of the cam's contour line or groove. The cam can convert continuous rotational motion into reciprocating linear motion and can realize complex motion laws.

[0025] The top and bottom of the front side of the wall climbing machine 101 are fixedly connected with a support plate 111, the inner wall of the support plate 111 is fixedly connected with a connecting pipe 112, and the inner wall of the connecting pipe 112 is slidably connected with a balance rope; Due to the balance rope, friction is generated between the balance rope and the pulley 122, causing the pulley 122 to rotate, thereby driving the first rotating rod 123 and the second rotating rod 120 to rotate. The device does not need to be loaded with extra motors, making the device lightweight and reducing production costs.

[0026] The left and right sides of the wall climbing machine 101 are fixedly connected with a connecting frame 105, the inner side of the connecting frame 105 is fixedly connected with a recovery box 106, the inner wall of the recovery box 106 is rotatably connected with a third rotating rod 107, the left and right ends of the third rotating rod 107 are fixedly connected with moving wheels 108, the moving wheels 108 are in contact with the building facade, the surface of the third rotating rod 107 is fixedly connected with a connecting ring 109, the surface of the connecting ring 109 is fixedly connected with a T-shaped shovel 110, the number of the T-shaped shovel 110 is four, and the four T-shaped shovels 110 are distributed in a ring array; The gravel is recovered through the recovery box 106. When the wall climber 101 moves, the moving wheel 108 moves synchronously, so that the moving wheel 108 drives the third rotating rod 107 to rotate, drives the connecting ring 109 and the T-shaped shovel 110 to rotate, and pushes the gravel into the interior of the recovery box 106 to avoid the accumulation of gravel and the falling of gravel.

[0027] This scheme is an obstacle avoidance method for building facade climbing detection. The bottom image of the robot 1 is obtained by a binocular camera. The image is compared with the database inside the robot 1 to obtain specific parameters of the image and obtain the distance between the robot 1 and the obstacle. If the distance between the robot 1 and the obstacle is less than the first safety distance and greater than the second safety distance, the robot 1 performs an alarm action to indicate that there is an obstacle ahead. If the distance between the robot 1 and the obstacle is less than the second safety distance and greater than the third safety distance, the robot 1 enters a braking action until it stops at the third safety distance. If the robot 1 stops at a distance less than the third safety distance from the obstacle, the robot 1 automatically retreats to a fourth safety distance from the obstacle, wherein the fourth safety distance is greater than the third safety distance and less than the second safety distance. At this time, the robot 1 uses the vertical thruster 103 and the horizontal thruster 104 provided to enable the robot 1 to bypass the obstacle and continue to detect the exterior wall. When the wall climber 101 is moving, friction is generated between the balance rope and the pulley 122 due to the balance rope, so that the pulley 122 rotates, thereby driving the first rotating rod 123 and the second rotating rod 120 to rotate, so that the second rotating rod 120 drives the cylindrical cam 119 to rotate. The cam mechanism is a common motion mechanism, which is a high-pair mechanism composed of a cam, a follower and a frame. When the displacement, speed and acceleration of the follower must change strictly according to a predetermined rule, especially when the prime mover moves continuously and the follower must move intermittently, it is most convenient to use a cam mechanism. The motion law of the cam follower depends on the shape of the contour line or groove of the cam. The cam can convert continuous rotational motion into reciprocating linear motion, and can realize complex motion laws. Since the connecting groove 116 limits the billiard ball 113, the billiard ball 113 can only move horizontally forward and backward, so that the cylindrical cam 119 drives the driven rod 118 to move horizontally forward and backward, so that the connecting block 117 drives the connecting plate 115 and the moving box 113 to move horizontally forward and backward, and drives the billiard ball 114 to hit the outer wall. The identifier set inside the moving box 113 receives and recognizes the sound to complete the detection of the wall. When the wall climbing machine 101 moves, when gravel appears, the gravel will fall into the recovery box 106. When the wall climbing machine 101 moves, the moving wheel 108 moves synchronously, so that the moving wheel 108 drives the third rotating rod 107 to rotate, drives the connecting ring 109 and the T-shovel 110 to rotate, and pushes the gravel into the interior of the recovery box 106 to avoid the accumulation of gravel and the falling of gravel.

[0028] While the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that many changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the invention.

Claims

1. An obstacle avoidance method for building facade wall climbing detection, characterized by: The following steps are involved: S1, placing the robot (1) on the facade of the building, and obtaining a bottom image of the robot (1) through a binocular camera; S2, observe whether there is an obstacle at the bottom of the robot (1), and if there is no obstacle, continue to repeat the steps in S1 until an obstacle is found; S3, photograph and obtain the shape of the obstacle, and obtain the specific parameters of the obstacle through comparison. The target is the ground, and the robot (1) does not take any obstacle avoidance measures; S4, obtaining the distance between the robot (1) and the obstacle; S5, whether the distance is less than the safety distance. If the distance is within the safety distance, the robot (1) continues to move and the steps in S4 are repeated until the distance between the robot (1) and the obstacle is less than the safety distance; S6, the robot (1) performs obstacle avoidance; The robot (1) comprises a wall climbing machine (101); The front side of the wall climbing machine (101) is fixedly connected to a housing (102), the left and right sides of the front side of the housing (102) are fixedly connected to a fixing frame (121), the inner wall of the fixing frame (121) is rotatably connected to a first rotating rod (123), and a pulley (122) is fixedly sleeved on the surface of the first rotating rod (123); The rear end of the first rotating rod (123) on the left side is fixedly connected to a second rotating rod (120), the surface of the second rotating rod (120) is rotatably connected to the inner wall of the outer shell (102), the back surface of the wall climbing machine (101) is provided with a connecting groove (116), the groove wall of the connecting groove (116) is slidably connected to a moving box (113), an identifier is fixedly installed inside the moving box (113), the back surface of the moving box (113) is fixedly connected to a billiard ball (114), the front surface of the moving box (113) is fixedly connected to a connecting plate (115), and the front surface of the connecting plate (115) is fixedly connected to a connecting block (117).

2. The obstacle avoidance method for building facade wall climbing detection according to claim 1, characterized in that: More specifically, in step S3, before the robot (1) detects the exterior wall, it calls the building construction drawings to determine the parameters of the obstacles, and then imports the obstacle parameters into the database inside the robot (1) through wireless transmission.

3. The obstacle avoidance method for building facade wall climbing detection according to claim 1, characterized in that: More specifically, in steps S4-S6, if the distance between the robot (1) and the obstacle is less than the first safety distance and greater than the second safety distance, the robot (1) performs an alarm action to indicate that there is an obstacle ahead; if the distance between the robot (1) and the obstacle is less than the second safety distance and greater than the third safety distance, the robot (1) performs a braking action until it stops at the third safety distance; if the robot (1) stops at a distance less than the third safety distance from the obstacle, the robot (1) automatically retreats to a fourth safety distance from the obstacle, wherein the fourth safety distance is greater than the third safety distance and less than the second safety distance.

4. The obstacle avoidance method for building facade wall climbing detection according to claim 1, characterized in that: In step S1, more specifically, the binocular camera obtains an image of the bottom of the robot (1), and the image is compared with a database inside the robot (1) to obtain specific parameters of the image. The detection process is from the upper building facade to the lower building facade.

5. The obstacle avoidance method for building facade wall climbing detection according to claim 1, characterized in that: The top and bottom of the front side of the wall climber (101) are both fixedly connected to a support plate (111), the inner wall of the support plate (111) is fixedly connected to a connecting pipe (112), and the inner wall of the connecting pipe (112) is slidably connected to a balancing rope.

6. The obstacle avoidance method for building facade wall climbing detection according to claim 1, characterized in that: The left and right sides of the wall climbing machine (101) are fixedly connected to a connecting frame (105), the inner side of the connecting frame (105) is fixedly connected to a recovery box (106), the inner wall of the recovery box (106) is rotatably connected to a third rotating rod (107), the left and right ends of the third rotating rod (107) are fixedly connected to moving wheels (108), the moving wheels (108) are in contact with the building facade, the surface of the third rotating rod (107) is fixedly connected to a connecting ring (109), the surface of the connecting ring (109) is fixedly connected to a T-shaped shovel (110), the number of the T-shaped shovels (110) is four, and the four T-shaped shovels (110) are distributed in a ring array.

7. The obstacle avoidance method for building facade wall climbing detection according to claim 1, characterized in that: The rear end of the second rotating rod (120) is fixedly connected to a cylindrical cam (119), the groove wall of the cylindrical cam (119) is slidably connected to a driven rod (118), and the left side of the connecting block (117) is fixedly connected to the right end of the driven rod (118).

8. The obstacle avoidance method for building facade wall climbing detection according to claim 1, characterized in that: The wall climber (101) contacts the building facade through negative pressure, and the left and right sides of the wall climber (101) are fixedly connected to vertical thrusters (103), and the front side of the vertical thrusters (103) is fixedly connected to a horizontal thruster (104).

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