Automatic detection device for horizontal and vertical two-dimensional wall surface

Abstract

The utility model discloses an automatic detection device for a horizontal and vertical two-dimensional wall surface, which relates to the field of building construction and is characterized in that a laser ranging array is combined with the longitudinal hierarchical layout of double cameras and is matched with the orthogonal two-degree-of-freedom driving of a position and posture adjusting unit, so that the automatic detection of the horizontal and vertical two-dimensional wall surface is realized. The non-contact detection of the flatness and perpendicularity of the wall surface is realized, and the limitation of the traditional single-parameter detection is broken through; the data processing unit can autonomously avoid obstacles and complete full-facade scanning in a complex construction environment based on the acquired images; the multi-source detection data solves the island problem of traditional detection data, realizes accurate positioning and quantitative evaluation of wall defects, and provides full-dimensional automatic detection technical support for digital acceptance of buildings.

Description

Technical Field

[0001] This utility model relates to the field of building construction, specifically to an automatic detection device for horizontal and vertical two-dimensional walls. Background Technology

[0002] In the field of wall quality inspection in building construction, traditional methods mainly rely on manual contact measuring tools (such as straightedges and plumb bobs), which suffer from low inspection efficiency, strong data subjectivity, and the inability to efficiently obtain two-dimensional parameters of flatness and verticality. While existing automated inspection devices have partially replaced manual operation, they still have significant shortcomings: First, limited by single-sensor design, they can only achieve independent detection of a single parameter (such as flatness or verticality), requiring repeated operations and resulting in low efficiency, and lacking spatial correlation analysis of multi-dimensional data; second, unreasonable sensor layout, with laser ranging and optical imaging equipment prone to mutual interference, making it difficult to operate synchronously and stably in complex construction environments; third, the posture adjustment mechanism mostly adopts a single-degree-of-freedom drive mode, limiting the range of motion, especially in areas with dense columns, where it cannot autonomously avoid obstacles, leading to blind spots and data distortion; at the same time, the inspection data is stored in isolation, unable to interact with the upper-level industrial control computer in real time, making it difficult to meet the requirements of digital acceptance for traceable and structured data. These problems restrict the automation process of wall quality inspection, and an integrated solution combining multi-dimensional perception, intelligent obstacle avoidance, and data fusion is urgently needed. Utility Model Content

[0003] The purpose of this invention is to address the aforementioned problems by providing a dual-dimensional automatic wall surface detection device. This device combines a laser ranging array with a vertically layered layout of dual cameras, along with an orthogonal dual-degree-of-freedom drive from a pose adjustment unit, to achieve non-contact detection of wall surface flatness and verticality, overcoming the limitations of traditional single-parameter detection. The data processing unit can autonomously avoid obstacles and complete a full-facade scan in complex construction environments based on the acquired images. Multi-source detection data solves the problem of isolated data in traditional detection methods, enabling precise location and quantitative assessment of wall surface defects, and providing comprehensive automated detection technology support for digital building acceptance.

[0004] The technical solution adopted in this utility model is as follows:

[0005] An automatic horizontal and vertical two-dimensional wall surface detection device includes a support pan-tilt unit, a pose adjustment unit that acts on and adjusts the pose of the support pan-tilt unit, a detection unit that detects the flatness and / or verticality of the wall surface, and a data processing unit. The detection unit and the pose adjustment unit are mounted on the support pan-tilt unit. The detection unit includes a distance acquisition unit for acquiring distance data of points on the wall surface and an image acquisition unit for acquiring surface features of the wall surface. The detection unit is signal-connected to the data processing unit, and the pose adjustment unit is signal-connected to and controlled by the data processing unit. The pose adjustment unit can act on the support pan-tilt unit and change the pose of the support pan-tilt unit, so that the detection unit mounted on the support pan-tilt unit can dynamically scan the wall surface. The detection unit and the data processing unit transmit wall surface scanning result data.

[0006] By adopting the above-mentioned technical solution and integrating multiple sensors and intelligent control units, the traditional manual contact-based inspection mode has been completely transformed. The dynamic scanning capability of the posture adjustment unit enables the simultaneous acquisition of two-dimensional data on flatness and verticality in a single inspection, significantly improving inspection efficiency compared to manual operation and eliminating human reading errors, thereby significantly improving inspection accuracy and efficiency. The data processing unit generates structured inspection reports in real time, directly connecting to the smart construction site data platform to provide traceable digital acceptance evidence for the digital transformation of the construction industry.

[0007] Furthermore, the distance acquisition unit and the image acquisition unit are assembled on the supporting gimbal in a vertically hierarchical distribution structure.

[0008] Because the above technical solutions were adopted, such as Figure 1 As shown, based on the complex working conditions of multiple columns at the construction site, the distance acquisition unit and the image acquisition unit adopt a vertical hierarchical distribution structure to optimize the sensor working space. This enables the pose adjustment unit to flexibly adjust the pose of the detection unit and effectively avoid obstacles such as construction columns during the data acquisition process, significantly improving the device's adaptability in complex construction environments.

[0009] Furthermore, the distance acquisition unit is a laser ranging array, which is mounted on the top of the supporting gimbal.

[0010] Thanks to the above technical solutions, the laser ranging array is arranged at the top to ensure that it will not be interfered with by other devices during data acquisition. The laser ranging array can achieve non-contact continuous scanning to form a dense ranging point cloud. Through the multi-beam cross-verification mechanism, it effectively avoids the risk of local data distortion caused by manual single-point measurement.

[0011] Furthermore, the image acquisition unit includes a 3D structured light camera capable of capturing micron-level surface deformation features of the wall to obtain local tilt angle information and a high-resolution visible light camera capable of acquiring two-dimensional images of the wall for the identification of surface cracks and bulge defects. The 3D structured light camera and the high-resolution visible light camera are located inside the support gimbal.

[0012] Thanks to the above technical solutions, the dual-camera collaborative operation overcomes the technical limitations of single-parameter detection in existing equipment, enabling simultaneous detection of macroscopic defects and microscopic deformations. The 3D structured light camera accurately quantifies surface flatness, while the high-resolution visible light camera can identify crack defects as small as 0.1mm, forming a complete wall quality assessment system.

[0013] The 3D structured light camera is located in the middle of the supporting gimbal, and the high-resolution visible light camera is located at the bottom of the supporting gimbal.

[0014] By adopting the above technical solutions, the spatial layout is optimized, and the overall equipment becomes more compact.

[0015] The support gimbal is equipped with a heat dissipation module, and a heat dissipation vent is provided on the support gimbal at the corresponding position of the heat dissipation module; the heat dissipation module includes at least a pair of heat dissipation fans, which are arranged at intervals on both sides of the support gimbal along the length of the support gimbal. One side is a positive pressure fan that uses positive pressure for directional air cooling, and the other side is a negative pressure fan that uses negative pressure for exhaust. The positive pressure fan and the negative pressure fan can cooperate with each other to form a dual-pressure difference convection heat dissipation structure.

[0016] Thanks to the above technical solution, the dual fans work together to effectively improve the heat dissipation efficiency of the equipment during operation, ensuring that the heat generated inside the equipment during long-term operation can be dissipated in a timely manner, thereby maintaining the stable operation of the equipment and extending its service life.

[0017] Furthermore, the posture adjustment unit includes a circumferential rotation drive motor, an orthogonal connector, and a pitch adjustment drive motor; the orthogonal connector includes a transmission frame and a horizontal rotating shaft, the horizontal rotating shaft being rotatably connected to the transmission frame, one end of the horizontal rotating shaft having a horizontal rotation drive end in the length direction, and the transmission frame having a circumferential rotation drive end in the vertical direction; the circumferential rotation drive motor is mounted on the base, and the rotating shaft of the circumferential rotation drive motor is connected to and acts on the circumferential rotation drive end; the pitch adjustment drive motor is mounted on the support gimbal, and the rotating shaft of the pitch adjustment drive motor is connected to and acts on the horizontal rotation drive end.

[0018] Thanks to the above technical solution, the orthogonal connector, combined with the dual-axis drive, enables the carrier gimbal to rotate 360 ​​degrees horizontally and adjust its pitch. Combined with the detection unit, it can meet the needs of large-area scanning and detection.

[0019] Furthermore, a circumferential drive gear is mounted on the rotating shaft of the circumferential rotation drive motor, and a circumferential driven gear is mounted on the circumferential rotation drive end, with the circumferential drive gear and the circumferential driven gear meshing with each other; a pitch drive gear is mounted on the rotating shaft of the pitch adjustment drive motor, and a pitch driven gear is mounted on the horizontal rotation drive end, with the pitch drive gear and the pitch driven gear meshing with each other.

[0020] Thanks to the above technical solution, the gear transmission system has a self-locking function while ensuring transmission accuracy, preventing the equipment from shifting in a non-drive state.

[0021] Furthermore, the other end of the horizontal rotating shaft relative to the horizontal rotating drive end is a horizontal rotating support end, and a support bearing is provided at the horizontal rotating support end, with the outer wall of the support bearing abutting against the inner wall of the supporting gimbal.

[0022] Thanks to the above technical solutions, the support bearing can effectively distribute the load on the rotating shaft, effectively reduce vibration during the posture adjustment process, ensure the smoothness of the scanning motion, and significantly reduce the frequency of equipment calibration and maintenance.

[0023] Furthermore, the support platform is provided with a pitch avoidance groove that matches the transmission frame.

[0024] Thanks to the above technical solution, the pitch avoidance groove provides ample space for the transmission mechanism, effectively avoiding motion interference and enabling the device to pitch at large angles, thus expanding the coverage of wall detection.

[0025] In summary, due to the adoption of the above technical solutions, the beneficial effects of this utility model are as follows: By assembling a laser ranging array, a 3D structured light camera, and a high-resolution visible light camera in a longitudinally hierarchical distribution structure on a supporting gimbal, non-contact dynamic scanning of wall flatness and verticality is achieved. The laser ranging array forms a dense ranging point cloud through top arrangement and eliminates local data distortion through a multi-beam cross-verification mechanism. The 3D structured light camera captures micron-level surface deformation features of the wall to quantify flatness, and the high-resolution visible light camera identifies 0.1mm-level cracks and bulge defects, overcoming the limitations of single-parameter detection. The pose adjustment unit, through circumferential... The gear transmission system of the rotation drive motor, orthogonal connector, and pitch adjustment drive motor, combined with the vibration reduction design of the horizontal shaft's double-end support bearings, enables the load-bearing gimbal to achieve 360° circumferential rotation and large-angle pitch movement, avoiding column obstacles in complex working conditions. The heat dissipation module adopts a dual-pressure differential convection heat dissipation structure formed by the directional air cooling of positive pressure fans and the exhaust air of negative pressure fans, achieving efficient heat dissipation to maintain the device's long-term operation. The data processing unit integrates distance data, surface deformation, and two-dimensional image data in real time to generate structured inspection reports, significantly improving inspection efficiency compared to manual methods, and providing full-dimensional automated inspection technology support for digital building acceptance. Attached Figure Description

[0026] Figure 1 This is a map of the construction site environment;

[0027] Figure 2 This is the front view of the horizontal and vertical dual-dimensional automatic wall detection device of this utility model;

[0028] Figure 3 This utility model relates to Figure 2 A cross-sectional view along the AA direction;

[0029] Figure 4 This is a side sectional view of the gimbal of this utility model in an upward-facing position;

[0030] Figure 5 This is a side view of the horizontal and vertical dual-dimensional automatic wall detection device of this utility model;

[0031] Figure 6 This utility model relates to Figure 5 Cross-sectional view along the BB direction;

[0032] Figure 7 This is a front view of the posture adjustment unit of this utility model;

[0033] Figure 8 This is a side view of the posture adjustment unit of this utility model;

[0034] Figure 9 This is a rear view of the horizontal and vertical dual-dimensional automatic wall detection device of this utility model;

[0035] Figure 10 This is a schematic diagram of the hidden support platform of the horizontal and vertical dual-dimensional automatic wall detection device of this utility model.

[0036] The markings in the diagram are: 1-Pitch adjustment drive motor, 2-Horizontal rotating shaft, 3-Transmission frame, 4-Support bearing, 5-Orthogonal connector, 6-Circumferential rotation drive motor, 7-Circumferential drive gear, 8-3D structured light camera, 9-Pitch avoidance groove, 10-Mounting plate, 11-Laser ranging array, 12-Bearing gimbal, 13-Heat dissipation module, 14-Base, 15-Circumferential driven gear, 16-Pitch drive gear, 17-Pitch driven gear, 18-High-resolution visible light camera. Detailed Implementation

[0037] The present invention will now be described in detail with reference to the accompanying drawings.

[0038] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0039] Example 1

[0040] A horizontal and vertical two-dimensional automatic wall detection device, such as Figures 2-10 As shown, the system includes a support pan-tilt unit 12, a pose adjustment unit that acts on and adjusts the pose of the support pan-tilt unit 12, a detection unit that detects the flatness and verticality of the wall surface, and a data processing unit. The detection unit and the pose adjustment unit are mounted on the support pan-tilt unit 12. The detection unit includes a distance acquisition unit for acquiring distance data of points on the wall surface, and an image acquisition unit for acquiring surface features of the wall surface. The detection unit is signal-connected to the data processing unit, and the pose adjustment unit is signal-connected to and controlled by the data processing unit. The pose adjustment unit can act on the support pan-tilt unit 12 and change the pose of the support pan-tilt unit 12, so that the detection unit mounted on the support pan-tilt unit 12 performs dynamic scanning of the wall surface. The detection unit and the data processing unit transmit wall surface scanning result data.

[0041] Specifically, by integrating multiple sensors and an intelligent control unit, the traditional manual contact-based inspection mode has been completely transformed. The dynamic scanning capability of the posture adjustment unit enables the simultaneous acquisition of two-dimensional data on flatness and verticality in a single inspection, significantly improving inspection efficiency compared to manual operation and eliminating human reading errors, thereby significantly improving inspection accuracy and efficiency. The data processing unit generates structured inspection reports in real time, directly connecting to the smart construction site data platform to provide traceable digital acceptance evidence for the digital transformation of the construction industry.

[0042] The distance acquisition unit and the image acquisition unit are assembled on the bearing gimbal 12 in a vertically hierarchical distribution structure.

[0043] Specifically, such as Figure 1 As shown, based on the complex working conditions of multiple columns at the construction site, the distance acquisition unit and the image acquisition unit adopt a vertical hierarchical distribution structure to optimize the sensor working space. This enables the pose adjustment unit to flexibly adjust the pose of the detection unit and effectively avoid obstacles such as construction columns during the data acquisition process, significantly improving the device's adaptability in complex construction environments.

[0044] The distance acquisition unit is a laser ranging array 11, which is mounted on the top of the supporting gimbal 12.

[0045] Specifically, the laser ranging array 11 is arranged at the top to ensure that it will not be interfered with by other devices during data acquisition. The laser ranging array 11 can achieve non-contact continuous scanning to form a dense ranging point cloud. Through the multi-beam cross-verification mechanism, it effectively avoids the risk of local data distortion caused by manual single-point measurement.

[0046] The image acquisition unit includes a 3D structured light camera 8 that can capture micron-level surface deformation features of the wall to obtain local tilt angle information and a high-resolution visible light camera 18 that can acquire two-dimensional images of the wall for the identification of surface cracks and bulge defects. The 3D structured light camera 8 and the high-resolution visible light camera 18 are located inside the support gimbal 12.

[0047] Specifically, the dual-camera collaborative operation overcomes the technical limitations of single-parameter detection in existing equipment, enabling simultaneous detection of macroscopic defects and microscopic deformations. The 3D structured light camera 8 accurately quantifies surface flatness, while the high-resolution visible light camera 18 can identify crack defects at the 0.1mm level, forming a complete wall quality assessment system.

[0048] The 3D structured light camera 8 is mounted on the middle of the support gimbal 12 via the mounting plate 10, and the high-resolution visible light camera 18 is mounted on the bottom of the support gimbal 12.

[0049] Specifically, it optimizes the spatial layout, provides overall compactness of the equipment, and effectively avoids mutual interference between the 3D structured light camera 8 and the top laser ranging array 11.

[0050] The support gimbal 12 is equipped with a heat dissipation module 13, and heat dissipation vents are provided on the support gimbal 12 at the corresponding positions of the heat dissipation module 13. The heat dissipation module 13 includes at least a pair of heat dissipation fans, which are arranged at intervals on both sides of the support gimbal 12 along the length direction of the support gimbal 12. One side is a positive pressure fan that uses positive pressure for directional air cooling, and the other side is a negative pressure fan that uses negative pressure for exhaust. The positive pressure fan and the negative pressure fan can cooperate with each other to form a dual pressure difference convection heat dissipation structure.

[0051] Specifically, the dual fans work together to effectively improve the heat dissipation efficiency of the equipment during operation, ensuring that the heat generated inside the equipment during long-term operation can be dissipated in a timely manner, thereby maintaining the stable operation of the equipment and extending its service life. The positive pressure fan and the negative pressure fan are respectively set at both ends of the high-resolution visible light camera 18, with a compact structure and high space utilization.

[0052] The posture adjustment unit includes a circumferential rotation drive motor 6, an orthogonal connector 5, and a pitch adjustment drive motor 1. The orthogonal connector 5 includes a transmission frame 3 and a horizontal rotating shaft 2. The horizontal rotating shaft 2 is rotatably connected to the transmission frame 3. One end of the horizontal rotating shaft 2 in the length direction is provided with a horizontal rotation drive end. The transmission frame 3 is provided with a circumferential rotation drive end in the vertical direction. The circumferential rotation drive motor 6 is mounted on the base 14. The rotation shaft of the circumferential rotation drive motor 6 is connected to and acts on the circumferential rotation drive end. The pitch adjustment drive motor 1 is mounted on the support gimbal 12. The rotation shaft of the pitch adjustment drive motor 1 is connected to and acts on the horizontal rotation drive end.

[0053] Specifically, the orthogonal connector 5, in conjunction with the dual-axis drive, enables the carrier gimbal 12 to perform 360-degree circumferential rotation and ±45° pitch adjustment in the horizontal direction, which, together with the detection unit, can meet the needs of large-area scanning and detection.

[0054] The circumferential rotation drive motor 6 is equipped with a circumferential drive gear 7 at its rotating shaft and a circumferential driven gear 15 at its circumferential rotation drive end. The circumferential drive gear 7 and the circumferential driven gear 15 mesh with each other. The pitch adjustment drive motor 1 is equipped with a pitch drive gear 16 at its rotating shaft and a pitch driven gear 17 at its horizontal rotation drive end. The pitch drive gear 16 and the pitch driven gear 17 mesh with each other.

[0055] Specifically, the gear transmission system has a self-locking function while ensuring transmission accuracy, preventing the equipment from shifting when not in a driving state.

[0056] The other end of the horizontal rotating shaft 2, relative to the horizontal rotating drive end, is a horizontal rotating support end. A support bearing 4 is provided at the horizontal rotating support end, and the outer wall of the support bearing 4 abuts against the inner wall of the bearing gimbal 12.

[0057] Specifically, the support bearing 4 can effectively distribute the load on the rotating shaft, effectively reduce vibration during the posture adjustment process, ensure the smoothness of the scanning motion, and significantly reduce the frequency of equipment calibration and maintenance.

[0058] The bearing gimbal 12 is provided with a pitch avoidance groove 9 that matches the transmission frame 3.

[0059] Specifically, the pitch avoidance groove 9 provides ample space for the transmission mechanism to move, effectively avoiding motion interference, enabling the device to pitch at large angles and expanding the coverage of wall detection.

[0060] During operation, the device is positioned on the wall surface to be measured via base 14. Base 14 has a dovetail groove for mounting on a tripod, ensuring the height of the pan-tilt head 12. The pose adjustment unit then drives the pan-tilt head 12 to perform initial pose calibration. A high-resolution visible light camera 18 acquires wall texture information in real time and sends the acquired image data to the data processing unit. The data processing unit preprocesses the image data, including rotating and correcting distorted wall images, determining the wall surface to be measured, selecting sampling points in the image while avoiding obstructions, and converting the image sampling point coordinates to wall sampling point coordinates. An adaptive planning algorithm generates the optimal laser scanning path, and the pose adjustment unit controls the pan-tilt head based on this optimal path. The 12 unit rotates accordingly, guiding the laser ranging array 11 mounted on the carrier gimbal 12 to project high-density measurement points. In the flatness detection mode, the posture adjustment unit controls the carrier gimbal 12 to perform circumferential rotation in the horizontal direction, achieving continuous horizontal scanning. In the verticality detection mode, the posture adjustment unit controls the carrier gimbal 12 to perform pitch in the vertical direction, achieving continuous vertical scanning. Simultaneously, the 3D structured light camera 8 is triggered to capture micron-level surface deformation and obtain local tilt angle information. The data processing unit uses a spatial geometric projection algorithm to accurately map the oblique measurement data to the vertical reference plane. Here, a tilt sensor can also be installed inside the carrier gimbal 12 to compensate for the device's posture deviation in real time. Within a single scanning cycle, the laser ranging array 11, the 3D structured light camera 8, and the high-resolution visible light camera 18 acquire the wall's spatial coordinates, three-dimensional deformation, and two-dimensional visual data, respectively. Through timestamp synchronization and spatial registration algorithms, multi-source data fusion is achieved, enabling high-precision detection of wall flatness and verticality. The detection results are displayed in real time through a visual interface, enabling accurate location and quantitative assessment of wall defects, and providing full-dimensional automated detection technology support for digital building acceptance.

[0061] In the description of this utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the utility model product is in use. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0062] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

Claims

1. An automatic detection device for horizontal and vertical two-dimensional walls, characterized in that, The device comprises a bearing holder, a position adjusting unit capable of acting on the bearing holder and adjusting the position of the bearing holder, a detection unit capable of detecting the flatness and / or verticality of the wall surface, and a data processing unit, the detection unit and the position adjusting unit are assembled on the bearing holder; the detection unit comprises a distance acquisition unit for acquiring distance data of points on the wall surface, and an image acquisition unit for acquiring surface features of the wall surface; the detection unit is signal connected to the data processing unit, and the position adjusting unit is signal connected to and controlled by the data processing unit; the position adjusting unit can act on the bearing holder and change the position of the bearing holder, so that the detection unit carried on the bearing holder dynamically scans the wall surface, and the detection unit and the data processing unit transmit wall surface scanning result data.

2. The apparatus of claim 1, wherein the apparatus is configured to detect a vertical plane of the wall surface. The distance acquisition unit and the image acquisition unit are assembled on the bearing holder in a longitudinal hierarchical distribution structure.

3. The apparatus of claim 2, wherein the apparatus is configured to detect a vertical plane of the wall surface by using a plurality of cameras and a plurality of projectors. The distance acquisition unit is a laser ranging array, which is carried on the top of the bearing holder.

4. The apparatus of claim 2, wherein the apparatus is configured to detect a vertical plane of the wall surface by using a plurality of cameras and a plurality of projectors. The image acquisition unit comprises a 3D structured light camera capable of capturing micron-level surface deformation features of the wall surface to acquire local inclination angle information, and a high-resolution visible light camera capable of collecting two-dimensional images of the wall surface to identify surface cracks and bulge defects, and the 3D structured light camera and the high-resolution visible light camera are arranged in the bearing holder.

5. The automatic horizontal and vertical dual-dimensional wall surface detection device as described in claim 4, characterized in that, The 3D structured light camera is arranged in the middle of the bearing holder, and the high-resolution visible light camera is arranged at the bottom of the bearing holder.

6. The apparatus of claim 1, wherein the apparatus is configured to detect a vertical plane of the wall surface. The bearing holder is assembled with a heat dissipation module, and a heat dissipation air inlet is formed on the bearing holder corresponding to the heat dissipation module; the heat dissipation module at least comprises a pair of heat dissipation fans, which are arranged on both sides of the bearing holder along the length direction of the bearing holder, wherein one side is a positive pressure fan for directional cooling in a positive pressure mode, and the other side is a negative pressure fan for air extraction in a negative pressure mode, and the positive pressure fan and the negative pressure fan can cooperate to form a double-pressure-difference convection heat dissipation structure.

7. The apparatus according to any one of claims 1-6, wherein the apparatus is configured to detect a flat vertical double-dimensional wall surface. The position adjusting unit comprises a circumferential rotation driving motor, a right-angle connector, and a pitch adjusting driving motor; the right-angle connector comprises a transmission frame and a horizontal rotation shaft, the horizontal rotation shaft is rotatably connected to the transmission frame, one end of the horizontal rotation shaft in the length direction is provided with a horizontal rotation driving end, and the transmission frame is provided with a circumferential rotation driving end in the vertical direction; the circumferential rotation driving motor is installed on the base, the rotating shaft of the circumferential rotation driving motor is connected to and acts on the circumferential rotation driving end, and the pitch adjusting driving motor is installed on the bearing holder, the rotating shaft of the pitch adjusting driving motor is connected to and acts on the horizontal rotation driving end.

8. The apparatus of claim 7, wherein the apparatus is configured to determine the verticality of the wall by determining a distance between the first and second cameras and a distance between the first and second light sources. The rotating shaft of the circumferential rotation driving motor is assembled with a circumferential driving gear, and the circumferential rotation driving end is assembled with a circumferential driven gear, and the circumferential driving gear and the circumferential driven gear are meshed with each other; The rotating shaft of the pitch adjusting driving motor is assembled with a pitch driving gear, and the horizontal rotation driving end is assembled with a pitch driven gear, and the pitch driving gear and the pitch driven gear are meshed with each other.

9. The apparatus of claim 7, wherein the apparatus is configured to detect a vertical plane of the wall surface by using a plurality of cameras and a plurality of projectors. The other end of the horizontal rotation shaft length direction relative to the horizontal rotation driving end is a horizontal rotation supporting end, a supporting bearing is arranged at the horizontal rotation supporting end, and the outer wall of the supporting bearing abuts against the inner wall of the bearing holder.

10. The apparatus of claim 1, wherein the apparatus is configured to detect a flat vertical two-dimensional wall surface. The bearing holder is provided with a pitch avoidance groove matched with the transmission frame.

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