An obstacle avoidance method for building facade wall climbing detection

Abstract

The present invention relates to the field of building inspection technology, specifically to an obstacle avoidance method for wall climbing inspection of building facades. S1: Place a robot on the building facade and obtain an image of the robot's bottom through a binocular camera; S2: Observe whether there is an obstacle under 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. If the target is the ground, the robot does not take obstacle avoidance measures; S4: Obtain the distance between the robot and the obstacle. In the present invention, when the wall climber is moving, if gravel appears, the gravel will fall into the inside of the recovery box. When the wall climber moves, the moving wheels move synchronously, so that the moving wheels drive the third rotating rod to rotate, drive the connecting ring and the T-shovel to rotate, and push the gravel into the interior of the recovery box to avoid the accumulation of gravel and the falling of gravel.

Description

Technical Field

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

[0002] Construction project quality inspection refers to the activity of testing the materials, components, equipment, as well as the quality of the project entity and its usage functions to determine its quality characteristics based on the mandatory standards and design documents of the construction project. 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 construction, existing building exterior walls are inspected for voids in the 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 single piece, and sometimes there are exterior wall accessories, which need to be avoided in related positions. In addition, during the inspection, detecting voids by knocking 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:

[0006] S1, place the robot on the building facade and obtain the bottom image of the robot through the binocular camera;

[0007] 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;

[0008] S3, captures the obstacle shape and obtains its specific parameters through comparison. The target is the ground, and the robot does not take any obstacle avoidance measures.

[0009] S4, obtain the distance between the robot and the obstacle;

[0010] S5: Is the distance less than the safe distance? If the distance is within the safe 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 safe distance.

[0011] S6, the robot avoids obstacles.

[0012] As a preferred solution of the present invention, more specifically in step S3, before the robot performs exterior wall inspection, it calls the building construction drawings to determine the parameters of the obstacle, and then imports the obstacle parameters into the robot's internal database through wireless transmission.

[0013] As a preferred solution of the present invention, in steps S4-S6, more specifically, 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.

[0014] 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 the database inside the robot to obtain specific parameters of the image. The detection process is from the facade of the building upstairs to the facade of the building downstairs.

[0015] As a preferred solution of the present invention, the robot includes a wall climber, which contacts the building facade through negative pressure. The left and right sides of the wall climber are fixedly connected to vertical propellers, and the front side of the vertical propeller is fixedly connected to a horizontal propeller.

[0016] 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 the surface of the first rotating rod is fixedly sleeved with a pulley.

[0017] 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 provided on the back surface of the wall climbing machine, the groove wall of the connecting groove is slidably connected to a mobile box, an identifier is fixedly installed inside the mobile box, the back surface of the mobile box is fixedly connected to a billiard ball, the front surface of the mobile box is fixedly connected to a connecting plate, and the front surface of the connecting plate is fixedly connected to a connecting block.

[0018] 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.

[0019] 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.

[0020] As a preferred solution of the present invention, the left and right sides of the wall climbing machine are fixedly connected to connecting frames, the inner side of the connecting frame is fixedly connected to a recovery box, the inner wall of the recovery box is rotatably connected to a third rotating rod, the left and right ends of the third rotating rod are fixedly connected to moving wheels, the moving wheels are in contact with the facade of the building, the surface of the third rotating rod is fixedly connected to a connecting ring, the surface of the connecting ring is fixedly connected to 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.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] 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 obtain the distance between the robot and the obstacle. 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 is less than the third safety distance from the obstacle after stopping, the robot automatically retreats to the 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 inspect the exterior wall through the coordinated use of the vertical thrusters and horizontal thrusters.

[0023] In the present invention, friction is generated between the balance rope and the pulley, causing the pulley to rotate, thereby driving the first rotating rod and the second rotating rod to rotate, thereby causing the second rotating rod to drive the cylindrical cam to rotate. Since the connecting groove limits the billiard ball, the billiard ball can only move horizontally back and forth, thereby causing the cylindrical cam to drive the driven rod to move horizontally back and forth, so that the connecting block drives the connecting plate and the moving box to move horizontally back and forth, driving the billiard ball to hit the outer wall. The identifier arranged inside the moving box receives and recognizes 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-shaped shovel to rotate, and pushes the gravel into the interior of the recovery box to avoid gravel accumulation and causing gravel to fall. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a flow chart of the obstacle avoidance method of the present invention;

[0025] Figure 2 Schematic diagram of the robot structure of the present invention;

[0026] Figure 3 For the present invention Figure 2 Schematic diagram of the robot's local structure;

[0027] Figure 4 For the present invention Figure 3 Cross-sectional view of the internal structure of the medium wall climbing machine;

[0028] Figure 5 For the present invention Figure 4 The transmission structure plan.

[0029] In the figure: 1. robot; 101. wall climber; 102. housing; 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

[0030] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts are within the scope of protection of the present invention.

[0031] See also Figure 1-5 The technical solution provided by the present invention specifically includes the following embodiments:

[0032] Embodiment: A method for avoiding obstacles in building facade wall climbing detection includes the following steps:

[0033] S1: Place the robot 1 at the building facade and use a binocular camera to obtain an image of the bottom of the robot 1. This image is compared with the database inside the robot 1 to obtain specific parameters of the image. The detection process starts from the upper building facade to the lower building facade.

[0034] S2, observe whether there is any obstacle at the bottom of robot 1. If there is no obstacle, continue to repeat the steps in S1 until an obstacle is found;

[0035] S3: Obstacle shape is captured and compared to obtain specific parameters of the obstacle. If the target is the ground, the robot 1 does not take any obstacle avoidance measures. Before inspecting the exterior wall, the robot 1 retrieves the building construction drawings to determine the parameters of the obstacle. The obstacle parameters are then imported into the robot 1's internal database via wireless transmission.

[0036] S4, obtaining the distance between the robot 1 and the obstacle;

[0037] S5: Is the distance less than the safety distance? If the distance is within the safety distance, the robot 1 continues to move and repeats the steps in S4 until the distance between the robot 1 and the obstacle is less than the safety distance.

[0038] S6, robot 1 performs obstacle avoidance. 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.

[0039] The robot 1 includes a wall climber 101, which contacts the building facade through negative pressure. Vertical thrusters 103 are fixedly connected to the left and right sides of the wall climber 101, and the front side of the vertical thrusters 103 is fixedly connected to the horizontal thrusters 104.

[0040] The robot 1 uses the vertical propeller 103 and the horizontal propeller 104 in coordination to enable the robot 1 to bypass obstacles and continue to inspect the exterior wall.

[0041] 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 fixed frame 121. The inner wall of the fixed 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.

[0042] The rear end of the first rotating rod 123 on the left is fixedly connected to the second rotating rod 120, and 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 climber 101 is provided with a connecting groove 116, and the groove wall of the connecting groove 116 is slidably connected to the movable box 113. The identifier is fixedly installed inside the movable box 113. The back surface of the movable box 113 is fixedly connected to the billiard ball 114. The front surface of the movable 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.

[0043] The connecting block 117 drives the connecting plate 115 and the moving box 113 to move horizontally back and forth, 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;

[0044] 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 the sound, but it cannot measure the intensity of the noise. The sensor has a built-in sound-sensitive capacitive electret microphone. The sound waves make the electret film in the microphone vibrate, resulting in a change in capacitance, which generates a corresponding small voltage. This voltage is then converted into a voltage of 0-5V, received by the data collector through A / D conversion, and transmitted to the computer.

[0045] The rear end of the second rotating rod 120 is fixedly connected to a cylindrical cam 119, and the groove wall of the cylindrical cam 119 is slidably connected to the driven rod 118. The left side of the connecting block 117 is fixedly connected to the right end of the driven rod 118;

[0046] The cam mechanism is a common motion mechanism consisting of a cam, a follower, and a frame. When the displacement, velocity, and acceleration of the follower must vary strictly according to a predetermined pattern, especially when the driver moves continuously and the follower must move intermittently, a cam mechanism is the simplest solution. The motion pattern of a cam follower is determined by the contour or groove shape of the cam. Cams can convert continuous rotational motion into reciprocating linear motion, enabling the realization of complex motion patterns.

[0047] The top and bottom of the front side of the wall climber 101 are 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 balance rope;

[0048] 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.

[0049] The left and right sides of the wall climber 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 shovel 110 is four, and the four T-shaped shovels 110 are distributed in a circular array;

[0050] 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, and drives the connecting ring 109 and the T-shaped shovel 110 to rotate, pushing the gravel into the interior of the recovery box 106 to avoid the accumulation of gravel and the falling of gravel.

[0051] This solution provides an obstacle avoidance method for wall climbing detection on the facade of a building. 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 will perform an alarm action to prompt 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 will enter a braking action until it stops at the third safety distance. If the robot 1 is less than the third safety distance from the obstacle after stopping, the robot 1 automatically retreats to a 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. At this time, the robot 1 uses the vertical thrusters 103 and the horizontal thrusters 104 to cooperate with each other to enable the robot 1 to bypass the obstacle and continue to detect the exterior wall.

[0052] When the wall climber 101 moves, friction between the balance rope and pulley 122 is generated due to the balance rope, causing pulley 122 to rotate, thereby driving the first rotating rod 123 and the second rotating rod 120 to rotate. In turn, the second rotating rod 120 drives the cylindrical cam 119 to rotate. The cam mechanism is a common motion mechanism, consisting of a cam, a follower, and a frame. When the displacement, velocity, and acceleration of the follower must change strictly according to a predetermined pattern, especially when the driver moves continuously and the follower must move intermittently, the cam mechanism is the most convenient. The motion law of the cam follower depends on the contour line of the cam or the shape of the groove. 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 back and forth, so that the cylindrical cam 119 drives the driven rod 118 to move horizontally back and forth, so that the connecting block 117 drives the connecting plate 115 and the moving box 113 to move horizontally back and forth, driving 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 climber 101 moves, when gravel appears, the gravel will fall into 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 gravel accumulation and causing gravel to fall.

[0053] While the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations can 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 the bottom image of the robot (1) through a binocular camera; 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, capture 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, obtain the distance between the robot (1) and the obstacle; S5, whether it is less than the safety distance. When 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) performs obstacle avoidance; The robot (1) includes a wall climber (101); The front side of the wall climbing machine (101) is fixedly connected to a housing (102), and the left and right sides of the front side of the housing (102) are fixedly connected to fixed frames (121). The inner wall of the fixed 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 the second rotating rod (120), the surface of the second rotating rod (120) is rotatably connected to the inner wall of the housing (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); 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).

2. The obstacle avoidance method for building facade wall climbing detection according to claim 1, characterized in that: More specifically, in step S3, before performing exterior wall inspection, the robot (1) 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 the 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 climbing machine (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 balance 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 recycling box (106), the inner wall of the recycling 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 wall climber (101) contacts the building facade through negative pressure, and vertical thrusters (103) are fixedly connected to the left and right sides of the wall climber (101), and the front side of the vertical thruster (103) is fixedly connected to the horizontal thruster (104).

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