System for large-range high-efficiency detection of building facade

Abstract

The utility model discloses a system for large-range high-efficiency detection of a building facade. The system comprises a wall-climbing robot and a remote controller, the wall-climbing robot comprises a robot body, a climbing module, a propeller propelling module, a detection module and a control module, the control module is in communication connection with the remote controller; and the control module is suitable for controlling the climbing module to drive the wall-climbing robot to climb or descend along the rope, controlling the propeller propelling module to propel the wall-climbing robot to be tightly attached to the building facade and controlling the detection module to carry out large-range damage detection on the building facade in the climbing or descending process of the wall-climbing robot under an instruction of the remote controller. According to the utility model, the wall-climbing robot is controlled to climb up and down stably on the vertical facade through the remote controller, and the large-range detection of the crack damage of the building facade is realized.

Description

Technical Field

[0001] The utility model belongs to the field of building safety detection, and particularly relates to a system for efficient detection of a large range of building facades. Background Art

[0002] With the development of urbanization and the increase of buildings, building safety hazards and accidents have become issues of great concern. The most common ones are the safety hazards and accidents caused by wall cracks and wall surface voids. The traditional manual detection method has safety hazards, low efficiency and high time cost. Using a wall-climbing robot for facade detection can avoid these problems, making the detection more efficient and intelligent, and can provide support for building maintenance.

[0003] Currently, wall-climbing robots are mostly used to detect defects and damages on vertical facades. On the one hand, existing wall-climbing robots all use the negative pressure principle to make the wall-climbing robot adsorb on the vertical facade. Different facade materials, smoothness and other factors will make the wall-climbing robot unstable when crawling, resulting in problems such as shaking and even falling of the wall-climbing robot during operation. On the other hand, the single detection range of existing wall-climbing robots is small, limited by the detection range of the sensors carried.

[0004] Specifically, existing wall-climbing robots mostly use adsorption methods to achieve wall crawling, such as negative pressure adsorption, magnetic adsorption and bionic adsorption. The facade crawling in the engineering field requires a certain degree of robustness and safety, which cannot be guaranteed by adsorption wall-climbing robots. First, the adsorption wall-climbing robot is greatly affected by the wall itself. Its adsorption surface needs to be smooth and flat without obstacles. When encountering uneven positions, the robot is easily stuck and cannot move up and down normally, and there is even a possibility of falling. In practical applications, the wall needs to be cleaned and polished to ensure its adsorption effect, which increases the operation difficulty and cost. Second, the adsorption wall-climbing robot consumes a large amount of power. Once the battery runs out, the wall-climbing robot may fall directly. Finally, in order to ensure safety in engineering, most of the current implementation schemes use safety ropes and tethered power supply for the robot, but this method will increase the weight of the wall-climbing robot, thus requiring more adsorption force, and it is very likely that the adsorption force of the wall-climbing robot is not enough to support due to the increased weight of the wires and safety ropes. Therefore, it cannot be safely used at high altitudes. In summary, using an adsorption wall-climbing robot cannot guarantee the robustness and safety in engineering.

[0005] Currently, for achieving large-range detection purposes, drones are mostly used. However, due to the inability of drones to approach the building, their detection accuracy is low and it is difficult to observe small cracks. Therefore, wall-climbing robots that can approach for detection have become the trend of building facade damage detection. And existing wall-climbing robots only simply fix the sensors for detection in front of or above the robot, and their detection range is more determined by the sensors themselves.

[0006] In summary, how to expand the single - detection range of the wall - climbing robot to further improve the detection efficiency is a problem worthy of research. Content of the Utility Model

[0007] The purpose of the present utility model is to provide a system for efficient large - range detection of building facades. The system includes a wall - climbing robot and a remote controller. The remote controller is adapted to control the wall - climbing robot to stably climb up and down on the vertical facades of various walls, and to achieve large - range detection of cracks and damages on the building facades.

[0008] To achieve the above - mentioned purpose, the present utility model provides the following technical solutions:

[0009] A system for efficient large - range detection of building facades includes a wall - climbing robot and a remote controller; the wall - climbing robot includes a fuselage and a climbing module, a propeller propulsion module, a detection module and a control module installed on the fuselage; the control module is communicatively connected with the remote controller, and is adapted to control, under the instruction of the remote controller, the climbing module to drive the wall - climbing robot to climb or descend along a rope, control the propeller propulsion module to push the wall - climbing robot to closely adhere to the building facade, and control the detection module to perform large - range damage detection on the building facade during the climbing or descending process of the wall - climbing robot.

[0010] Optionally, the climbing module includes a fixed frame arranged inside the fuselage and a motor, a gear, a safety rope and two pulleys installed on the fixed frame; the motor and the gear are drivingly connected; the safety rope sequentially bypasses one of the two pulleys, the gear and the other of the two pulleys, and one end of the safety rope is fixed to the top of the building and the other end is tied to a heavy object; the control module is connected to the motor, and is adapted to control, under the instruction of the remote controller, the motor to drive the gear to rotate and adjust its speed, so as to drive the two pulleys to rotate at corresponding speeds, thereby enabling the wall - climbing robot to climb or descend along the safety rope at a corresponding speed.

[0011] Optionally, the motor is a reduction motor and is powered by dynamic electricity and magnetism.

[0012] Optionally, the propeller propulsion module includes a propeller fixing rod and two propellers; the propeller fixing rod is installed at the top of the fuselage, and the two propellers are respectively installed at the left and right ends of the propeller fixing rod; the control module is connected to the two propellers and is adapted to control the two propellers to rotate under the instruction of the remote controller to generate a propulsion force to make the wall-climbing robot adhere closely to the building exterior wall, and to control the rotation speed of the two propellers to make the wall-climbing robot adhere closely to the building exterior wall at a corresponding speed.

[0013] Optionally, the detection module is installed at the top of the fuselage and includes a rotating cloud platform, a detection rod installed on the rotating cloud platform, and the camera installed on the detection rod; the control module is connected to the rotating cloud platform and is adapted to control the rotating cloud platform to rotate within a large range and adjust its rotation speed under the instruction of the remote controller to drive the camera to rotate synchronously through the detection rod for large-range damage detection; the camera includes a binocular stereo vision camera and / or an infrared thermal imaging camera; the binocular stereo vision camera is adapted to detect cracks; the infrared thermal imaging camera is adapted to detect water seepage.

[0014] Optionally, the rotating cloud platform includes a cloud platform turntable, a plain bearing, a steering wheel, and a servo motor with a maximum rotation angle of 270 degrees; the servo motor is installed at the top of the fuselage, and a gear is provided at the top of the servo motor; the steering wheel is installed on the gear at the top of the servo motor, and a disc with an inner diameter larger than that of the plain bearing is installed above the steering wheel; the plain bearing is installed on the disc; the cloud platform turntable is installed on the plain bearing; the detection rod is installed on the cloud platform turntable; the control module is connected to the servo motor and is adapted to control the servo motor to rotate within a large range of 270 degrees at a certain rotation speed under the instruction of the remote controller, so as to drive the steering wheel, the plain bearing, the cloud platform turntable, and the detection rod to rotate within a large range of 270 degrees at a certain rotation speed in sequence.

[0015] Optionally, the system further includes a knocking module installed on the fuselage; the knocking module is installed at the bottom of the fuselage for detecting hollowing; the knocking module includes a knocking hammer and a power amplifier; each time the knocking hammer knocks, the power amplifier plays a knocking sound; the control module is connected to the knocking hammer and the power amplifier and is adapted to control the knocking hammer to knock and control the power amplifier to play the knocking sound under the instruction of the remote controller.

[0016] Optionally, the system further includes an RTK positioning module antenna installed on the top of the fuselage, which is used to obtain real-time position data of the wall-climbing robot accurate to the centimeter level; the control module is connected to the RTK positioning module antenna and is adapted to transmit the real-time position data to the remote controller, so as to obtain the position of the detected facade damage at present.

[0017] Optionally, the system further includes a camera installed at the front end of the fuselage, which is used to capture real-time travel image data from the perspective of the wall-climbing robot; the control module is connected to the camera and is adapted to transmit the real-time travel image data to the remote controller for real-time monitoring of the travel situation of the wall-climbing robot.

[0018] Optionally, the system further includes an antenna installed on the side of the fuselage; the antenna is connected to the control module and is adapted to realize a wireless communication connection between the control module and the remote controller.

[0019] Compared with the prior art, the technical solution of the present utility model has at least the following beneficial effects:

[0020] For example, the wall-climbing robot can stably climb up and down on the vertical outer facade of various walls, including uneven walls, and has a large detection range, capable of performing a large-scale detection of cracks and damages on the building outer facade.

[0021] For another example, due to the insufficient stability and safety of the adsorption type crawling in the prior art, considering that safety ropes are often required to ensure safety in high-altitude operations, the present utility model designs a climbing module that climbs up and down along the rope. Not only can the function of the wall-climbing robot climbing on the facade be realized, but also the power-off locking function of the climbing module can be used to self-lock in extreme situations, such as power-off in the air, so as to ensure the safety of the operation and prevent the wall-climbing robot from directly falling due to reasons such as power exhaustion.

[0022] For another example, the wall-climbing robot adopts a design of propeller propulsion and attachment at the same time, so that the wall-climbing robot can always stably attach to the outer wall surface during the climbing and detection processes.

[0023] For another example, in order to improve the detection range of the wall-climbing robot, the present utility model designs a 270-degree rotating pan-tilt on the fuselage and is equipped with a detection rod with a binocular stereo vision camera at the end, so that the wall-climbing robot can control the rotating pan-tilt to scan while climbing, thereby greatly expanding the detection range.

[0024] For another example, in order to enable the rotating pan-tilt to overcome the unstable influence caused by factors such as wind blowing and vibration during rotation, a square tube slot with the same size as the detection rod is designed, and the square tube slot is divided into two parts, front and back, so that the weight can be reduced. In addition, two fixing holes are opened in the square tube slot, so that the detection rod can be stably fixed on the pan-tilt. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 Schematic diagram of the wall-climbing robot in the embodiment of the present invention.

[0026] Figure 2 Schematic diagram of the climbing module in the embodiment of the present invention.

[0027] Figure 3 Exploded schematic diagram of the climbing module in the embodiment of the present invention.

[0028] Figure 4 Top view of the propeller propulsion module in the embodiment of the present invention.

[0029] Figure 5 One schematic diagram of the detection module in the embodiment of the present invention.

[0030] Figure 6 Schematic diagram of the rotating pan-tilt in the detection module in the embodiment of the present invention.

[0031] Figure 7 Exploded schematic diagram of the rotating pan-tilt in the detection module in the embodiment of the present invention.

[0032] Figure 8 Another schematic diagram of the detection module in the embodiment of the present invention.

[0033] Figure 9 One schematic diagram of the infrared thermal imaging camera in the embodiment of the present invention.

[0034] Figure 10 Schematic diagram of the application scenario of the wall-climbing robot on the building facade in the embodiment of the present invention.

[0035] Figure 11 Schematic diagram of the detection module scanning to increase the field of view in the embodiment of the present invention.

[0036] Figure 12 Schematic diagram of the knocking module in the embodiment of the present invention.

[0037] Figure 13 Schematic diagram of the circuit control system of the wall-climbing robot in the embodiment of the present invention.

[0038] Figure 14 Schematic diagram of the circuit control logic in the embodiment of the present invention.

[0039] Description of Reference Numerals:

[0040] 101, switch; 102, antenna; 103, camera; 104, wheel set; 200, climbing module; 201, motor; 202, gear; 203, pulley; 204, coupling; 205, top plate; 206, left side plate; 207, right side plate; 208, bottom plate; 209, safety rope; 301, propeller; 302, propeller fixing rod; 400, detection module; 401, pan-tilt turntable; 402, plain bearing; 403, steering wheel; 404, steering gear; 405, detection rod; 406, binocular stereo vision camera; 407, camera processing board; 408, infrared thermal imaging camera bracket; 409, infrared thermal imaging camera; 410, square tube slot; 411, fixing hole; 500, knocking module; 501, knocking hammer; 502, power amplifier; 601, RTK positioning module antenna. Detailed Embodiment

[0041] Different from the prior art, the present utility model provides a system for efficient large-range detection of building facades. The system includes a wall-climbing robot and a remote controller. Among them, the remote controller is suitable for controlling the operation of the wall-climbing robot. The wall-climbing robot can climb up or down along a rope to achieve the function of climbing on the facade and can prevent falling; at the same time, by using the propulsive force generated when the propeller rotates, the wall-climbing robot is pressed tightly against the wall, effectively avoiding the situation that the wall-climbing robot shakes or rotates due to wind, ensuring higher safety and stability during the operation of the wall-climbing robot; moreover, in order to expand the crack detection range and improve the detection efficiency, a binocular stereo vision camera is also adopted. At the same time, on the one hand, the angle and height of the fixed camera are considered, and on the other hand, the camera is made movable. Therefore, a 270-degree binocular rotating detection pan-tilt for the wall-climbing robot is designed. The binocular stereo vision camera is fixed on a long rod, and then the long rod is fixed on the rotating pan-tilt, so that the camera can rotate 270° following the pan-tilt, thereby realizing the crack detection and analysis of the building facade beyond the rotation range of the fuselage; for the situation beyond the rotation range of the fuselage, it is because there is an angle between the long rod fixing the camera and the pan-tilt, and the camera has a field of view. After superposition, the crack detection range can be expanded, thereby improving the detection efficiency; further, in order to reduce the shaking of the detection rod during operation, a square tube slot with the same size as the detection rod is designed. The square tube slot is divided into two parts, front and back, to reduce the weight of the slot. Two fixing holes are opened in both parts of the square tube slot, so that the detection rod can be stably fixed on the pan-tilt; in addition, a knocking module is designed based on the knocking method. By manually listening and distinguishing, the knocking hammer is used to knock on the building facade along the traveling area of the wall-climbing robot to collect audio data.

[0042] To make the objectives, features, and beneficial effects of the present utility model more obvious and understandable, the following will describe in detail the specific embodiments of the present utility model with reference to the accompanying drawings. It can be understood that the specific embodiments described below are only used to explain the present utility model and are not intended to limit the present utility model.

[0043] In addition, for the convenience of description, only the parts related to the present utility model rather than all the structures are shown in the drawings. Moreover, the same or similar reference numerals may be used in the drawings to refer to the same or similar components in different embodiments.

[0044] Referring to Figures 1 to 12 , an embodiment of the present utility model provides a system for efficient large-scale detection of building facades.

[0045] Specifically, the wall-climbing robot includes a fuselage and a climbing module 200, a propeller propulsion module, a detection module 400, and a knocking module 500 mounted on the fuselage.

[0046] In some embodiments, the wall-climbing robot further includes a switch 101 mounted on the side of the fuselage, which is used to turn on the entire circuit system of the wall-climbing robot, energize each module of the climbing module 200, the propeller propulsion module, the detection module 400, and the knocking module 500, and prepare the basis for the detection operation.

[0047] In some embodiments, the wall-climbing robot further includes an antenna 102 mounted on the side of the fuselage. Among them, one antenna is a 2.4G control antenna, which is used for wireless communication between the remote controller and the wall-climbing robot, allowing the wall-climbing robot to receive signals from the remote controller and convert the control commands into SBUS protocol signals, so as to control the movement and task execution of the wall-climbing robot; the other is a 5.8G video transmission antenna, which is used for wireless video transmission and is responsible for converting the video signals captured by the camera 103 of the wall-climbing robot into radio waves and sending them to the remote controller through the 5.8GHz wireless frequency band.

[0048] In some embodiments, the wall-climbing robot further includes a camera 103 mounted on the front end of the fuselage, which is used to capture real-time travel image data from the perspective of the wall-climbing robot in real time. The captured real-time travel image data can be transmitted back to the remote controller through the above-mentioned antenna 102, so that the operator can monitor the movement of the wall-climbing robot in real time.

[0049] In some embodiments, the wall-climbing robot further includes an RTK positioning module antenna 601 mounted on the top of the fuselage, which is used to obtain the real-time position of the wall-climbing robot accurate to the centimeter level and can quickly obtain the position of the detected damage to the facade.

[0050] In some embodiments, the wall-climbing robot further includes a wheel set 104 installed at the bottom of the fuselage, which is used to enable the wall-climbing robot to walk.

[0051] In some embodiments, the climbing module 200 is adapted to enable the wall-climbing robot to climb or descend along a rope. Specifically, the climbing module 200 includes a fixed frame disposed inside the fuselage and a motor 201, a gear 202, a pulley 203, and a safety rope 209 installed on the fixed frame.

[0052] In some embodiments, the fixed frame includes a top plate 205, a left side plate 206, a right side plate 207, and a bottom plate 208. Moreover, the top plate 205, the left side plate 206, the bottom plate 208, and the right side plate 207 are sequentially connected to form the fixed frame.

[0053] In some embodiments, the motor 201 is disposed inside the fixed frame, the gear 202 is disposed outside the fixed frame, and the motor 201 and the gear 202 are drivingly connected through a coupling 204. Specifically, the coupling 204 passes through the right side plate 207, and its two ends are respectively connected to the motor 201 and the gear 202. In a specific implementation, the motor 201 drives the gear 202 to rotate through the coupling 204.

[0054] In some embodiments, there are two pulleys 203. Both of the two pulleys 203 are installed outside the fixed frame and on the same side of the fixed frame as the gear 202. The two pulleys 203 are located on the same straight line, installed below the gear 202, and the distance between the pulley 203 and the edge of the gear 202 is relatively close, facilitating the safety rope 209 to pass through and generate a transmission effect. Specifically, the safety rope 209 sequentially bypasses one pulley 203, the gear 202, and the other pulley 203.

[0055] In some embodiments, a small hole is respectively provided on the front and rear sides of the fuselage for passing through the two ends of the safety rope 209 respectively.

[0056] In a specific implementation, the top end of the safety rope 209 is fixed to the roof of the building, and its tail end is tied to a heavy object such as a weight.

[0057] In a specific implementation, when the motor 201 drives the gear 202 to rotate, it drives the pulley 203 to rotate in the corresponding direction, so that the wall-climbing robot climbs up or down along the safety rope 209.

[0058] In some embodiments, the motor 201 can be a reduction motor and is powered by dynamic electricity magnetism. In this way, the climbing module 200 can be self-locked in extreme cases through its power-off locking function, such as being self-locked when power is cut off in the air, so as to ensure the safety of the operation and prevent the wall-climbing robot from directly falling due to reasons such as power exhaustion. That is, when power is cut off during operation, the motor 201 will not rotate, and the climbing module 200 will get stuck, thus preventing the wall-climbing robot from directly falling.

[0059] In some embodiments, the propeller propulsion module is adapted to propel the wall-climbing robot close to the wall surface. On the one hand, it makes the operation of the wall-climbing robot more stable, avoiding the wall-climbing robot from shaking or rotating during operation due to being blown by the wind. On the other hand, it ensures that the camera always maintains the same angle with the wall surface, so that even an ordinary camera can calculate the size of the damage.

[0060] In some embodiments, the propeller propulsion module includes two propellers 301 and a propeller fixing rod 302. Among them, the propeller fixing rod 302 is installed on the outer top of the fuselage, and the two propellers 301 are respectively installed at the left and right ends of the propeller fixing rod 302.

[0061] In specific implementation, the propelling force generated when the propeller 301 rotates is used to make the wall-climbing robot close to the wall surface, so as to effectively avoid the wall-climbing robot from shaking or rotating due to being blown by the wind, thus ensuring higher safety and stability during the operation of the wall-climbing robot.

[0062] In some embodiments, the detection module 400 is installed on the top of the fuselage and includes a rotating cloud platform and a detection rod 405, a binocular stereo vision camera 406 and a camera processing board 407 installed on the rotating cloud platform.

[0063] In some embodiments, the rotating cloud platform further includes a cloud platform turntable 401, a plain bearing 402, a steering wheel 403, and a steering gear 404. Among them, the steering gear 404 is located at the bottom and a gear is provided at its top. The steering wheel 403 is aligned and installed on the gear at the top of the steering gear 404. A disk slightly larger than the inner diameter of the plain bearing 402 is fixed above the steering wheel 403 with screws. The plain bearing 402 is placed on the disk, and the cloud platform turntable 401 is installed on the plain bearing 402. The detection rod 405 is fixed to the cloud platform turntable 401. Thus, a rotary transmission device is formed.

[0064] In specific implementation, when the steering gear 404 rotates, it will drive the steering wheel 403, the plain bearing 402, the cloud platform turntable 401 and the detection rod 405 to rotate in sequence, so as to realize the rotary large-range detection of the detection module.

[0065] In specific implementation, the detection module 400 can achieve a 270-degree rotation, and the rotation angle is determined by the maximum rotation angle of the servo 404. The maximum rotation angle of the servo 404 is generally 180 degrees, or 270 degrees, or 360 degrees. In the embodiment of the present utility model, the selection of the 270-degree rotating servo comprehensively considers the mutual cooperation between the up and down speeds of the wall-climbing robot and the rotation speed of the servo 404 to achieve the best detection coverage. The 180-degree servo is the most commonly used, but during the detection process of the pan-tilt rotation, using the 180-degree servo will result in an insufficiently comprehensive detection range. While for the 360-degree servo, the detection ranges will overlap, and repeated detection will also reduce the detection efficiency. Moreover, relatively speaking, more electrical energy is required to overcome inertia and maintain stable movement.

[0066] In specific implementation, the detection rod 405 is fixed at a certain angle with the pan-tilt. And, a binocular stereo vision camera 406 or an infrared thermal imaging camera 409 can be selectively mounted on the pan-tilt according to the type of damage to be detected. Among them, the binocular stereo vision camera 406 is used to detect cracks. It has three-dimensional perception ability, can simulate the stereo vision mechanism of the human eye, and directly output the point cloud of the damage, so as to obtain the three-dimensional size of the damage without calibration. The infrared thermal imaging camera 409 is used for detecting water seepage on the exterior wall of the building. Compared with the healthy area, the temperature of the water seepage and hollowing area on the exterior wall of the building is significantly different. The infrared thermal imaging camera 409 can capture the subtle differences in the temperature distribution, reveal the damp areas inside the wall, and thus detect the water seepage phenomenon.

[0067] In some embodiments, the binocular stereo vision camera 406 can be mounted on the top of the detection rod 405 through the camera processing board 407. Specifically, the camera processing board 407 can be mounted on the top of the detection rod 405, and at the same time, the binocular stereo vision camera 406 can be mounted on the camera processing board 407.

[0068] In some embodiments, the infrared thermal imaging camera 409 can be mounted on the top of the detection rod 405 through the infrared thermal imaging camera bracket 408. Specifically, the infrared thermal imaging camera bracket 408 can be mounted on the top of the detection rod 405, and at the same time, the infrared thermal imaging camera 409 can be mounted on the infrared thermal imaging camera bracket 408.

[0069] In order to achieve the stable installation and lightweight design of the detection rod 405, the embodiment of the present invention also designs a square tube slot 410 that matches the size of the detection rod 405 to ensure that the detection rod 405 can be seamlessly embedded. The square tube slot 410 is the top part of the pan-tilt turntable 401, and two fixing holes 411 are also opened in the square tube slot 410, and screws can be used to fix the detection rod 405 and the square tube slot 410. This design improves the overall structural stability and optimizes the appearance integrity.

[0070] Considering the influence of weight on the performance of the wall-climbing robot, the square tube slot 410 can also be divided into front and rear parts. This split design not only reduces the weight but also facilitates later maintenance and disassembly, improving the portability and operability of the device.

[0071] Furthermore, in order to obtain a wider field of view when the wall-climbing robot performs damage detection, the embodiment of the present utility model adopts a special binocular stereo vision camera 406. Referring to Figure 10 , the binocular stereo vision camera 406 is designed to be installed by rotating 90 degrees. Generally, the horizontal field of view angle of a camera is larger, for example, 90 degrees, while the vertical field of view angle is smaller, usually 65 degrees. Taking the detection target as the wall surface as an example, the usual way of using the binocular stereo vision camera 406 is horizontal, that is, the lens faces the wall surface, the longer side of the camera is perpendicular to the ground, and all lenses are on the same horizontal line perpendicular to the ground, and the horizontal field of view angle formed by all lenses is 90 degrees. In the embodiment of the present utility model, the binocular stereo vision camera 406 is rotated 90 degrees on this basis, that is, the shorter side is perpendicular to the ground, so that the lens arrangement is also rotated 90 degrees. At this time, all lenses are on the same vertical line perpendicular to the ground, and the original horizontal field of view angle becomes the vertical field of view angle. Through the installation method of the embodiment of the present utility model, the horizontal field of view angle of the binocular stereo vision camera 406 can be applied in the vertical direction, so as to provide a larger field of view angle in the vertical direction, so that when the binocular stereo vision camera 406 follows the rotation of the rotary platform, it can cover a wider detection area.

[0072] Furthermore, due to the possible slight shaking during rotation and vertical crawling, the binocular stereo vision camera 406 is selected to use a global shutter camera. Compared with a rolling shutter camera, a global shutter camera can capture instantaneous images more effectively and avoid blurry images. Therefore, the problem of slight shaking will not affect the crack detection.

[0073] In addition, the wall-climbing robot is also designed with a propeller propulsion module, which can help the wall-climbing robot maintain stable contact with the surface, effectively reduce shaking, and avoid the risk of flipping.

[0074] In addition, a large planar bearing 402 is installed in the center of the rotary platform, which can achieve low-damping and stable rotation.

[0075] In specific implementation, the rotation of the rotating cloud platform is controlled by a servo 404, which receives a PWM signal to precisely adjust the rotation angle of the rotating cloud platform. There are two control modes. One is the automatic scanning mode. Press the mode switching button on the remote control to switch to the automatic mode, and the rotating cloud platform will automatically rotate left and right for scanning detection. The other is the manual scanning mode. Press the mode switching button on the remote control again to switch to the manual mode. By turning the dial of the remote control left and right, the rotating cloud platform can be controlled to rotate in the corresponding direction. The manual mode can accurately control the rotation position of the rotating cloud platform, so as to take more targeted pictures of the damage on the building facade. Moreover, with this configuration of combining the two scanning modes with the RTK positioning module, the specific position of the binocular stereo vision camera 406 or the infrared thermal imaging camera 409 can be known in real time, so as to accurately locate the position of the damage relative to the wall-climbing robot during the detection process.

[0076] In some embodiments, the knocking module 500 is installed at the bottom of the fuselage for detecting hollowing, and includes a knocking hammer 501 and a power amplifier 502. Among them, the knocking hammer 501 is powered by the main control board, and the power amplifier 502 is fixed beside the knocking hammer 501 and connected to the on-board computer. Every time the knocking hammer 501 knocks once, the power amplifier 502 plays a knocking sound.

[0077] In some embodiments, the wall-climbing robot further includes a control module.

[0078] In some embodiments, the control module is connected to the motor 201 in the climbing module 200 for controlling the climbing and descending of the wall-climbing robot and adjusting the climbing and descending speeds.

[0079] In some embodiments, the control module is respectively connected to the two propellers 301 in the propeller propulsion module for respectively controlling the rotation speeds of the two propellers 301.

[0080] In some embodiments, the control module is connected to the servo 404 in the detection module 400 for controlling the rotation angle and rotation mode of the rotating cloud platform.

[0081] In some embodiments, the control module is connected to the knocking module 500 for controlling the knocking module 500 to perform the detection of hollowing on the facade. The knocking module 500 includes two modes: automatic knocking and manual knocking.

[0082] In some embodiments, the control module is connected to the RTK positioning module antenna 601 for obtaining positioning data accurate to the centimeter level, so as to obtain the position of the currently detected damage on the facade.

[0083] In some embodiments, the control module is connected to a buzzer and is used to control the buzzer to emit sound. The buzzer can be integrated on the main control board of the control module to remind of the operating state of the wall-climbing robot. For example, when the remote controller and the wall-climbing robot are not connected, the buzzer emits a sound, and stops emitting sound after successful connection, so as to indicate the connection status of the remote control link of the robot.

[0084] In some embodiments, the control module is also connected to switch 101. One end of switch 101 is connected to the battery, and the other end is connected to the main control board of the control module. A power supply interface is provided on the main control board to supply power to all modules and payloads of the wall-climbing robot, including camera 103, climbing module 200, propeller 301, detection module 400, knocking module 500, on-board computer, etc. After turning on switch 101, the battery supplies power to the above modules through switch 101. Turning off switch 101 immediately cuts off the power.

[0085] The embodiment of the present utility model also designs a circuit control system for the wall-climbing robot. Referring to Figure 13 , the main control chip uses an ATMEGA2560 chip, which has 4 UART interfaces, 15 PWM output interfaces, and 54 digital input / output pins, and can meet the control requirements of the wall-climbing robot. One of the UART interfaces communicates with the on-board computer and can synchronize the operating state of the wall-climbing robot to the on-board computer. One UART interface communicates with the receiver to receive the signal from the remote controller. Since the signal of the remote controller is in SBUS protocol, an SBUS-to-UART communication card is used for protocol conversion, so that the main control board can receive the data of each channel of the remote controller through the communication serial port. One UART is connected to RTK to obtain accurate centimeter-level positioning data, so as to obtain the position where the current image is taken. Two PWM signals respectively control the left and right propellers 301 through electronic speed controllers, and the rotation speed of the propellers is controlled by adjusting the output PWM signals. One PWM signal is used for controlling the motor 201 of the climbing module 200, and the rotation speed of the motor 201 of the climbing module 200 is controlled by adjusting the output PWM signal, so as to adjust the climbing speed. One output pin is connected to the buzzer to control the buzzer to emit sound and remind of the operating state of the wall-climbing robot.

[0086] The embodiment of the present utility model also designs the circuit control logic of the wall-climbing robot, integrating the power supply, control, and communication of each mechanism of the wall-climbing robot on a core main control board. Referring to Figure 14, the main control board is designed with a power supply interface to supply power to the remote control receiver, voltmeter, propeller 301, rotating cloud platform 400, climbing module 200, knocking module 500, and on-board computer; a control interface is designed, and by connecting the corresponding interfaces of the main control board and the propeller 301, climbing module 200, and rotating cloud platform through electronic wires, the propeller speed, climbing direction, and rotating cloud platform mode can be controlled; UART and IIC communication interfaces are designed, and by connecting the corresponding interfaces of the main control board and the on-board computer, remote control receiver, and inclination sensor through electronic wires, the communication purpose can be achieved. Among them, the voltmeter is used to display the current voltage and power of the power supply battery, facilitating timely battery replacement.

[0087] The embodiment of the present utility model also provides a building facade detection system including this wall-climbing robot.

[0088] In a specific implementation, the building facade detection system further includes a remote control that is wirelessly communicatively connected to the control module of the wall-climbing robot for controlling the operation of the wall-climbing robot.

[0089] In some embodiments, the remote control is adapted to control the climbing and descending of the wall-climbing robot and to adjust the climbing and descending rates.

[0090] In some embodiments, the remote control is adapted to separately control the rotation speeds of the two propellers 301.

[0091] In some embodiments, the remote control is adapted to control the rotation angle and rotation mode of the rotating cloud platform.

[0092] In some embodiments, the remote control is adapted to control the knocking mode of the knocking module 500.

[0093] In some embodiments, the remote control is adapted to obtain positioning data accurate to the centimeter level, so as to obtain the position where the current image is taken.

[0094] The embodiment of the present utility model also provides an implementation method for this wall-climbing robot and building facade detection system.

[0095] Specifically, the implementation method includes:

[0096] S1, installation of the wall-climbing robot;

[0097] Specifically, pass the safety rope 209 through the small hole in front of the wall-climbing robot, wind it around the gear 202 and pulley 203 of the climbing module 200, then pass it through the small hole behind the wall-climbing robot, and then tie the end of the safety rope 209 to a heavy object such as a weight, and fix the top end of the safety rope 209 to the roof of the building.

[0098] S2, startup of the wall-climbing robot;

[0099] Specifically, turn on the switches 101 of the remote control and the wall-climbing robot. The battery starts to supply power, and the control module inside the wall-climbing robot starts and wirelessly communicates with the remote control.

[0100] In a specific implementation, the wall-climbing robot receives instructions from the remote control through the control module and controls the operation of the climbing module 200, the propeller propulsion module, the detection module 400, and the knocking module 500 of the wall-climbing robot according to the received instructions.

[0101] S3. Ascent or descent of the wall-climbing robot:

[0102] Specifically, the rotation direction of the motor 201 of the climbing module 200 can be controlled by the remote control, so that the motor 201 drives the gear 202, the pulley 203, and the safety rope 209 to rotate in the corresponding direction through the coupling 204. Due to the heavy object tied to the bottom end of the safety rope 209, the safety rope 209 is kept in a taut state, thereby realizing the ascent or descent of the wall-climbing robot.

[0103] In some embodiments, when the gear 202 rotates counterclockwise, the wall-climbing robot ascends; correspondingly, when the gear 202 rotates clockwise, the wall-climbing robot descends.

[0104] In a specific implementation, when the wall-climbing robot ascends or descends, the rotation speed of the propeller 301 can be controlled according to factors such as wind force and the flatness of the building facade, so as to adjust the degree of adhesion between the wall-climbing robot and the wall surface, thereby controlling the wall-climbing stability of the wall-climbing robot.

[0105] S4. Hollow drum detection;

[0106] Specifically, the working state of the knocking hammer 501 fixed to the bottom of the wall-climbing robot is controlled by the remote control, including the manual knocking mode and the automatic knocking mode.

[0107] The mode switching lever can be set in the control program in advance; the implementation method of the manual knocking mode is to move the lever for controlling knocking on the remote control to the manual knocking mode and press the corresponding control button on the remote control once, and the knocking hammer 501 knocks once; the implementation method of the automatic mode is to move the control lever to the automatic knocking mode, and the knocking hammer 501 knocks automatically according to the time interval set by the program, for example, knocking once every 5 seconds.

[0108] S5. Cracks and water seepage detection;

[0109] Specifically, select to carry a binocular stereo vision camera 406 or an infrared thermal imaging camera 409, and control the working state of the detection module 400 through the remote control, including the manual scanning mode and the automatic scanning mode.

[0110] The default position of the detection module 400 can be specified as the middle of the wall-climbing robot where the detection rod 405 is located, that is, the position where the projection of the detection rod 405 coincides basically with the safety rope 209 in a taut state. The maximum rotation angle of the detection module 400 is 135 degrees to the left and 135 degrees to the right from the default position, a total of 270 degrees, as Figure 11 shown.

[0111] A mode switching button can be set in the control program in advance. Pressing it once switches to the automatic mode, and pressing it again switches to the manual mode. In the automatic mode, the detection module 400 starts to rotate autonomously by 270 degrees; in the manual mode, the dial on the remote control is toggled left or right, and the detection module rotates in the corresponding direction. When the switch 101 is turned off, the detection module 400 rotates back to the default position.

[0112] In a specific implementation, cracks are detected using a binocular stereo vision camera 406. The binocular stereo vision camera 406 collects wall images through two lenses to form a stereo vision, similar to the visual principle of the human eye, and can provide depth information, enabling the three-dimensional structure of objects in the image to be reconstructed, so as to more accurately identify and measure the size of cracks. As the detection module 400 rotates, the binocular stereo vision camera 406 can scan and collect wall images in all directions to ensure the comprehensiveness and continuity of crack detection.

[0113] In a specific implementation, water seepage is detected using an infrared thermal imaging camera 409, which can capture the temperature distribution on the surface of an object. The water seepage area on the wall forms a distinct contrast on the thermal image due to its different temperature from the surrounding dry area, and thus can be identified. As the detection module 400 rotates, the infrared thermal imaging camera 409 continuously takes wall images, and by analyzing the temperature abnormal areas in the thermal imaging, the water seepage area can be located.

[0114] Although specific implementation schemes have been described above, these implementation schemes are not intended to limit the scope of the disclosure of the present utility model, even in the case of describing a single implementation scheme with respect to specific features only. The feature examples provided in the disclosure of the present utility model are intended for illustration rather than limitation, unless otherwise stated. In a specific implementation, according to actual needs and when technically feasible, the technical features of one or more dependent claims can be combined with the technical features of the independent claim, and the technical features from the corresponding independent claims can be combined in any appropriate way rather than only through the specific combinations listed in the claims.

[0115] Although the present utility model is disclosed as above, the present utility model is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present utility model. Therefore, the protection scope of the present utility model should be subject to the scope defined by the claims.

Claims

1. A system for large-scale and efficient detection of building facades, characterized in that, It includes a wall-climbing robot and a remote controller; the wall-climbing robot includes a fuselage and a climbing module (200), a propeller propulsion module, a detection module (400) and a control module installed on the fuselage; the control module is communicatively connected to the remote controller and is adapted to control, under the instruction of the remote controller, the climbing module (200) to drive the wall-climbing robot to climb or descend along a rope, control the propeller propulsion module to propel the wall-climbing robot to closely adhere to the building exterior wall, and control the detection module (400) to conduct a large-scale damage detection on the building exterior wall during the climbing or descending process of the wall-climbing robot.

2. The system according to claim 1, characterized in that: The climbing module (200) includes a fixing frame arranged inside the fuselage and a motor (201), a gear (202), a safety rope (209) and two pulleys (203) installed on the fixing frame; the motor (201) and the gear (202) are drivingly connected; the safety rope (209) sequentially bypasses one of the two pulleys (203), the gear (202) and the other of the two pulleys (203), and one end of the safety rope (209) is fixed to the top of the building and the other end is tied with a heavy object; the control module is connected to the motor (201) and is adapted to control, under the instruction of the remote controller, the motor (201) to drive the gear (202) to rotate and adjust its rotation speed, so as to drive the two pulleys (203) to rotate at corresponding rotation speeds, thereby enabling the wall-climbing robot to climb or descend along the safety rope (209) at a corresponding speed.

3. The system according to claim 2, wherein: The motor (201) is a reduction motor and is powered by dynamic electricity and magnetism.

4. The system according to claim 1, wherein: The propeller propulsion module includes a propeller fixing rod (302) and two propellers (301); the propeller fixing rod (302) is installed on the top of the fuselage, and the two propellers (301) are respectively installed at the left and right ends of the propeller fixing rod (302); the control module is connected to the two propellers (301) and is adapted to control, under the instruction of the remote controller, the two propellers (301) to rotate to generate a propulsion force to make the wall-climbing robot closely adhere to the building exterior wall, and control the rotation speeds of the two propellers (301) to make the wall-climbing robot closely adhere to the building exterior wall at a corresponding speed.

5. The system according to claim 1, wherein: The detection module (400) is installed on the top of the fuselage and includes a rotary pan-tilt, a detection rod (405) installed on the rotary pan-tilt, and a camera installed on the detection rod (405); the control module is connected to the rotary pan-tilt and is adapted to control the large-range rotation of the rotary pan-tilt and adjust its rotation speed under the instruction of the remote controller to drive the camera to rotate synchronously through the detection rod (405) for large-range damage detection; the camera includes a binocular stereo vision camera (406) and / or an infrared thermal imaging camera (409); the binocular stereo vision camera (406) is adapted to perform crack detection; the infrared thermal imaging camera (409) is adapted to perform water seepage detection.

6. The system according to claim 5, characterized in that: The rotary pan-tilt includes a pan-tilt turntable (401), a plain bearing (402), a steering wheel (403), and a servo motor (404) with a maximum rotation angle of 270 degrees; the servo motor (404) is installed on the top of the fuselage, and a gear is provided on the top of the servo motor (404); the steering wheel (403) is installed on the gear on the top of the servo motor (404), and a disc with an inner diameter larger than the inner diameter of the plain bearing (402) is installed above the steering wheel (403); the plain bearing (402) is installed on the disc; the pan-tilt turntable (401) is installed on the plain bearing (402); the detection rod (405) is installed on the pan-tilt turntable (401); the control module is connected to the servo motor (404) and is adapted to control the servo motor (404) to perform a large-range rotation of 270 degrees at a certain rotation speed under the instruction of the remote controller to drive the steering wheel (403), the plain bearing (402), the pan-tilt turntable (401), and the detection rod (405) to perform a large-range rotation of 270 degrees at a certain rotation speed in sequence.

7. The system according to claim 1, wherein: It further includes a knocking module (500) installed on the fuselage; the knocking module (500) is installed on the bottom of the fuselage for detecting hollowing; the knocking module (500) includes a knocking hammer (501) and a power amplifier (502); each time the knocking hammer (501) knocks, the power amplifier (502) plays a knocking sound; the control module is connected to the knocking hammer (501) and the power amplifier (502) and is adapted to control the knocking hammer (501) to knock and control the power amplifier (502) to play the knocking sound under the instruction of the remote controller.

8. The system according to claim 1, wherein: It further includes an RTK positioning module antenna (601) installed on the top of the fuselage for obtaining real-time position data of the wall-climbing robot accurate to the centimeter level; The control module is connected to the RTK positioning module antenna (601) and is adapted to transmit the real-time position data to the remote controller, so as to obtain the position of the detected external wall damage at present.

9. The system according to claim 1, wherein: It further includes a camera (103) installed at the front end of the fuselage for capturing real-time traveling image data from the perspective of the wall-climbing robot; the control module is connected to the camera (103) and is adapted to transmit the real-time traveling image data to the remote controller for real-time monitoring of the traveling condition of the wall-climbing robot.

10. The system according to any one of claims 1 to 9, characterized in that: It further includes an antenna (102) installed on the side of the fuselage; the antenna (102) is connected to the control module and is adapted to implement a wireless communication connection between the control module and the remote controller.

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