Advertising board detection device

Abstract

The utility model provides an advertising board detection device which is characterized in that crawler wheels are arranged on two sides of a vehicle body, the crawler wheels are driven by two electromagnetic wheels, the electromagnetic wheels are electrically connected with a controller, an auxiliary mechanical arm is arranged at the front end of the vehicle body, a crawling frame is arranged at the front end of the auxiliary mechanical arm, a plurality of electromagnetic rollers are arranged on a support of the crawling frame, and the crawling frame is connected with a first driving motor. A detection manipulator is further arranged on the vehicle body, and a plurality of cameras are arranged at the end part of the detection manipulator; the controller is electrically connected with the electromagnetic wheel and the electromagnetic roller, and the controller is powered on to enable the electromagnetic wheel and the electromagnetic roller to generate magnetic force. According to the comprehensive design scheme, the detection efficiency and accuracy are improved, the requirement for manual intervention is greatly reduced, the safety and convenience of operation are improved, and the method has great significance in maintaining city attractiveness and guaranteeing the safety of public facilities.

Description

Technical Field

[0001] The utility model relates to the field of billboard detection, in particular to a billboard detection device. Background Art

[0002] Traditional billboard detection methods are inefficient, usually relying on manual climbing or using simple lifting equipment for operation, which not only consumes a lot of time and manpower, but also has low work efficiency and is difficult to meet the requirements of rapid urban management and maintenance. Manual detection has high safety risks. Especially when dealing with billboards at high places or in inaccessible positions, the safety threats faced by staff increase and accidents are prone to occur. Some existing automated detection devices have poor adaptability when facing columns with complex structures, different shapes and sizes, and cannot effectively handle detection tasks under various environmental conditions, restricting their wide application.

[0003] The ability to handle the intersection nodes of columns and crossbars or other obstacles is insufficient. Many devices are difficult to cross smoothly when encountering these obstacles, affecting the continuity and integrity of the detection work. Lack of flexible angle adjustment and multi-directional detection capabilities. Existing detection tools can often only obtain image data from a fixed angle and are difficult to achieve all-round and multi-angle detailed inspections, resulting in possible omission of important information. Summary of the Utility Model

[0004] The main purpose of the utility model is to provide a billboard detection device to solve the problems that traditional billboard detection often relies on manual climbing or using simple lifting equipment, which is not only inefficient but also has high safety risks.

[0005] To solve the above technical problems, the technical solution adopted by the utility model is: a billboard detection device, with crawler wheels arranged on both sides of the vehicle body. The crawler wheels are driven by two electromagnetic wheels, and the electromagnetic wheels are electrically connected to the controller. An auxiliary robotic arm is provided at the front end of the vehicle body. A crawling frame is provided at the front end of the auxiliary robotic arm. A plurality of electromagnetic rollers are provided on the brackets of the crawling frame. The crawling frame is connected to the first drive motor. A detection robotic arm is also provided on the vehicle body. A plurality of cameras are provided at the end of the detection robotic arm;

[0006] The controller is electrically connected to the electromagnetic wheels and the electromagnetic rollers. When the controller is powered on, the electromagnetic wheels and the electromagnetic rollers generate magnetic forces.

[0007] In a preferred embodiment, the auxiliary robotic arm includes two symmetrically arranged first fixed seats and second fixed seats. Mechanical arms with synchronous movement are provided on both the first fixed seat and the second fixed seat. One end of the first fixed seat is hinged to one end of the first active arm, and the other end of the first active arm is hinged to the active forearm;

[0008] The first active arm internally is provided with a first joint driver and a second joint driver;

[0009] The first joint driver and the second joint driver are fixed inside the first active arm, and the output end of the first joint driver is connected to the first fixed seat, and the output end of the second joint driver is connected to the active small arm;

[0010] The first joint driver is used to drive the first active arm to rotate, and the second joint driver is used to drive the active small arm to rotate.

[0011] In a preferred solution, one end of the driven main arm is hinged to the second fixed seat, and the other end of the driven main arm is hinged to the driven small arm;

[0012] The hinge shaft of the driven main arm is connected to the first active arm through the first synchronizing rod;

[0013] The hinge shaft of the driven small arm is connected to the active small arm through the second synchronizing rod.

[0014] In a preferred solution, a crawler frame is provided between the ends of the driven small arm and the active small arm. At least two support rods are provided at both ends of the crawler frame. The electromagnetic rollers are arranged on the support rods. A first driving motor is provided on one side of the driven small arm or the active small arm, and the first driving motor is connected to the crawler frame.

[0015] In a preferred solution, a plurality of kidney-shaped holes are further provided on the vehicle body, and the first fixed seat and the second fixed seat are arranged on the kidney-shaped holes through nuts.

[0016] In a preferred solution, a rotary driving seat is provided in the middle of the vehicle body. The detection manipulator is arranged on the rotary driving seat. A second worm is provided inside the housing of the rotary driving seat. The second worm meshes with the second worm gear. The second worm gear is rotatably connected to the housing of the rotary driving seat. The second worm gear is connected to the robotic arm base at the lower end of the detection manipulator.

[0017] In a preferred solution, the robotic arm base is hinged to one end of the total support arm, the other end of the total support arm is hinged to the detection arm, an installation bracket is provided on the detection arm, and the camera is arranged on the installation bracket.

[0018] In a preferred solution, a third joint driver and a fourth joint driver are provided inside the total support arm. The third joint driver and the fourth joint driver are fixed inside the total support arm. The output shaft of the third joint driver is connected to the robotic arm base, and the output shaft of the fourth joint driver is connected to the detection arm.

[0019] In a preferred solution, the first joint driver, the second joint driver, the third joint driver and the fourth joint driver have the same structure;

[0020] The gear housing at the end of the first joint driver is fixed to the first active arm. A first worm gear and a first worm that mesh with each other are provided inside the gear housing. The first worm is connected to the third driving motor, and the first worm gear is connected to the first fixed seat through the output shaft.

[0021] In a preferred embodiment, at least two sets of fourth drive motors are further provided at the bottom of the vehicle body, and the fourth drive motors are respectively connected to two opposite electromagnetic wheels through two output shafts.

[0022] The utility model provides an advertising board detection device, which not only improves the detection efficiency and accuracy of columnar advertising facilities, but also performs excellently in dealing with complex structures or situations with multiple obstacles. It reduces the need for direct manual operation, lowers the operation difficulty and risk, and at the same time improves the operation safety and convenience. With the precisely controlled camera, not only high-quality image data can be obtained, but also reliable support can be provided for subsequent data analysis, enhancing the practicability and functionality of the entire system, which is of great significance for maintaining urban beauty and ensuring the safety of public facilities. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The following further describes the present utility model in conjunction with the drawings and embodiments:

[0024] Figure 1 is the overall external structure diagram of the present utility model;

[0025] Figure 2 is the drive structure diagram of the bottom of the vehicle body of the present utility model;

[0026] Figure 3 is the auxiliary robotic arm structure diagram of the present utility model;

[0027] Figure 4 is the detection robotic hand structure diagram of the present utility model;

[0028] Figure 5 is the climbing structure diagram of the detection device of the present utility model when encountering an obstacle.

[0029] In the figure: vehicle body 1; waist-shaped hole 101; crawler wheel 2; detection robotic hand 3; robotic arm base 301; total support arm 302; detection arm 303; third joint driver 304; fourth joint driver 305; electromagnetic wheel 4; controller 5; mounting bracket 6; camera 7; auxiliary robotic arm 8; first active arm 801; first joint driver 802; third drive motor 8021; first worm gear 8022; first worm 8023; first fixed seat 803; second joint driver 804; active small arm 805; second fixed seat 806; first synchronizing rod 807; driven main arm 808; second synchronizing rod 809; driven small arm 810;

[0030] electromagnetic roller 9; climbing frame 10; first drive motor 11; rotary drive seat 12; second worm 1201; second worm gear 1202; second drive motor 1203; fourth drive motor 13. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0031] As shown Figures 1-5 in the figure, there is a billboard detection device. On both sides of the vehicle body 1, there are crawler wheels 2, and the crawler wheels 2 are driven by two electromagnetic wheels 4. The electromagnetic wheels 4 are electrically connected to the controller 5. At the front end of the vehicle body 1, there is an auxiliary robotic arm 8. At the front end of the auxiliary robotic arm 8, there is a crawler frame 10. On the bracket of the crawler frame 10, there are multiple electromagnetic rollers 9. The crawler frame 10 is connected to the first drive motor 11. On the vehicle body 1, there is also a detection robotic hand 3. At the end of the detection robotic hand 3, there are multiple cameras 7;

[0032] The controller 5 is electrically connected to the electromagnetic wheels 4 and the electromagnetic rollers 9. When the controller 5 is powered on, the electromagnetic wheels 4 and the electromagnetic rollers 9 generate magnetic forces.

[0033] Move the vehicle body 1 close to the column of the columnar advertising facility. Through the controller 5, make the electromagnetic wheels 4 generate magnetic forces. At this time, the crawler wheels 2 will closely adhere to the column, ensuring that the device can be firmly adsorbed on the column.

[0034] Then use the remote control to control the entire detection device to crawl upward along the column for routine detection work. When encountering obstacles such as the intersection node of the column and the crossbar, it can be solved by the auxiliary robotic arm 8.

[0035] The specific operation is to first let the crawler frame 10 at the front end of the auxiliary robotic arm 8 cross the obstacle area, and turn on the multiple electromagnetic rollers 9 on the crawler frame 10. These electromagnetic rollers 9 will form new fixed points with the column. Next, the controller 5 controls the electromagnetic wheels 4 to demagnetize, so that the crawler part originally adsorbed on the column relaxes, allowing the entire vehicle body 1 of the detection device to separate from the column surface. Then, by controlling the pitching motion of the auxiliary robotic arm 8, adjust the position of the vehicle body so that it can smoothly cross the obstacle and continue to move forward.

[0036] In the preferred solution, the auxiliary robotic arm 8 includes two symmetrically arranged first fixed seats 803 and second fixed seats 806. On both the first fixed seat 803 and the second fixed seat 806, there are robotic arms that move synchronously. One end of the first fixed seat 803 is hinged to one end of the first active arm 801, and the other end of the first active arm 801 is hinged to the active small arm 805;

[0037] Inside the first active arm 801, there are a first joint driver 802 and a second joint driver 804;

[0038] The first joint driver 802 and the second joint driver 804 are fixed inside the first active arm 801. The output end of the first joint driver 802 is connected to the first fixed seat 803, and the output end of the second joint driver 804 is connected to the active small arm 805;

[0039] The first joint driver 802 is used to drive the first active arm 801 to rotate, and the second joint driver 804 is used to drive the active small arm 805 to rotate.

[0040] The first joint driver 802 and the second joint driver 804 are activated. The first joint driver 802 is located inside the first active arm 801, and its function is to drive the first active arm 801 to rotate relative to the first fixed base 803, thereby adjusting the initial angular position of the entire robotic arm. At the same time, the second joint driver 804 is also located inside the first active arm 801, and its function is to drive the active small arm 805 to rotate relative to the first active arm 801, enabling the robotic arm to more flexibly adapt to different operation requirements.

[0041] When it is necessary to cross an obstacle such as the intersection node of a column and a crossbar, the actions of the first joint driver 802 and the second joint driver 804 can be precisely adjusted through the controller, enabling the first active arm 801 and the active small arm 805 to move in a coordinated manner, allowing the auxiliary robotic arm 806 to successfully cross the obstacle. At this time, the electromagnetic roller 9 on the crawler frame 10 will be activated to ensure that the device can re-stably adsorb on the column after crossing the obstacle and continue to perform the detection task.

[0042] In a preferred solution, one end of the driven main arm 808 is hinged to the second fixed base 806, and the other end of the driven main arm 808 is hinged to the driven small arm 810;

[0043] The hinge axis of the driven main arm 808 is connected to the first active arm 801 through the first synchronizing rod 807;

[0044] The hinge axis of the driven small arm 810 is connected to the active small arm 805 through the second synchronizing rod 809.

[0045] The controller activates the first joint driver 802 and the second joint driver 804 to initiate the actions of the first active arm 801 and the active small arm 805. When the first active arm 801 rotates, it drives the driven main arm 808 to rotate synchronously through the connected first synchronizing rod 807, thereby ensuring that the robotic arms on both sides can move in a coordinated manner. Similarly, when the active small arm 805 rotates, the movement is transmitted to the driven small arm 810 through the second synchronizing rod 809, enabling the small arms at both ends of the crawler frame 10 to also move synchronously, ensuring the stability and accuracy of the crawler frame 10 during task execution.

[0046] When crossing an obstacle such as the intersection node of a column and a crossbar, the controller will finely adjust the working states of the first joint driver 802 and the second joint driver 804, enabling the first active arm 801, the active small arm 805, and the corresponding driven main arm 808 and driven small arm 810 to work together to help the device successfully cross the obstacle. At this time, the electromagnetic roller 9 on the crawler frame 10 is activated to closely fit with the column to form a new fixed point. Subsequently, the first drive motor 11 starts to operate, providing power for the crawler frame 10 to assist the entire device to continue climbing upward along the column.

[0047] In a preferred embodiment, a crawler frame 10 is provided between the ends of the driven small arm 810 and the driving small arm 805. At least two support rods are provided at both ends of the crawler frame 10, and the electromagnetic rollers 9 are arranged on the support rods. A first driving motor 11 is arranged on one side of the driven small arm 810 or the driving small arm 805, and the first driving motor 11 is connected to the crawler frame 10.

[0048] The first driving motor 11 causes the crawler frame 10 to start working. The crawler frame 10 is located between the ends of the driven small arm 810 and the driving small arm 805, and at least two support rods are provided at both ends. The electromagnetic rollers 9 are installed on these support rods. When the device needs to climb along the column or cross an obstacle, the first driving motor 11 drives the crawler frame 10 to rotate, adjusting the angles of the multiple electromagnetic rollers 9 so that they can adapt to different inclined surfaces and corners. In this way, whether on a vertical surface or an inclined surface, the electromagnetic rollers 9 can provide a stable adsorption force to ensure that the entire device can move stably.

[0049] In specific operation, when encountering an obstacle such as the intersection node of the column and the cross bar, the movement of the auxiliary robotic arm can be controlled to help the device cross the obstacle. At this time, the first driving motor 11 will adjust the posture of the crawler frame 10 according to actual needs, so that the electromagnetic rollers 9 can be repositioned and firmly attached to the column to continue the detection task.

[0050] In a preferred embodiment, a plurality of kidney-shaped holes 101 are further provided on the vehicle body 1, and the first fixing seat 803 and the second fixing seat 806 are arranged on the kidney-shaped holes 101 through nuts. The positions of the first fixing seat 803 and the second fixing seat 806 can be adjusted.

[0051] Adjust the positions of the first fixing seat 803 and the second fixing seat 806 according to actual needs. Since a plurality of kidney-shaped holes 101 are provided on the vehicle body 1, the first fixing seat 803 and the second fixing seat 806 can be moved to appropriate positions by loosening the nuts, and then the nuts are tightened again to fix them. Such a design allows fine adjustment of the installation position of the auxiliary robotic arm, thereby optimizing the working range and angle of the robotic arm to ensure that it can better adapt to different operating environments and task requirements.

[0052] In a preferred embodiment, a rotary drive seat 12 is provided in the middle of the vehicle body 1, the detection robotic arm 3 is arranged on the rotary drive seat 12, a second worm 1201 is arranged inside the housing of the rotary drive seat 12, the second worm 1201 meshes with a second worm gear 1202, the second worm gear 1202 is rotatably connected to the housing of the rotary drive seat 12, and the second worm gear 1202 is connected to the robotic arm base 301 at the lower end of the detection robotic arm 3.

[0053] The second worm 1201 inside the rotary drive base 12. The second worm 1201 meshes with the second worm gear 1202, driving the second worm gear 1202 to rotate. Since the second worm gear 1202 is rotationally connected to the outer shell of the rotary drive base 12 and is directly connected to the robotic arm base 301 at the lower end of the inspection robotic arm 3, when the second worm gear 1202 rotates, it will drive the entire inspection robotic arm 3 to rotate together. In this way, the angle and position of the inspection robotic arm 3 can be adjusted according to actual needs to more accurately inspect the billboard.

[0054] The billboard can be photographed from different angles or its various parts can be inspected by precisely adjusting the position of the inspection robotic arm 3 by controlling the rotary drive base 12. For example, when encountering a difficult-to-reach part during the inspection process, the inspection robotic arm 3 can be flexibly rotated, and the multiple cameras 7 at its end can be used to obtain the required information to ensure that the inspection work is comprehensive and without omission.

[0055] In a preferred embodiment, the robotic arm base 301 is hinged to one end of the main support arm 302, the other end of the main support arm 302 is hinged to the inspection arm 303, and an installation bracket 6 is provided on the inspection arm 303. The camera 7 is arranged on the installation bracket 6.

[0056] By adjusting the rotary drive base 12 through the controller, the inspection robotic arm 3 is brought to the required approximate angle. Then, according to specific inspection requirements, the main support arm 302 and the inspection arm 303 are further adjusted. Since the robotic arm base 301 is hinged to one end of the main support arm 302 and the other end of the main support arm 302 is hinged to the inspection arm 303, the position and posture of the inspection arm 303 can be precisely adjusted by controlling these two hinge points. The installation bracket 6 is arranged on the inspection arm 303, and the multiple cameras 7 are installed on the installation bracket 6 to ensure that images or video materials can be captured from the best angle.

[0057] In actual operation, when a detailed inspection of the billboard is required, the angles of the main support arm 302 and the inspection arm 303 can be flexibly adjusted according to the specific position and shape of the billboard to ensure that the camera 7 can accurately capture every detail. When facing high or difficult-to-reach parts, the multi-angle adjustment ability of the main support arm 302 and the inspection arm 303 can be utilized to move the camera 7 to an ideal position for shooting, ensuring the comprehensiveness and accuracy of the inspection work.

[0058] In a preferred embodiment, a third joint driver 304 and a fourth joint driver 305 are provided inside the main support arm 302. The third joint driver 304 and the fourth joint driver 305 are fixed inside the main support arm 302. The output shaft of the third joint driver 304 is connected to the robotic arm base 301, and the output shaft of the fourth joint driver 305 is connected to the inspection arm 303.

[0059] The third joint driver 304 and the fourth joint driver 305 inside the main support arm 302. These two drivers are fixed inside the main support arm 302, where the output shaft of the third joint driver 304 is connected to the robotic arm base 301, and the output shaft of the fourth joint driver 305 is connected to the detection arm 303. This means that when it is necessary to adjust the position and posture of the detection manipulator 3, the angle of the main support arm 302 relative to the robotic arm base 301 can be rotated by controlling the third joint driver 304; similarly, by controlling the fourth joint driver 305, the angle of the detection arm 303 relative to the main support arm 302 can be adjusted.

[0060] In specific operations, if it is necessary to conduct a detailed inspection of different parts of the billboard, the working states of the third joint driver 304 and the fourth joint driver 305 can be flexibly adjusted according to actual requirements. For example, when facing high or inaccessible parts, first adjust the angle of the main support arm 302 through the third joint driver 304 so that the device can reach the target position; then, use the fourth joint driver 305 to further fine-tune the angle of the detection arm 303 to ensure that the camera 7 on the mounting bracket 6 can capture images or video materials from the best angle, thereby obtaining the clearest and most detailed detection information.

[0061] In a preferred solution, the first joint driver 802, the second joint driver 804, the third joint driver 304, and the fourth joint driver 305 have the same structure;

[0062] The gear housing at the end of the first joint driver 802 is fixed on the first active arm 801. Inside the gear housing, there are a first worm gear 8022 and a first worm 8023 that mesh with each other. The first worm 8023 is connected to the third drive motor 8021, and the first worm gear 8022 is connected to the first fixed seat 803 through the output shaft.

[0063] When using this billboard detection device with joint drivers of the same structure, including the first joint driver 802, the second joint driver 804, the third joint driver 304, and the fourth joint driver 305, first start the corresponding drive motor through the controller. Taking the first joint driver 802 as an example, the gear housing at its end is fixed on the first active arm 801. Inside the gear housing, there are a first worm gear 8022 and a first worm 8023 that mesh with each other. The first worm 8023 is connected to the third drive motor 8021. When the third drive motor 8021 is started, it drives the first worm 8023, which in turn drives the first worm gear 8022 to rotate. Since the first worm gear 8022 is connected to the first fixed seat 803 through the output shaft, the rotation of the first worm gear 8022 causes the entire first active arm 801 to rotate relative to the first fixed seat 803.

[0064] Similarly, the second joint driver 804, the third joint driver 304, and the fourth joint driver 305 also work according to the same principle, and are respectively used to control the angle adjustment of the active forearm 805, the total support arm 302, and the detection arm 303. By precisely adjusting the working state of each drive motor through the controller, precise positioning and angle adjustment of each robotic arm segment can be achieved, ensuring that the device can adapt to different operation requirements and environmental conditions.

[0065] In specific operations, if it is necessary to conduct a detailed inspection of different parts of the billboard, the working parameters of each joint driver can be flexibly adjusted according to the actual situation. For example, when facing complex structures or obstacles, first adjust the posture of the auxiliary robotic arm through the first joint driver 802 and the second joint driver 804 to enable it to smoothly cross the obstacle; then use the third joint driver 304 and the fourth joint driver 305 to finely adjust the position of the detection manipulator to ensure that the camera 7 can capture images or video materials from the best angle, thereby obtaining the clearest and most detailed detection information.

[0066] In a preferred solution, at least two sets of fourth drive motors 13 are further provided at the bottom of the vehicle body 1, and the fourth drive motors 13 are respectively connected to two opposite electromagnetic wheels 4 through two output shafts.

[0067] When using the billboard detection device with at least two sets of fourth drive motors 13, first start the fourth drive motors 13 through the controller. Each fourth drive motor 13 is respectively connected to two opposite electromagnetic wheels 4 through two output shafts. When the fourth drive motor 13 is started, it will drive these two electromagnetic wheels 4, causing the crawler wheels 2 on both sides of the vehicle body 1 to start running. According to actual needs, the speed and direction of the fourth drive motor 13 can be precisely adjusted through the controller, so as to control the entire device to move smoothly along the column or adjust its position.

[0068] In specific operations, when it is necessary to move up and down along the column for inspection work, the fourth drive motors 13 can be activated through the controller, allowing the electromagnetic wheels 4 to drive the crawler wheels 2 to rotate, enabling the device to firmly adsorb and crawl along the surface of the column. When encountering obstacles or when the posture needs to be adjusted, the auxiliary robotic arm 8 and the crawler frame 10 thereon can be used to assist in crossing the obstacle, and by adjusting the working state of the fourth drive motor 13, ensure the stability and safety of the device throughout the process.

[0069] The above embodiments are only the preferred technical solutions of the present invention and should not be regarded as limitations on the present invention. The protection scope of the present invention should be the technical solutions recorded in the claims, including equivalent replacement solutions of the technical features in the technical solutions recorded in the claims. That is, equivalent replacement improvements within this scope are also within the protection scope of the present invention.

Claims

1. An advertising board detection device, characterized in that: The vehicle body ( 1) is provided with crawler wheels (2) on both sides. The crawler wheels (2) are driven by two electromagnetic wheels (4). The electromagnetic wheels (4) are electrically connected to the controller (5). The front end of the vehicle body (1) is provided with an auxiliary robotic arm (8). The front end of the auxiliary robotic arm (8) is provided with a crawler frame (10). A plurality of electromagnetic rollers (9) are provided on the brackets of the crawler frame (10). The crawler frame (10) is connected to the first driving motor (11). The vehicle body (1) is also provided with a detection robotic hand (3). A plurality of cameras (7) are provided at the end of the detection robotic hand (3); The controller (5) is electrically connected to the electromagnetic wheels (4) and the electromagnetic rollers (9). When the controller (5) is powered on, the electromagnetic wheels (4) and the electromagnetic rollers (9) generate magnetic forces; The auxiliary robotic arm (8) includes two symmetrically arranged first fixed seats (803) and second fixed seats (806). Mechanical arms that move synchronously are provided on both the first fixed seat (803) and the second fixed seat (806). One end of the first fixed seat (803) is hinged to one end of the first active arm (801). The other end of the first active arm (801) is hinged to the active small arm (805); A first joint driver (802) and a second joint driver (804) are provided inside the first active arm (801); The first joint driver (802) and the second joint driver (804) are fixed inside the first active arm (801). The output end of the first joint driver (802) is connected to the first fixed seat (803). The output end of the second joint driver (804) is connected to the active small arm (805); The first joint driver (802) is used to drive the first active arm (801) to rotate. The second joint driver (804) is used to drive the active small arm (805) to rotate.

2. The billboard detection device according to claim 1, characterized in that: One end of the driven main arm (808) is hinged to the second fixed seat (806). The other end of the driven main arm (808) is hinged to the driven small arm (810); The hinge shaft of the driven main arm (808) is connected to the first active arm (801) through the first synchronizing rod (807); The hinge shaft of the driven small arm (810) is connected to the active small arm (805) through the second synchronizing rod (809).

3. The billboard detection device according to claim 1, characterized in that: A crawler frame (10) is provided between the ends of the driven small arm (810) and the active small arm (805). At least two support rods are provided at both ends of the crawler frame (10). The electromagnetic rollers (9) are provided on the support rods. A first driving motor (11) is provided on one side of the driven small arm (810) or the active small arm (805). The first driving motor (11) is connected to the crawler frame (10).

4. The billboard detection device according to claim 1, characterized in that: A plurality of waist-shaped holes (101) are also provided on the vehicle body (1). The first fixed seat (803) and the second fixed seat (806) are arranged on the waist-shaped holes (101) through nuts.

5. The billboard detection device according to claim 1, characterized in that: In the middle of the vehicle body (1), there is a rotary drive seat (12). The inspection manipulator (3) is arranged on the rotary drive seat (12). Inside the shell of the rotary drive seat (12), there is a second worm (1201). The second worm (1201) meshes with a second worm gear (1202). The second worm gear (1202) is rotatably connected to the shell of the rotary drive seat (12). The second worm gear (1202) is connected to the manipulator base (301) at the lower end of the inspection manipulator (3).

6. The billboard detection device according to claim 5, characterized in that: The manipulator base (301) is hinged to one end of the total support arm (302). The other end of the total support arm (302) is hinged to the inspection arm (303). An installation bracket (6) is provided on the inspection arm (303). The camera (7) is arranged on the installation bracket (6).

7. The billboard detection device according to claim 6, characterized in that: Inside the total support arm (302), there are a third joint driver (304) and a fourth joint driver (305). The third joint driver (304) and the fourth joint driver (305) are fixed inside the total support arm (302). The output shaft of the third joint driver (304) is connected to the manipulator base (301). The output shaft of the fourth joint driver (305) is connected to the inspection arm (303).

8. The billboard detection device according to claim 7, characterized in that: The first joint driver (802), the second joint driver (804), the third joint driver (304) and the fourth joint driver (305) have the same structure; The gear housing at the end of the first joint driver (802) is fixed on the first active arm (801). Inside the gear housing, there are a first worm gear (8022) and a first worm (8023) that mesh with each other. The first worm (8023) is connected to the third drive motor (8021). The first worm gear (8022) is connected to the first fixed seat (803) through the output shaft.

9. The billboard detection device according to claim 1, characterized in that: At least two groups of fourth drive motors (13) are also provided at the bottom of the vehicle body (1). The fourth drive motors (13) are respectively connected to two opposite electromagnetic wheels (4) through two output shafts.

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