CN116619960A

CN116619960A - Full vector survey cluster system and control method thereof

Info

Publication number: CN116619960A
Application number: CN202211348783.3A
Authority: CN
Inventors: 吴启民; 陈通权; 陈乔; 林忠华; 刘德明; 郭睿; 李高年; 叶谦
Original assignee: HANGZHOU GUODIAN DAM SAFETY ENGINEERING CO LTD
Current assignee: HANGZHOU GUODIAN DAM SAFETY ENGINEERING CO LTD
Priority date: 2022-10-31
Filing date: 2022-10-31
Publication date: 2023-08-22
Also published as: WO2024093500A1

Abstract

The invention discloses a full vector survey cluster system and a control method of operation thereof. The full vector survey cluster system includes a plurality of robots including a survey robot and at least one negative cable robot, each of the survey robot and the negative cable robot including: a support body having opposite top and bottom sides; the vector rotor system comprises at least two sets of rotor assemblies, and each rotor assembly is arranged on the support body and provides vector power for the support body; the travelling wheel is arranged at the bottom side of the support body and is used for being matched with the working surface in a travelling manner; the surveying robot further comprises information acquisition equipment arranged on the supporting body and used for acquiring information data related to the working face; the cable loading robot further comprises a support, and the survey robot and the cable loading robot are powered and communicated through cables loaded on the support under the working state. The full vector survey cluster system of the invention can execute the surface defect detection operation of the ground natural building or the artificial building.

Description

Full vector survey cluster system and control method thereof

Technical Field

The invention relates to the technical field of robots, in particular to a full vector survey cluster system and a control method thereof.

Background

The unmanned aerial vehicle technology is continuously developed in the current generation and is widely applied to air detection, field investigation, ground building detection, special operation and the like. Conventional flying unmanned aerial vehicle can carry out defect detection to the building surface, and as patent document with publication number of CN114379777B discloses a tilting rotor unmanned aerial vehicle structure and working method thereof, this kind of many rotor unmanned aerial vehicle can strengthen unmanned aerial vehicle adaptability and mobile control's flexibility through tilting rotor's vector control.

However, when the situation of large working area is faced, the power supply carried by the unmanned aerial vehicle cannot guarantee long-time endurance, and is limited by the load capacity, so that the operation and communication capacity of the unmanned aerial vehicle are difficult to meet the demands.

Moreover, the unmanned aerial vehicle is low in operation efficiency in a single-machine mode, and the difficulty of logistical guarantee is increased due to the fact that the single-machine is out of the operation frame too much in the initial surveying and mapping or follow-up inspection process. Furthermore, even if a plurality of unmanned aerial vehicles work simultaneously, the unmanned aerial vehicles generally work independently after planning, and the synchronism and the coordination of the operation of the unmanned aerial vehicles are not high.

Disclosure of Invention

The invention provides a full vector survey cluster system and a control method thereof, which can be used for implementing investigation and survey in special scenes.

The full vector survey cluster system of the invention comprises a plurality of robots, and is characterized in that the plurality of robots comprise a survey robot and at least one negative cable robot, and the survey robot and the negative cable robot comprise:

a support body;

the vector rotor system comprises at least two sets of rotor assemblies, wherein the sets of rotor assemblies are all arranged on a support body and are used for providing vector power for the support body;

the travelling wheel is arranged below the supporting body and is used for travelling on the working surface;

the information acquisition equipment is arranged on the support body and is used for acquiring information data related to the working face;

the cable loading robot further comprises a cable frame mechanism, the cable frame mechanism is arranged on the supporting body, and the surveying robot and the cable loading robot are powered and communicated through cables loaded on the cable frame mechanism under the working state.

Optionally, the information acquisition device comprises a laser mapping assembly, an image acquisition assembly, an ultrasonic detection assembly, or a combination thereof;

the laser mapping assembly includes:

the cradle head is arranged on the support body;

The laser scanner is arranged on the cradle head and is used for mapping a three-dimensional space and acquiring three-dimensional form data of a working surface;

the image acquisition assembly includes:

the camera is arranged on the support body and positioned between the two adjacent rotor wing assemblies, the camera shoots and collects images of the working face, and the camera shoots and collects the images to construct a two-dimensional working face map;

the light supplementing lamp is arranged on the supporting body and is used for projecting light rays to the working surface;

the ultrasonic detection assembly comprises:

the ultrasonic probes are arranged on the supporting body, and the ultrasonic probes are arranged in pairs, and the distance between the ultrasonic probes in the same pair is adjustable;

the moving mechanism is connected with the ultrasonic probes and drives the ultrasonic probes in the same pair to perform relative movement;

the medium output head is arranged on the support body and is communicated with the supply device arranged on the support body through a medium pipeline, and the medium output head is used for providing working medium for the ultrasonic probe.

Optionally, the cable rack mechanism includes:

The support is fixed on the support body, part of the structure in the support is of a tubular structure, the inside of the tubular structure is used as a guide groove, and the cable is movably penetrated in the guide groove;

the wire clamping wheels are arranged in pairs and are mounted on the support, and the wire clamping wheels are used for clamping and driving the cables to move along the guide grooves;

the wire clamping motor is arranged on the support, and the wire clamping motor is linked with the wire clamping wheel to change the length of a cable between the negative cable robot and the adjacent robot.

Optionally, the tip of tubular structure is equipped with the adapter sleeve, disposes pressure sensor on the adapter sleeve, the cable penetrates the one side of adapter sleeve from outside and is the entry side, and the inner wall on the adapter sleeve has evenly spaced arrangement a plurality of installation lugs along circumference in the entry side, pressure sensor corresponds the inboard of being fixed in the installation lug.

Optionally, the support is provided with a swinging frame, one of the paired wire clamping wheels is a driven wheel and is rotatably mounted on the support, and the other is a driving wheel and is rotatably mounted on the swinging frame;

an elastic piece is arranged between the swing frame and the support to limit the swing frame to be in a first state or a second state;

The first state: the elastic piece drives the driving wheel to approach the driven wheel and clamp the cable;

the second state: the driving wheel is far away from the driven wheel, and the swing frame is propped against the support to limit.

Optionally, the negative cable robot further includes:

the two winding wheels are respectively arranged on the supporting body, and the cables extending through the tubular structure are wound in the corresponding winding wheels;

and the two winding motors independently drive a corresponding winding wheel.

The invention also provides a control method based on the operation of the full vector survey cluster system, which is characterized by adopting any one of the full vector survey cluster systems, and comprising the following steps:

constructing a working surface map;

the robots travel in a queue mode, when the robots reach a preset working position in a working surface map, the information acquisition equipment acquires image information of the current working position and performs surface feature identification, and the robots are kept at the current working position in a climbing mode in the process of acquiring information data;

and carrying out corresponding processing according to the identification result.

Optionally, the building the working surface map includes:

The robot reaches a specified origin position, points to move to a reference point along a preset coordinate axis, a connecting line between the origin and the reference point is obtained, the connecting line is corresponding to a working surface map, the pointing direction of the other coordinate axis and a coordinate system formed by the two coordinate axes are obtained through operation, and the working surface and the coordinate system of the working surface map are constructed;

dividing a working surface into a plurality of rectangular subareas in a coordinate system according to a preset side length, and planning a movement path in the subareas;

the robot queue is transferred among a plurality of working positions along the movement path, and when the robot queue reaches a preset working position, the information acquisition equipment is used for acquiring image information data and three-dimensional form data of a working surface;

when traversing the working surface, performing three-dimensional modeling through the obtained three-dimensional form data to obtain a three-dimensional model;

after traversing the working surface, splicing the obtained image information to obtain a two-dimensional working surface map;

and finally, fitting the two-dimensional working surface map to a three-dimensional model to obtain the three-dimensional working surface map.

Optionally, the control method includes inspection of the working surface, where the inspection of the working surface includes: the robot confirms the current position; the robot identifies and marks the building defects on the working surface map.

Optionally, when the multiple robots travel in a queue mode, the negative cable robot collects pressure signals of the cable relative to the cable frame mechanism, and accordingly adjusts and controls the cable frame mechanism to take up and pay-off work and/or vector power provided by the rotor wing assembly according to the pressure signals, so that the travelling speed or direction of the robots is adjusted.

The full vector survey cluster system and the operation control method thereof have at least the following technical effects:

the full vector survey cluster system can execute surface defect detection operation of ground building detection, special operation, natural building or artificial building, has strong endurance and anti-interference capability, and can be used for complex natural environments with large area, high magnetic field, no signal and the like.

Drawings

FIG. 1 is a schematic structural diagram of a full vector survey cluster system;

fig. 2 is a schematic structural view of the first housing of the negative cable robot in fig. 1;

FIG. 3 is an enlarged view of B in FIG. 2;

FIG. 4 is a schematic view of the swing frame in a second state;

FIG. 5 is a cross-sectional view of the negative cable robot of FIG. 1;

FIG. 6 is a schematic diagram of a survey robot employing four-rotor vector drive according to the present invention;

FIG. 7 is a schematic view of the support of FIG. 6;

FIG. 8 is a schematic diagram of a survey robot employing dual rotor vector drive according to the present invention;

FIG. 9 is a schematic view of the support of FIG. 8;

FIGS. 10-11 are schematic structural views of a rotor assembly;

fig. 12 to 13 are schematic structural views of an image acquisition assembly;

FIG. 14 is a schematic diagram of a laser mapping assembly;

FIG. 15 is a schematic view of the structure of the medium output head in the ultrasonic probe assembly in a second position;

FIG. 16 is a cross-sectional view of FIG. 15;

FIG. 17 is a schematic view of the structure of the medium output head in the ultrasonic probe assembly in a first position;

FIG. 18 is an exploded view of the supply device;

fig. 19 is a schematic structural view of a road wheel;

FIG. 20 is a cross-sectional view of the travel wheel of FIG. 19;

FIG. 21 is a schematic structural view of a static adsorption module;

FIG. 22 is a schematic view of the static var assembly of FIG. 17 with the first housing open;

FIG. 23 is a cross-sectional view of a static adsorption assembly;

FIG. 24 is a schematic view of the second housing mated with the support;

FIG. 25 is a schematic view of a lift drive mechanism;

FIG. 26 is a schematic illustration of the transfer case of FIG. 25;

FIG. 27 is a cross-sectional view of the survey robot with the support omitted;

fig. 28 is an enlarged view of a in fig. 27;

FIG. 29 is an exploded view of the pressure relief valve;

FIG. 30 is a schematic structural view of a suction cup;

FIG. 31 is a schematic view of the cleaner in a third housing;

fig. 32 to 33 are schematic structural views of the cleaner;

FIG. 34 is a cross-sectional view of the survey robot with the support omitted;

fig. 35 is an enlarged view of C in fig. 34;

FIG. 36 is a flow chart of a method for controlling operation of a cluster system based on full vector survey in accordance with the present invention;

FIGS. 37 a-37 c are schematic diagrams illustrating the implementation of the control method of the present invention;

FIG. 38 is a flowchart of a rescue control method based on a robot cluster system according to the present invention;

FIG. 39 is a second flowchart of a rescue control method based on a robot cluster system according to the present invention;

fig. 40 to 42 are schematic views illustrating implementation processes of implementing a rescue control method of a robot cluster system;

FIG. 43 is a flow chart of a building structure spanning method based on a robot cluster system in accordance with the present invention;

fig. 44 to 46 are schematic views of implementation processes for implementing a building structure spanning method of a robot cluster system;

FIG. 47 is a flow chart of a method of borehole detection according to the present invention;

reference numerals in the drawings are described as follows:

100. a top side; 101. a bottom side; 200. a survey robot; 201. a first active robot; 202. a second active robot; 203. a passive robot; 204. a head end robot; 205. an intermediate robot; 206. an end robot; 210. a working surface; 211. a work surface map; 212. a picture; 1. a support body; 11. a top frame; 12. a bottom frame; 13. a column; 14. an annular portion; 15. a wheel seat; 16. a reinforcing rod; 161. an edge bar; 162. an inner side lever; 17. connecting sleeves; 171. an inlet side; 172. mounting lugs; 18. a cable;

2. A rotor assembly; 21. a first roll-over stand; 22. the first steering engine; 23. a second roll-over stand; 24. the second steering engine; 25. a main motor; 26. a paddle; 28. a first pivot; 29. a second pivot;

3. a walking wheel; 31. a damping mechanism;

4. an information acquisition device; 41. an image acquisition component; 411. a camera; 412. a first camera; 413. a second camera; 414. a light supplementing lamp; 415. a ring member; 416. spokes; 417. a lighting lamp; 42. a laser mapping assembly; 421. a cradle head; 422. a laser scanner; 423. a support arm; 424. a shock absorbing member; 43. an ultrasonic detection assembly; 431. an ultrasonic probe; 4311. a spring; 432. a moving mechanism; 433. a medium output head; 4331. an output aperture; 434. a turnover mechanism; 4341. a turnover motor; 4342. a movable frame; 4343. a microscopic camera; 435. a supply device; 4351. a charging barrel; 4352. a discharge hole; 4353. pushing the material piston; 4354. an electric push rod; 436. a medium pipeline;

5. a static adsorption assembly; 51. a jacket; 52. a cylinder; 521. an external thread; 53. a lifting driving mechanism; 531. a motor; 5311. an output shaft; 532. a transfer mechanism; 5321. a main bevel gear; 5322. a secondary bevel gear; 5323. an intermediate shaft; 5324. a universal joint; 5325. an output shaft; 533. a drive gear; 534. a gear ring; 535. gear teeth; 54. a suction cup; 541. a vacuum port; 542. a pressure relief port; 543. a pressure release valve; 5431. sealing sleeve; 5432. a valve core; 5433. a valve stem; 5434. an elastic member; 5435. a flange; 544. a limit pad; 545. a substrate; 5451. a third housing; 5452. an extension region; 5453. a first extension region; 5454. a second extension region; 5455. a first avoidance port; 5456. a second avoidance port; 546a, sealing ring; 546b, sealing ring; 546c, sealing ring; 55. a vacuum pump; 551. a vacuum pipeline; 552. an internal pipeline; 5521a, rigid tube; 5521b, rigid tube; 553. an external pipeline; 56. a first housing; 57. a control main board; 58. a second housing; 581. bridge arms;

7. A cleaner; 71. cleaning a motor; 711. a guide member; 712. a brush head; 713. a spring; 72. a sliding mechanism; 721. a slide motor; 73. a guide member; 731. a chute;

8. a full vector survey cluster system; 81. a negative cable robot; 82. a cable rack mechanism; 821. a support; 8211. a guide groove; 8212. an avoidance port; 8213. a swing frame; 8214. a tubular structure; 822. a wire clamping wheel; 8221. a driving wheel; 8222. driven wheel; 823. a wire clamping motor; 824. a tension spring; 825. external gear teeth; 826. a coiled section; 831. a reel; 834. a wound motor; 84. and a paying-off mechanism.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.

Referring to fig. 1 to 5, the present invention provides a full vector survey cluster system including a survey robot 200 and at least one negative cable robot 81, the survey robot 200 and the negative cable robot 81 each including:

a support 1 having opposite top and bottom sides 100, 101; a vector rotor system comprises at least two sets of rotor assemblies 2, wherein each rotor assembly 2 is mounted on a support body 1 and provides vector power for the support body 1; a travelling wheel 3 arranged at the bottom side 101 of the support body 1 and used for being matched with the working surface in a travelling way; the surveying robot 200 further comprises an information acquisition device 4, wherein the information acquisition device 4 is installed on the support body 1 and is used for acquiring information data related to the working surface; the cable loading robot 81 further comprises a cable rack mechanism 82, and the survey robot 200 is powered and communicates via the cables 18 loaded on the cable rack mechanism 82 in an operational state.

The survey robot 200 is equipped with the information collecting apparatus 4, and the negative cable robots 81 can select whether to install the information collecting apparatus 4 according to the need, and each negative cable robot 81 needs the negative cable 18, and thus is provided with the cable frame mechanism 82.

The cable rack mechanism 82 includes: the support 821 is fixed on the support body 1, at least one part of the support 821 is a tubular structure 8214 and is internally provided with a guide groove 8211, and the cable 18 is movably penetrated in the guide groove 8211; a wire clamping wheel 822 mounted on the support 821 and clamping and driving the wire 18 to move along the guide groove 8211; the wire clamping motor 823 is mounted on the support 821 and is linked with the wire clamping wheel 822.

When the wire clamping motor 823 works, the wire clamping wheel 822 is driven to operate, and the wire 18 moves along the guide groove 8211 under the action of the wire clamping wheel 822, wherein the connecting sleeve 17 provided with a pressure sensor is in butt joint with the end of the tubular structure 8214, or the end part of the tubular structure 8214 is also used as the connecting sleeve 17, and in the embodiment, the number of the connecting sleeves 17 of each negative wire robot 81 is 2.

In the present embodiment, the wire clamping wheels 822 are arranged in pairs, and at least one is a driving wheel 8221 that is linked with the wire clamping motor 823. In order to facilitate clamping of the cable 18, the side wall of the tubular structure is provided with a radially-through avoiding opening 8212, and the same pair of wire clamping wheels 822 clamp the cable 18 through the corresponding side avoiding opening 8212.

Specifically, the support 821 is provided with a swinging frame 8213, and one of the paired wire clamping wheels 822 is a driven wheel 8222 and is rotatably mounted on the support 821; the other is a driving wheel 8221 and is rotatably arranged on the swinging frame 8213; an elastic piece is arranged between the swing frame 8213 and the support 821 to drive the driving wheel 8221 to approach the driven wheel 8222 and clamp the cable 18, namely the swing frame 8213 is in a first state (namely the F1 position); the swing frame 8213 further has a second state (i.e., the F2 position), wherein the driving wheel 8221 is far away from the driven wheel 8222, and the swing frame 8213 is limited by abutting the support 821.

The elastic member is a tension spring 824, two ends of the tension spring 824 are respectively connected to the swing frame 8213 and the support 821, and the tension spring 824 limits the swing frame 8213 in the second state in a dead point passing manner. The swinging frame 8213 can change state according to actual requirements.

In this embodiment, the wire clamping motor 823 and the driving wheel 8221 are driven by adopting a gear engagement mode. The two ends of the tubular structure extend to opposite sides of the support body 1, respectively, and in order to be able to control the length of the cable 18 on each side of the robot individually, the two ends of the tubular structure are provided with a wire clamping wheel 822 and a wire clamping motor 823, respectively. Further, the middle part of the tubular structure 8214 is provided with an open area or a semi-open area, one section of the cable 18 extends out of the guide slot 8211 from the open area, and the extending part is a winding section 826, so that the cable 18 can be wound better, and the negative cable robot 81 further comprises:

Two winding wheels 831 are respectively arranged on the supporting body 1, and cables 18 extending from two ends of the tubular structure 8214 are respectively wound on one of the winding wheels 831; the two winding motors 834 independently drive the corresponding winding wheel 831, so that the two side cables 18 of the negative cable robot 81 can be respectively adaptively adjusted, the cluster system is more flexible, and the limitation that the two side cables can only be adjusted simultaneously is avoided. Wherein, the winding motor 834 and the winding wheel 831 can be driven by conventional gear engagement.

In order to improve the integration level, the two winding wheels 831 can be encapsulated into the first housing 56, and since the top of the outer sleeve 51 in the static adsorption assembly 5 is also located in the first housing 56, the embodiment can also set the two winding wheels 831 to a cylindrical structure, and the two winding wheels 831 are rotatably sleeved on the corresponding outer sleeve 51, and the top edge of the cylindrical structure is provided with outer gear teeth 825, and the outer gear teeth are in transmission with the winding motor 834 in a gear engagement manner. The cable 18 extending into the end of the tubular structure 8214 bypasses the corresponding winding wheel 831 and is connected with the power utilization component in the negative cable robot 81 to form a power utilization loop.

In one embodiment, three negative cable robots in series, when traversing a large span building structure, the negative cable robots at both ends are anchored to the work surface, the two reels 831 of the center negative cable robot move synchronously, one with respect to the negative cable robot take up, the other with respect to the negative cable robot pay out, so that the center negative cable robot spans the building structure along the cable. Correspondingly, the survey robot 200 may also be configured with the cable rack mechanism 82 and the reel 831 and the winding motor 834, and if it resides at the head end of the queue, only one set of the reel 831 and winding motor 834 may be configured.

Both the survey robot 200 and the negative cable robot 81 are powered and communicate in a wired manner in the operational state. In connection with this, the connection sleeve 17, which can detect the slack or bending of the cable 18, is mounted on the cable frame mechanism 82 of the negative cable robot 81, or as a part of the cable frame mechanism 82 (can be regarded as being indirectly mounted to the support body 1). The cable 18 has certain dead weight, and the survey robot 200 only can load limited cable 18 weight, and when the working face is far away, the cable 18 dead weight can be shared better by the negative cable robot 81, and the whole survey range is improved, and of course, the number of the negative cable robots 81 can be set according to the needs. In this embodiment, the survey robot 200 and the negative cable robot 81 may employ four-rotor vector drive or two-rotor vector drive, respectively.

The full vector survey cluster system 8 (also simply referred to as the cluster system) further includes a payoff mechanism 84, one end of the cable 18 is connected to the survey robot 200, the other end is connected to the payoff mechanism 84, and the negative cable robot 81 is serially connected between the survey robot 200 and the payoff mechanism 84 in sequence via the cable 18. The paying-off mechanism 84 may automatically pay-off and take-up the cable 18, and the paying-off mechanism 84 itself may employ the prior art to automatically pay-off and take-up the cable 18.

The invention also provides a queue adjusting method based on the robot cluster system, wherein the robot cluster system comprises a plurality of robots operating on a working surface and cables, and all the robots are powered and communicated through the cables and are sequentially connected with the cables according to the extending direction of the cables; each robot is fixedly provided with a connecting sleeve, a cable penetrates into the connecting sleeve from the outside of the robot and then is connected with a corresponding circuit component of the robot, one side of the cable penetrated into the connecting sleeve from the outside is an inlet side, and the inner wall of the connecting sleeve is provided with a pressure sensor arranged on the inlet side.

The queue adjusting method can be implemented in various scenes to realize cooperative work. In the scenes such as corridor, space hole, underground karst cave, etc., the robot also can be provided with the searchlight, coordinates the space position and the orientation of each robot through the server, and directional light filling to the robot that is working to guarantee the collection of the relevant information data of working face.

In one embodiment, a part of the robots are negative cable robots and are provided with cable frame mechanisms, the cable frame mechanisms are used for carrying out winding or unwinding on cables, and the adjusting method comprises the steps that each negative cable robot collects signals from a pressure sensor, and the cable frame mechanisms and/or the rotor wing assemblies are correspondingly adjusted according to the signals of the sensors. The rotor assemblies, cable rack mechanisms, connection sleeves, and pressure sensors are provided in a manner and number as described herein with respect to the cable rack mechanisms. For example, when the cables of two adjacent robots become straight, relaxed or bent, the pressure sensor can provide a detection signal to properly adjust the travel speed or orientation of the robots.

In one embodiment, the adjustment method includes each robot collecting a signal from the pressure sensor and adjusting its own movement speed accordingly based on the sensor signal. Further, in the extending direction of the wire, the other robot at the current robot entrance side is an adjacent robot, and when adjusting the moving speed of the other robot comprises: when the signal of the pressure sensor is larger than a first set value, the moving speed of the adjacent robot is reduced; and when the signal of the pressure sensor is smaller than the second set value, the moving speed of the adjacent robot is increased.

It will be appreciated that the pressure sensor is able to detect the bending direction of the cable as mentioned in the embodiments herein. When the plurality of pressure sensors are circumferentially distributed on the cable, the bending direction of the cable can be sensed, and when the detection signal is larger than a third set value, the cable is considered to be too bent in a certain direction and is unnecessarily pulled, at the moment, the relative moving speed of the two robots can be reduced or the directions of the two robots can be adjusted, so that the whole running state of the queue is balanced, and the pulling of the cables to each other is reduced.

The inner wall of the connecting sleeve can be provided with a Hall sensor at the inlet side, so that the winding and unwinding speed of the cable frame mechanism can be accurately controlled, and the moving speed of the robot is matched with the winding and unwinding speed of the cable frame mechanism.

For the types of robots that make up a full vector survey cluster system, the present invention provides a vector-driven survey robot 200 comprising: a support 1 having opposite top and bottom sides 100, 101; a vector rotor system comprising at least two sets of rotor assemblies 2, each rotor assembly 2 being mounted to the support body 1 and providing vector power to the support body 1;

a travelling wheel 3 arranged at the bottom side 101 of the support body 1 and used for being matched with the working surface in a travelling way; and the information acquisition equipment 4 is arranged on the support body 1 and is used for acquiring information data related to the working surface.

Aiming at the field operation places such as culverts, reservoir dams and the like, particularly the situations related to facade operation and possibly having larger building defects on working surfaces, the stability of the space gestures in the process of continuous voyage and information collection of the traditional unmanned aerial vehicle cannot meet the requirements, although some prior art discloses the technology of combining a flying mechanism with a travelling mechanism, the power of the flying mechanism moving along the working surfaces mainly comes from the travelling mechanism, the device is complex, the flexibility of the travelling mechanism is limited, the power of the surveying robot 200 moving along the working surfaces comes from a vector rotor system, the control mode and the hardware requirements of the travelling mechanism are simplified, and the situation can be realized by the gesture of the rotor assembly 2 and the mutual cooperation among a plurality of sets in terms of providing vector power per se, and the conventional technology can also be applied to control.

The survey robot 200 of the present invention may be used in combination with a plurality of robots to form a robot train or cluster, and perform cooperative work on a work surface extending over several kilometers, and at least one or even all of the robots in the cluster are provided with information acquisition devices 4, which may be referred to as the survey robot 200, and some of the robots may not be provided with information acquisition devices 4, and may be used only for follow-up assistance or the like, and may be collectively referred to herein as a robot. In order to protect important building settings, active electromagnetic protection or electromagnetic interference of large equipment may exist, so that a traditional wireless-based robot receives larger interference in the signal transmission process and is not suitable for the robot.

Preferably, the survey robot 200 of the present invention is powered and communicates in a wired manner. The wired energy supply not only reduces the load of the robot with a power supply, but also can continue the journey for a long time, and during communication, the signal quality and the speed can be ensured no matter the control instruction or the information data are returned, and particularly, the robot is free from environmental influence in complex environments with high magnetic fields, no signals, high crosswind levels and the like.

The information data related to the working surface in the invention can comprise two-dimensional images of the working surface, three-dimensional topographic data, information of internal construction, site climate, illumination conditions and the like, and the information acquisition mode adopts corresponding equipment in the prior art, of course, the specific carrying mode and structure of the information acquisition equipment 4, and an improved mode is provided in the following embodiments.

In the invention, the surveying robot 200 and a remote server can form a surveying system, the data processing of storing a large amount of data and comparing the consumed calculation force can be completed by the server, and the server sends corresponding instructions to the robot, and in some scenes, a field handheld terminal can be configured to be connected with the robot and send the instructions in real time. In the present invention, the top side 100 and the bottom side 101 of the support body 1 are the relative concepts, for example, when the robot walks along the working surface, the side facing the working surface is the bottom side 101, and the other side is the top side 100.

Referring to fig. 6 to 9, the support body 1 has a frame structure having a flat configuration as a whole, and a top side 100 and a bottom side 101 are provided on both sides in the thickness direction. The frame structure has a large number of hollowed-out areas, so that the frame structure can be better adapted to the application scene of the invention, the weight of the frame structure is reduced as much as possible on the premise of ensuring the structural strength, and the wind resistance and the anti-overturning performance of the frame structure can be improved by adopting a flat configuration.

The frame structure comprises a top frame 11 and a bottom frame 12 which are overlapped at intervals and are sheet-shaped, and a plurality of reinforcing pieces fixed between the top frame 11 and the bottom frame 12, wherein the top frame 11 and the bottom frame 12 are matched with each other in shape and comprise a plurality of annular parts 14 and a plurality of wheel seats 15, each set of rotor wing assemblies 2 is positioned in the corresponding annular part 14, the wheel seats 15 are arranged in a protruding mode relative to the adjacent annular parts 14, and the plurality of travelling wheels 3 are respectively arranged on the corresponding wheel seats 15. In view of the problem of simplifying the overall structure, the top frame 11 and the bottom frame 12 are respectively of an integral structure, the reinforcing members are a plurality of upright posts 13 arranged at intervals, and the annular portions 14 are directly connected or connected by a reinforcing bar 16 in the form of a bar.

The frame structure of the invention is made of carbon fiber, has lighter weight and relatively higher strength, and makes the surveying robot 200 more flexible in operation. In the present embodiment, the distance between the top frame 11 and the bottom frame 12 is 2 to 6cm, and the single thickness of the top frame 11 and the bottom frame 12 is 2 to 5mm.

In order to fit the wired mode, one side of the support body 1 is provided with a connecting sleeve 17, and a cable 18 is connected with corresponding circuit components in the surveying robot 200 after penetrating the connecting sleeve 17 from outside. The cable 18 and the connecting sleeve 17 are relatively fixed, and conventional tightening, clamping or bonding means can be adopted.

Preferably, in the connection sleeve 17, a side through which the cable 18 is externally penetrated is an inlet side 171, and the inner wall of the connection sleeve 17 is provided with a pressure sensor disposed at the inlet side 171 to detect a force between the cable 18 and the inner wall of the connection sleeve 17. The force may indicate the relative slack, taut state of the cable 18, or the turning orientation of the cable 18 at the location of the connection sleeve 17, which may be used to assist in controlling the robot.

In order to identify the bending direction of the cable 18 with respect to the connection sleeve 17, the inlet side 171 of the connection sleeve 17 includes a plurality (e.g., 4 to 8) of mounting lugs 172 arranged at uniform intervals in the circumferential direction, and each pressure sensor is fixed to the inner side of each mounting lug 172. The relative values of the various pressure sensors can thus identify whether the cable 18 is slack or not and the direction of bending. For example, when the cable 18 tends to be straightened, the robot travel speed is appropriately adjusted to avoid additional pulling force on the cable 18.

Regarding the number of rotor assemblies 2 that can be configured accordingly in terms of their power and the loading of the survey robot 200, four sets are preferred in view of the rationality of the overall layout and the handling, and correspondingly, the frame structure has four annular portions 14 distributed at the four corners of a rectangular area (the area surrounded by the four annular portions 14, the stiffener 16 comprising: edge bars 161 annularly arranged around the rectangular area; an inner lever 162 connects the two annular portions 14 on the same side of the rectangular area to each other. The four wheel seats 15 are protruded out of four corners of the rectangular area and are connected with the annular part 14 at the position.

As a preferred simplification and also in terms of the total part of the equipment to be carried, two sets of rotor assemblies 2 can also be used. The annular parts 14 are two and mutually adjacent in a 8 shape, the rotor wing assembly 2 is correspondingly provided with two sets, the wheel seats 15 are four, and the two sets are arranged on opposite sides of the corresponding annular parts 14 in pairs. Specifically, the central line of the two annular portions 14 is a reference line, and each annular portion 14 is connected with two wheel seats 15 and located at two sides of the reference line. In particular for the negative cable condition, the cable 18 extends substantially in the reference line direction, which arrangement enables the survey robot 200 to be stressed more evenly and run more smoothly.

Referring to fig. 10-11, a vector rotor system is used to provide the power for walking, flying, obstacle surmounting, etc. movements of survey robot 200. For ease of understanding, the first and second axes involved in rotor assembly 2 of the following embodiments are specifically the L1 and L2 directions. The rotor assembly 2 includes: a first roll-over stand 21 rotatably mounted to the annular portion 14 about a first axis; a first steering engine 22 acting between the annular portion 14 and the first roll-over stand 21; a second roll-over stand 23 rotatably mounted to the first roll-over stand 21 about a second axis, the second axis and the first axis being perpendicular to each other; a second steering engine 24 acting between the second roll-over stand 23 and the first roll-over stand 21; a main motor 25 mounted to the second roll-over stand 23; and a blade 26 mounted on an output shaft of the main motor 25.

The first steering engine 22 and the second steering engine 24 can respectively drive the first roll-over stand 21 and the second roll-over stand 23 to rotate 360 degrees, and in addition, the output shaft of the main motor 25 can be in a fine-tuning type. Therefore, the paddles 26 can rotate in all directions, full vector control conversion of spherical vectors is achieved, and the surveying robot is modulated into various forms suitable for walking, climbing and flying. Furthermore, in alternative control schemes, it is preferable that the power of each rotor of the survey robot be kept constant to simplify mode control and form switching.

In the present embodiment, the main motor 25 is mounted at an intermediate position of the second roll-over stand 23, and the output shaft is substantially perpendicular to the second axis. In order to reduce interference of forces between the rotor assemblies 2 during operation of the rotor system, the first axes of the rotor assemblies 2 are parallel and coplanar with each other. In addition, the first axes of all the rotor wing assemblies 2 are located between the top frame 11 and the bottom frame 12 in the frame structure, so that the robot is stressed more uniformly when the rotor wing assemblies 2 work, and the robot is not easy to turn on one's side.

The first roll-over stand 21 is in a circular shape, two radial ends of the circular shape are respectively arranged on the annular part 14 through first pivot shafts 28, and the first steering engine 22 is arranged on the annular part 14 and is linked with at least one first pivot shaft 28; the second roll-over stand 23 is bar-shaped, two ends of the bar-shaped length direction are respectively arranged on the first roll-over stand 21 through a second pivot 29, and the second steering engine 24 is arranged on the second roll-over stand 23 and is linked with at least one second pivot 29.

The first pivot shafts 28 of all rotor assemblies 2 and the first steering gear 22 are mounted to the top frame 11 in the frame structure, or to the bottom frame 12 in the frame structure. The first roll-over stand 21 of all rotor assemblies 2 is in a coplanar condition, the second axes of all rotor assemblies 2 being parallel and coplanar with each other.

The survey robot 200 is internally provided with a sensing device (such as a gyroscope, a distance sensor, etc.) for sensing the current gesture and the relative position, and when encountering an obstacle surface (such as a right angle surface, an inverse inclined surface, etc.) with an obvious angle with the working surface, the sensing device can identify according to the collected real-time information or historical data, and performs real-time feedback when performing full-vector control of the rotor wing. When the obstacle surmounting, the first steering engine 22 and the second steering engine 24 start to work, and the rotating angle of the vector rotor system is changed, so that the front end of the surveying robot 200 is lifted up to directly climb up the obstacle surface. When encountering an obstacle incapable of climbing, the device can fly over the obstacle by switching to the flight mode, and then switch to the climbing mode after flying over the obstacle.

When the control method provided herein is implemented by the robot provided by the invention, the survey robot has a climbing mode and a flight mode. Under the climbing mode, the walking wheel is matched with the working face in a walking way under the action of the vector rotor system, and when the working face is inclined, the downward pressure of the walking wheel and the working face is provided through the vector rotor system. In the flight mode, the road wheels are far away from the working surface. If the working tasks are performed based on the robot cluster system (comprising at least one negative cable robot in addition to the survey robot), the negative cable robot follows correspondingly during the working process of the survey robot.

In this embodiment, there are two methods for switching the flight mode, one is manual operation, and the other is automatic operation of the system, when switching to the flight mode, the system automatically adjusts the first steering engine 22 and the second steering engine 24, adjusts the blade 26 to an angle convenient for flight, and the survey robot 200 can fly smoothly over the obstacle, and after flying over the obstacle, switches to the climbing mode. The surveying robot 200 of the present embodiment can automatically adjust the angle of the blade 26 according to the angle of the position, so that the surveying robot can smoothly and freely move in the current environment.

Referring to fig. 12 to 18, the information collecting apparatus 4 is mounted on the support body 1, and is configured to collect information data related to a working surface, where the information collecting apparatus 4 includes at least one of an image collecting component 41, a laser mapping component 42, and an ultrasonic detecting component 43:

wherein the image acquisition assembly 41 comprises: the camera 411 is arranged on the support body 1 and positioned between two adjacent rotor wing assemblies 2, and is used for shooting and collecting images; a light supplement lamp 414 for projecting light to the working surface; the mounting rack is connected with the support body 1 and is used for mounting the camera 411 and the light supplementing lamp 414;

the mounting frame comprises a plurality of spokes 416, one end of each spoke 416 is converged at the central position, and the other end of each spoke extends outwards and also bends downwards until being fixed with the support body 1; a ring 415 below the central position and connecting all spokes 416; the camera 411 is mounted at the middle position of the mounting frame, and the light compensating lamps 414 are mounted on the annular member 415 and are arranged at the projection position of the camera 411 at intervals. The support body is also provided with an illumination lamp 417 for providing illumination in the forward direction.

The cameras 411 can adopt one or more cameras, the resolution of a single camera 411 is 2000 ten thousand pixels or more, the shooting area is 0.12-0.24m2, the minimum resolution is 0.01mm, the seam measurement precision is 0.01mm, the minimum exposure time is 10ms, the highest 2m/s motion image acquisition is supported, and a plurality of cameras 411 can be combined.

In the present embodiment, the camera 411 includes a first camera 412 disposed higher than the center position and a second camera 413 disposed lower than the center position, wherein the first camera 412 is used to photograph an external entire working surface (in the present embodiment, the first camera 412 is specifically a binocular camera, and a distance sensor for measuring an obstacle distance, a movement distance, and auxiliary system positioning is disposed at the position), and the second camera 413 is used to photograph a real-time working surface of the survey robot 200.

The binocular camera is mounted to the mounting frame through the rotary holder, and can rotate to a proper shooting angle according to needs. Of course, in order to avoid the problem of image noise caused by insufficient illumination, the bottom surface of the ring member 415 is provided with a light supplementing lamp 414 which is annularly arranged to provide illumination to the second camera 413, the light supplementing lamp 414 is specifically a fluorescent lamp, and in order to further enhance the shooting effect, the plurality of spokes 416 are enclosed to form a hemispherical space, the second camera 413 is located at the top of the sphere, the fluorescent lamp is located in the hemispherical space, and the hemispherical space is opened towards the working surface. The periphery in sealed hemisphere space of covering shading cloth (for example photographic black cloth) on the mounting bracket can form near confined shooting space in the working face region that second camera 413 shot, cooperates the light filling effect of fluorescent lamp, and its image acquisition effect can promote by a wide margin, ensures the image concatenation in later stage and the characteristic recognition effect of building defect in the image.

Similarly, in order to ensure the illumination intensity of the first camera 412, a light-compensating lamp 414 (e.g., an LED lamp) is also disposed at a projection position of the side surface of the ring member 45 toward the first camera 412.

The laser mapping assembly 42 includes: cradle head 421, which is disposed on support 1 and connected to support 1; the laser scanner 422 is mounted on the pan-tilt 421 and is used for mapping the three-dimensional space. The three-dimensional form data of the periphery of the working surface can be obtained after the information acquired by the laser scanner 422 is processed, the three-dimensional modeling can be performed according to the three-dimensional form data, the image acquired by the image acquisition component 41 after the modeling is subjected to map rendering, and the working surface can be expressed vividly.

The cradle head 421 has a plurality of support arms 423 at the bottom, in this embodiment, the number of support arms 423 is 4, and the support arms 423 are generally X-shaped, so that the bottom end of each support arm 423 is connected to the bottom frame 12 of the support body 1 through a shock absorbing member 424 (e.g. a shock absorbing pad) for making the mapping of the laser scanner 422 smoother. Specifically, the bottom end of the supporting arm 423 is provided with a screw hole, and when the support arm 423 is installed, a bolt sequentially passes through the screw hole, the damping part 424 and is fixedly connected with the bottom frame 12 of the support body 1.

When the survey robot 200 encounters an obstacle, the vibration absorbing member 424 can greatly relieve the vibration of the support arm 423 to achieve a good vibration absorbing effect, and the vibration absorbing member 424 can also filter the vibration from the rotor. The laser scanner 422 may adopt the prior art, and may follow the rotation of the pan-tilt 421 to a suitable angle for three-dimensional space mapping according to the actual shooting requirement.

For ease of understanding, the first position of the following embodiment is X1, and the second position is X2. The ultrasonic detection assembly 43 can be used for measuring the depth of a crack on a working surface, and regarding the installation position of the ultrasonic detection assembly 43, the ultrasonic detection assembly 43 can be directly installed on the supporting body 1, and of course, the ultrasonic detection assembly 43 can also be arranged on other components, namely integrated with other components, and indirectly installed on the supporting body 1.

An ultrasonic detection assembly 43 comprising: the ultrasonic probes 431 are arranged in pairs, and the distance between the ultrasonic probes and the pairs is adjustable; the moving mechanism 432 drives the ultrasonic probes 431 between the same pair to move relatively; a medium output head 433 for supplying a working medium to the ultrasonic probe 431. The ultrasonic detection assembly 43 can automatically smear the working medium, and compared with the traditional manual smearing mode, the ultrasonic detection assembly can smear and survey at any time according to the actual working surface condition, and improves the working efficiency.

One of the ultrasonic probes 431 transmits a detection signal, the other ultrasonic probe 431 receives a return signal, the relative positions of the two ultrasonic probes 431 can be adjusted, detection can be conveniently carried out at different relative positions, more accurate data can be obtained, and according to different connection modes of the ultrasonic detection assembly 43 and the support body 1, the ultrasonic probe 431 can be matched with the support body 1 in a lifting mode in a preferable mode, so that the distance between the ultrasonic probe 431 and a working surface can be adjusted.

The moving mechanism 432 may be driven in various manners, including a moving motor and a screw-nut pair, where the moving motor drives the ultrasonic probe 431 through the screw-nut pair. For ease of operation, each ultrasonic probe 431 is independently configured with a movement mechanism 432 and a corresponding media output head 433.

The media output head 433 has a first position (X1) adjacent to the ultrasound probe 431 and a second position (X2) remote from the ultrasound probe 431. After the medium output head 433 supplies the working medium to the ultrasonic probe 431, the position of the medium output head 433 can be changed to avoid the ultrasonic probe 431, for example, the medium output head 433 is mounted on the support body 1 through a turnover mechanism 434, the turnover mechanism 434 comprises a turnover motor 4341 and a movable frame 4342, an output shaft of the turnover motor 4341 is linked with the movable frame 4342, and the medium output head 433 is fixed on the movable frame 4342 and is communicated with the supply device 435 through a medium pipeline 436. The turning angle of the turning mechanism 434 is the rotation angle between the first position and the second position, and can be set according to the requirement, in this embodiment, the turning angle is 180 °.

The ultrasonic detection assembly 43 further includes a supply device 435 that supplies the working medium to the medium output head 433, and the supply device 435 outputs the working medium. The medium output head 433 has a disk shape with an output hole 4331 in the middle, which communicates with a medium line 436, and the supply device 435 outputs the working medium to the medium output head 433 through the output hole 4331.

The supply device 435 includes: a charging barrel 4351 for storing working medium, wherein one end of the charging barrel 4351 is closed and provided with a discharging hole 4352, and the discharging hole 4352 is communicated with the medium output head 433 through a medium pipeline 436; a pushing piston 4353 slidably fitted within the barrel 4351; the electric push rod 4354 extends to the other end of the cylinder 4351 and is connected to the pushing piston 4353.

Specifically, the ultrasonic detection assembly 43 utilizes the supply device 435 to push the working medium in the charging barrel 4351 to the medium output head 433 through the electric push rod 4354, and then utilizes the turnover mechanism to turn the medium output head 433 at the second position to the first position to smear the working medium on the ultrasonic probe 431, and then the turnover mechanism works again to turn the medium output head 433 at the first position to the initial position (i.e. the second position), at this time, the ultrasonic probe 431 works formally.

The ultrasonic detection assembly 43 further comprises a micro camera 4343, and the micro camera 4343 is arranged at the middle position of the ultrasonic probe 431 in the same pair, so that a crack can be photographed in a micro manner, and the resolution accuracy of the micro camera 4343 can reach 0.005mm. The ultrasonic probe 431 is internally provided with a spring 4311, and the spring 4311 can buffer and protect when contacting with a working surface and can adapt to the rugged working surface.

Referring to fig. 19 to 20, the travelling wheels 3 are universal wheels to ensure travelling flexibility, and can move along any direction along the working face under the drive of the vector rotor system, no matter how the steering radius is considered, the advantage is more obvious in operation route planning and operation travelling.

According to the distribution of the wheel seats 15, the walking wheels 3 can be provided with 4 sets or more, and in the same set, a single-wheel or double-wheel structure can be adopted and is arranged on the corresponding wheel seat 15 through a damping mechanism 31. The damping mechanism 31 may be a damper in the prior art, or may be a combination of various modes, such as air damping and mechanical springs, so that when the wheel moves on an uneven working surface, the damping mechanism 31 may combine instantaneous multiple bounces into a relatively gentle movement, thereby achieving the damping effect.

Referring to fig. 21 to 30, in order to firmly attach to the working surface and keep the survey robot 200 stationary during operation of other equipment, the survey robot 200 further includes a static suction assembly 5, and the static suction assembly 5 is fixed to the working surface by vacuum suction. When the surveying robot 200 is adsorbed and fixed on the working surface, the obtained data is more accurate, even the rotor wing can be stopped to work for a long time to save energy and filter noise, and under a specific scene, the surveying robot 200 adsorbed and fixed on the working surface can be used as a relatively stable anchor point to rescue or cooperate with other surveying robots 200 around through the cable 18.

The rotor operation will generate acoustic interference, and can not simultaneously detect ultrasonic wave, so when the ultrasonic detection component 43 is needed, the survey robot 200 must be adsorbed on the working surface by using the static adsorption component 5, then the rotor operation is stopped, and finally the ultrasonic detection component 43 begins to operate.

The static adsorption assembly 5 comprises: a cylinder 52 movably mounted on the support body 1; the lifting driving mechanism 53 is installed on the support body 1 and is linked with the cylinder 52 to drive the cylinder 52 to lift relative to the support body 1; a suction cup 54 fixed to the bottom of the cylinder 52; the vacuum pump 55 is connected to the suction cup 54 through a pipe.

In a specific operation, the suction cup 54 is lowered and leaned against the working surface, the vacuum pump 55 pumps out the gas between the suction cup 54 and the working surface until reaching a preset vacuum degree through a pipeline, and the vacuum pump 55 has a function of automatic pressure compensation, and the vacuum degree change is detected by the detection sensor so that the vacuum state can be kept constantly in order to stably adsorb the suction cup 54 on the working surface for a long time. In view of the uniformity of the overall load of the survey robot 200 and the smooth switching of the robot state after desorption, each rotor assembly 2 is disposed entirely on the outer periphery of the static suction assembly 5.

The two sets of cylinders 52 are arranged side by side, and the two sets of cylinders 52 can synchronously lift under the action of the lifting driving mechanism 53, so that the lifting stability and the necessary structural strength are maintained. The vacuum pump 55 is located between the tops of the two cylinders 52, and in order to protect dust and the like, an outer sleeve 51 can be covered on the periphery of the top of each cylinder 52, and a first shell 56 is arranged on the top of the outer sleeve 51 and the periphery of the vacuum pump 55, and the first shell 56 can protect the components inside and can realize the noise reduction effect.

When the rotor assembly 2 is four sets, the second housing 58 is disposed below the first housing 56, the lifting driving mechanism 53 is located in the second housing 58 and between the two cylinders 52, the cylinders 52 extend downward to form the second housing 58, and the second housing 58 is connected to the support body 1 through a plurality of bridge arms 581. Specifically, the number of bridge arms 581 is four, one end of which is connected to the second housing 58, and the other end of which is connected to the annular portion 14 in the corresponding direction by radiating outward. The second casing 58 is substantially equal in height to the support body 1 or slightly higher than the support body 1, the elevation driving mechanism 53 and the control main board 57 of the survey robot 200 are provided in the second casing 58, and the vacuum pump 55 is fixed to the top surface of the second casing 58.

When rotor assembly 2 is two sets, lift drive mechanism 53 is located between top frame 11 and bottom frame 12 and between two barrels 52, barrels 52 extending downwardly from bottom frame 12. In the present embodiment, the control main board 57 of the survey robot 200 is located between the top frame 11 and the bottom frame 12, and the vacuum pump 55 is directly fixed on the top surface of the top frame 11 for the convenience of fixing. Gyroscopes, distance sensors, etc. carried by the survey robot 200 itself may be integrally mounted to the control motherboard 57.

The lift driving mechanism 53 includes: a motor 531; a transfer mechanism 532, which is linked with the motor 531 and has two output shafts 5325, each of which is fixed with a driving gear 533;

the two gear rings 534 are respectively rotatably sleeved on the outer periphery of the cylinder 52 and respectively meshed with the corresponding driving gears 533, and the inner periphery of each gear ring 534 is respectively in threaded fit with the corresponding cylinder 52.

The gear ring 534 has gear teeth 535 on its axial end face, and meshes with the corresponding drive gear 533 via the gear teeth 535. Transfer case 532 may achieve synchronous motion of two sets of cylinders 52 driven by the same motor 531, transfer case 532 comprising: a main bevel gear 5321 fixed to an output shaft 5311 of the motor 531; two auxiliary bevel gears 5322 are respectively meshed with the main bevel gear 5321 and are positioned on two sides of the main bevel gear 5321, an intermediate shaft 5323 is fixed on each auxiliary bevel gear 5322, and two output shafts 5325 are respectively connected with the corresponding intermediate shafts 5323 through universal joints 5324.

In particular operation, the motor 531 drives the main bevel gear 5321 to rotate, and correspondingly, the two auxiliary bevel gears 5322 meshed with the main bevel gear 5321 also start to rotate, so as to drive the driving gear 533 to rotate, and the driving gear 533 drives the gear ring 534 located at the periphery of the cylinder 52.

The cylinder 52 is provided with external threads 521, the gear ring 534 is provided with internal threads and is matched with the external threads 521, so that the cylinder 52 is driven to ascend or descend relative to the support body 1, and the lifting of the sucker 54 is realized. The sucker 54 comprises a base plate 545 fixedly arranged at the bottom end of the cylinder 52, a vacuum port 541 and a pressure relief port 542 are arranged on the bottom surface of the base plate 545, the vacuum pump 55 is communicated to the vacuum port 541 through a vacuum pipeline 551, and a pressure relief valve 543 is arranged at the pressure relief port 542; vacuum line 551 extends through one of the barrels to vacuum port 541, with relief valve 543 at the other barrel.

The vacuum line 551 includes an inner line 552 and an outer line 553, wherein the inner line 552 includes two rigid tubes that are movably inserted and sealingly engaged, one of the rigid tubes 5521a is abutted to the vacuum port 541, and the other rigid tube 5521b extends in the cylinder 52 and communicates with the outer line 553 through the opening of the corresponding portion of the outer jacket 51 until it communicates with the vacuum pump 55.

The internal pipe 552 is adapted mainly to the lifting of the cylinder 52 (i.e., the base plate 545) relative to the support body 1, and the rigid pipe 5521a abutting the vacuum port 541 moves downward relative to the other rigid pipe 5521b by the lifting drive mechanism 53 and is kept sealed from each other. Although flexible tubing may be used to accommodate this relative movement, the movable insertion of the two rigid tubes of this embodiment avoids line coiling interference and provides additional stabilizing guidance.

After the completion of the operation, when the vacuum is released, the relief valve 543 may be opened, and the relief valve 543 includes: a sealing sleeve 5431 secured to an edge of the pressure relief vent 542; a valve core 5432 matched with the sealing sleeve 5431; the valve rod 5433 penetrates through the sealing sleeve 5431 and is connected with the valve core 5432, and a radial gap between the valve rod 5433 and the sealing sleeve 5431 is a pressure relief gap;

an elastic member 5434 acting on the valve rod 5433 to drive the valve core 5432 to be in sealing fit with the sealing sleeve 5431; the electromagnetic driving component acts on the valve rod 5433 to drive the valve core 5432 and the sealing sleeve 5431 to separate and release pressure. The end face of the sealing sleeve 5431 is provided with an annular flange 5435, under the sealing state, the valve core 5432 is matched with the end face of the sealing sleeve 5431 and is tightly adhered to the flange 5435, when pressure relief is needed, the electromagnetic driving assembly drives the valve rod 5433 to move downwards, at the moment, the valve core 5432 is separated from the end face of the sealing sleeve 5431, gas enters from a pressure relief gap, normal pressure is restored between the sucker 54 and a working surface, and then the sucker 54 can be lifted, so that interference between the sucker 54 and the working surface during operation of other equipment is avoided.

The bottom surface of the sucker 54 is also provided with a limit pad 544, and the position of the limit pad 544 is lower than the vacuum port 541 and the pressure relief port 542, i.e. the limit pad 544 is the limit position where the working surface and the sucker 54 are attached, so that the vacuum port 541 and the pressure relief port 542 can be prevented from contacting the working surface and generating unnecessary interference and friction.

The suction cup 54 includes: a base plate 545 which is installed on the support body 1 in a liftable manner, wherein the vacuum port 541 and the pressure relief port 542 are both arranged on the bottom surface of the base plate 545; when the limit pad 544 is configured, the limit pad 544 is also disposed on the bottom surface of the substrate 545; the sealing assembly comprises a plurality of sealing rings which are arranged inside and outside and are used for being attached and sealed with the working surface, and the plurality of sealing rings are positioned at the peripheries of the vacuum port 541 and the pressure relief port 542 (when the limiting pad 544 is arranged). The plurality of sealing rings are enclosed with the base plate 545 to form a cover structure, and when the plurality of sealing rings are matched with the working surface, a vacuum cavity is formed in the cover structure.

In order to ensure the sealing effect, especially to adapt to the working surface with building defects (the surface is provided with convex-concave structures or cracks, i.e. is not smooth and flat), the sealing assembly comprises three sealing rings which are sequentially arranged from inside to outside, namely a sealing ring 546a, a sealing ring 546b and a sealing ring 546c, and the heights of the bottom surfaces of the sealing rings from the working surface are sequentially reduced. The outermost one first contacts the working surface and the other two are the same.

The height of the outermost seal ring 546c is 2.5 to 3cm, the height of the intermediate seal ring 546b is 1.3 to 1.7cm, and the height of the inner seal ring 546a is 0.75 to 1.25cm. Preferably, the three seal rings are widened from inside to outside, wherein the seal ring 546c and the seal ring 546b can be made of foaming materials.

To facilitate integration of other components, providing hardware utilization, the bottom surface of the substrate 545 has an expansion region 5452 extending outside of the sealing assembly, and other components such as the ultrasonic probe 431 may be mounted to the corresponding expansion region 5452. The base plate 545 has a length direction along which the two cylinders 52 are sequentially arranged; the expansion region 5452 includes at least a first expansion region 5453 and a second expansion region 5454, with both expansion regions 5452 being located on either side of the seal assembly along the length.

The ultrasonic probe 431 of the present invention may be mounted on the static adsorption assembly 5, specifically, the ultrasonic detection assembly 43 is mounted on the expansion area 5452 (the first expansion area 5453), where the ultrasonic probes 431 of the same pair are slidably mounted relative to the substrate 545, the expansion area 5452 is provided with a first avoiding opening 5455, and the position of the ultrasonic probe 431 corresponds to the first avoiding opening 5455 and extends downward to form the first avoiding opening 5455.

The top cover of the base plate 545 is provided with a third shell 5451, the moving mechanism 432 is positioned in the third shell 5451 and drives the ultrasonic probes 431 to slide, the distance adjusting direction of the two ultrasonic probes 431 is the width direction of the base plate 545, and the supply device 435 is arranged in the first shell 56 and is erected on the top surfaces of the two jackets 51.

Referring to fig. 31 to 35, the ultrasonic probe assembly 43 is operated such that calcium precipitation, stains, etc. adhering to the surface of the crack affect the final probe result, and thus, in consideration of minimizing measurement errors, the survey robot 200 further includes a cleaner 7 for cleaning the calcium precipitation and stains on the working surface. Preferably, the support 1 is installed to be lifted and lowered.

In this embodiment, the cleaner 7 is mounted on a component that can be lifted and lowered relative to the support body 1, and the component can be independently matched, and can also be integrated with the substrate 545 in the static adsorption assembly 5, that is, mounted on the expansion area 5452 (specifically, the second expansion area 5454) of the substrate 545, and the cleaner 7 includes: a cleaning motor 71 in the third housing 5451 slidably installed with respect to the base plate 545;

the brush head 712 is connected with the output shaft of the cleaning motor 71, the expansion area 5452 is provided with a second avoiding opening 5456, and the brush head extends downwards to form the second avoiding opening 5456; a sliding mechanism 72, which is disposed in the third housing 5451 and drives the cleaning motor 71 to slide. The cleaner 7 is provided in the third housing 5451 to make the structure of the survey robot 200 more compact.

The slide mechanism 72 includes a slide motor 721 and a screw nut pair, and the slide motor 721 drives the cleaning motor 71 through the screw nut pair. In order to move the cleaner 7 within a certain range, a guide member 73 is further provided in the third housing 5451, and the cleaning motor 71 slides in cooperation with the guide member 73.

The guide member 73 is a cover structure, two opposite side walls of the cover structure are provided with sliding grooves 731, and a guide member 711 matched with the sliding grooves 731 is arranged on the shell of the cleaning motor 71. The sliding mechanism 72 drives the cleaning motor 71 to slide back and forth along the chute 731, so that the problem that the brush head 712 shakes in other directions during operation is avoided. In the present embodiment, the sliding direction of the cleaning motor 71 is the width direction of the base plate 545.

In operation, in order to clean the surface of the crack more stably, the surveying robot 200 aligns the cleaner 7 to the part to be cleaned, then the suction cup 54 is vacuum bonded and anchored to the working surface through the lifting driving mechanism 53, and then the sliding mechanism 72 drives the cleaning motor 71 to slide along the width direction of the substrate 545, and at this time, the brush head 712 is driven by the cleaning motor 71 to rotate and synchronously follow the cleaning motor 71 to reciprocate, for example, a left-right movement algorithm is adopted. The cleaned parts achieve better cleaning effect under repeated brushing of the brush head 712. The cleaner 7 is provided with a spring 713 inside, and the brush head 712 connected to the cleaning motor 71 can be damped.

When the robot provided by the invention is used for implementing the control method provided by the invention, if the building crack is identified, cleaning and measuring can be further implemented on the building crack. Before cleaning, the vacuum adsorption assembly is anchored on the working surface, the vacuum adsorption assembly is released from the working surface after cleaning, the position of the robot is adjusted, and then the vacuum adsorption assembly is anchored again and measured.

Cleaning building cracks includes: the brush head of the cleaner is pressed close to the working surface; driving the cleaner to reciprocate; the brush head of the cleaner is far away from the working surface.

Wherein measuring the architectural crack comprises: the vector rotor system is controlled to stop running, and interference of the vector rotor system on the operation of the ultrasonic detection assembly can be prevented. When the ultrasonic detection assembly is used for measuring the building crack at least twice and the crack is surveyed for different times, the distance between the ultrasonic detection assembly and the ultrasonic probe is different, wherein the ultrasonic detection assembly specifically comprises: providing a working medium to an ultrasonic probe; the ultrasonic probe is controlled to conduct crack investigation.

Since the survey robot 200 is powered and communicates by a wired system, the cable robot 81 can be configured to cooperate with the remote operation, so that the cable 18 can be carried on the back and shared by the remote operation, and the information acquisition device 4 can be mounted on the cable robot 81.

Referring to fig. 39-40, in one embodiment of the present invention, there is also provided a control method implemented in a process based on operation of a full vector survey cluster system, comprising: constructing a working surface map; the robots travel in a queue mode, collect image information of a current working position and perform surface feature recognition when reaching a preset working position in a working surface map, and keep the current working position in a climbing mode in the process of collecting information data; and carrying out corresponding processing according to the identification result.

The control method mainly comprises the steps of building a working face map and inspecting the working face. The building of the working face map comprises the following steps: establishing a coordinate system and dividing subareas; obtaining a two-dimensional working surface map; a three-dimensional form of the work surface map is obtained. Inspection of a work surface, comprising: confirming the current position of the robot; and identifying and marking the building defects on the working surface map.

In one embodiment, for a larger area of the work surface, the control method further comprises:

establishing a coordinate system, which specifically comprises the following steps: the surveying robot reaches an origin position P, moves to a reference point along a preset coordinate axis in a pointing mode, obtains a connecting line between the origin and the reference point, corresponds the connecting line to a working face map, and calculates to obtain the pointing direction of the other coordinate axis and a coordinate system formed by the two coordinate axes;

dividing the subareas specifically comprises: the working surface is divided into a plurality of rectangular subareas in a coordinate system according to a preset side length.

It will be appreciated that the position feedback of the survey robot and the server is done through the coordinate system during the operation of the survey robot. As shown in the figure, the X, Y coordinate system in the work surface 210 is a real physical coordinate system, the coordinate systems in the work surface map 211 are X 'and Y' are coordinate systems mapped based on the work surface 210. The same origin position P is mapped as P' in the work surface map. The divided sub-areas may be, for example, A1, A2, A3 sub-areas.

The establishment of the coordinate system is thus necessary at the beginning of the survey robot operation. The coordinate system is established by means of the collected and spliced image information. The origin point is the position of the surveying robot at the beginning of work, and the reference point and the origin point are both positioned on the spliced image, so that the establishment of a coordinate system can be realized, and the instruction interaction of the surveying robot and the server is facilitated.

The division of the working subareas may be, for example, according to the maximum length of the adjacent robot cables or according to the working limit path of the robot. When a plurality of robots are adopted, each robot walks synchronously while keeping the relative distance constant, and the working efficiency is improved. The sub-areas may be square, for example, and the side length may be ten meters to two hundred meters, for example, fifty meters.

When the current position is confirmed, the surface features are matched, and the user views the working surface map, the working efficiency can be improved by calling the data units of the subareas one by one. The survey robot performs path planning prior to operation, the path planning being performed for each sub-area. By dividing the individual sub-areas, the process of path planning is optimized. The division of the subareas can be based on physical identification, and the working face which has obtained the coordinate system can be divided through a server.

When constructing, modifying data storage of the working surface map and using the working surface map to make data call, three definition levels can be involved, and the definition (or according to the size of the data volume) can be respectively used for displaying:

the whole working surface map with the lowest definition can be obtained by photographing a robot in a flight mode; a working face map of a sub-area; after specific coordinates are designated, a working surface map in the vicinity of the coordinate position is displayed.

The working face map is obtained by splicing image information acquired from a plurality of working positions in the historical working process, and specifically comprises the following steps: traversing all areas of the working surface, and splicing the obtained image information to obtain a two-dimensional working surface map. Traversing all regions of the working surface, including traversing one or all of the partitioned sub-regions. The image information is for example the picture 212 shown in fig. 40c, where the dashed line indicates the robot travel path.

In this embodiment, the image information is acquired by an image acquisition component. The surveying robot is transferred between a plurality of working positions during working, and when reaching a preset working position, information data of a working surface are acquired by using an information acquisition device.

Splicing the obtained image information to obtain a two-dimensional working surface map, which specifically comprises the following steps: positioning surface features in the image information by using an image texture algorithm; and when the local areas of the pictures to be spliced have the same surface characteristics, registering and splicing the pictures to be spliced according to the same surface characteristics.

The texture of building defects is characteristic and significant, as is the fingerprint of a person, and the texture of no two building defects is exactly the same. The server can identify and mark the building defects (cracks, pits, roughness, bulges and the like) through image information by collecting, warehousing, comparing and splicing textures of the building defects, so as to instruct the robot to measure and feed back the marks. The high-precision image stitching can be performed through the same texture of the coincident images, and the coincidence degree of the image information of adjacent positions can be correspondingly set according to the step length of the information acquisition equipment and the surveying robot, for example, the coincidence degree for performing the image stitching can be more than 20%.

In the detection process, the method further comprises the steps of utilizing an autonomous judging algorithm in the server to identify the defects of the surface of the working face, using the light supplementing lamp to reduce image noise, and combining the position of the light supplementing lamp to conduct surface feature analysis, so that the detection accuracy is improved.

It will be appreciated that in contrast to the surface features, different architectural defects may be classified or categorized, for example cracks may belong to distinct architectural defects, and location registration may be performed. According to the embodiment, the working face is detected through data splicing instead of manual and conventional unmanned aerial vehicles, the efficiency of robot detection is higher, the safety is higher, the data is more accurate, and the cost is lower.

In one embodiment, the control method further comprises obtaining a three-dimensional form of the work surface map:

when traversing all areas of the working surface, acquiring three-dimensional form data through a laser scanner included in the information acquisition equipment, and performing three-dimensional modeling to obtain a three-dimensional model;

fitting the two-dimensional form of the working surface map to the three-dimensional model to obtain the three-dimensional form of the working surface map.

The work surface map includes a two-dimensional form or a three-dimensional form of the work surface map, both of which may be used for current location confirmation. The three-dimensional form working surface map is three-dimensional terrain data, the three-dimensional form visual effect is better, the height change can be embodied, the data guarantee is provided for obstacle surmounting of the surveying robot, and the three-dimensional form working surface map has an auxiliary effect on obstacle surmounting and mode adjustment of the flight state.

In the embodiment, the surface characteristics in the image information can be obtained, the detection precision is high, and the operation speed is high; the image stitching can correct and de-distort the deformed image in the modes of correction, uniform brightness and the like; the working surface map in a two-dimensional form is fitted to the three-dimensional model, so that the self-adaptive rendering can be realized. In addition, the server may also generate a data report from the captured surface characteristic information.

In one embodiment, the control method further comprises confirming a current position of the robot:

transferring among a plurality of working positions according to a planned path, comparing the image information acquired from the current working position with a working surface map to obtain a comparison result, and splicing the working surface map based on the image information acquired from the plurality of working positions in the historical working process to obtain the working surface map;

and confirming the current working position according to the comparison result.

Comparing the image information acquired from the current working position with a working surface map, specifically comprising:

extracting features of the image information to obtain surface features;

and performing feature matching on the surface features and the working surface map to obtain position coordinates of the surface features relative to the working surface map, wherein the position coordinates correspond to the current position of the surveying robot.

The working surface map is not limited to a specific plane, but refers to a space map composed of all working positions of the survey robot. In the image information acquisition process, at least partial overlapping exists between the image information of the current working position and the working surface map (including the image information which is already spliced), namely, the image information of the current working position can be positioned relative to the working surface map, so that the data archiving and splicing of the image information acquisition are facilitated. In particular, the surface features of the image information include architectural defects that can be used to perform feature matching.

Further, a physical identifier may be set in advance on the working surface. When the surveying robot reaches the position of the physical mark or detects the building defect, the current position of the robot is confirmed by matching corresponding pre-stored images in the server gallery, and then the self-positioning is finished. The physical identifier may be, for example, a two-dimensional code, and relevant information of the two-dimensional code is correspondingly stored in a server gallery. The physical identifier may be marked in advance according to the working area, and the working area may be divided after the identification. A wireless visual field monitoring station can be erected on the working face to monitor the track and the position of the robot and transmit data to the robot in real time to correct the movement direction.

In one embodiment, the control method further comprises:

carrying out surface feature recognition on the image information acquired from the working surface;

and marking the building crack to a working surface map after the building crack is identified as a result of the identification.

The marking to the working surface map can comprise modes such as coordinate identification, analog display and the like, the identification of the surface features can be performed by utilizing an autonomous learning algorithm, for example, the autonomous learning algorithm can be realized by a neural network model, and the autonomous learning algorithm can be continuously optimized in the subsequent process, so that the identification accuracy is improved. For example, taking the image information with the identified building cracks as a new sample to participate in the updating of the autonomous learning algorithm; and updating the constructed building crack characteristic database.

If the working tasks are executed based on the robot cluster system, the control method further comprises a rescue control method, a building structure crossing method, a queue adjusting method and a well hole detection method.

Referring to fig. 41, in the following two embodiments, two rescue control methods are respectively proposed for a robot-based cluster system. The robots include a survey robot at the far end of the cable and a negative cable robot connected thereto through the cable, and both the survey robot and the negative cable robot can employ the respective robots provided in the above embodiments.

In one embodiment, the invention also provides a rescue control method based on the robot cluster system, wherein the robot cluster system comprises a plurality of robots operating on a working surface and cables, and all the robots are powered and communicated through the cables and are sequentially connected with the cables according to the extending direction of the cables.

According to the extending direction of the cable, one of the two adjacent robots is a passive robot to be rescued, the other robot is an active robot for performing rescue, and the rescue control method comprises the following steps:

step S911, the active robot is anchored on the working surface in a vacuum adsorption mode;

step S912, changing the cable length between the active robot and the passive robot to make the two robots approach each other;

step S913, the active robot is controlled to drag the passive robot.

42-45, in one embodiment, the present invention also provides a rescue control method based on a robot cluster system, implemented with the robot cluster system herein. According to the extending direction of the cable, both sides of the passive robot 203 are provided with active robots, namely a first active robot 201 and a second active robot 202, and the rescue control method comprises the following steps:

Step S921, the first active robot is anchored on the working surface in a vacuum adsorption mode;

step S922, changing the cable length between the second active robot and the passive robot to make the second active robot and the passive robot approach each other;

step S923, the second active robot is anchored on the working surface in a vacuum adsorption mode;

step S924, the first active robot releases the anchoring with the working surface;

step S925, changing the cable length between the first active robot and the passive robot to enable the first active robot and the passive robot to be close to each other, and further enabling the passive robot to be adjacent to the first active robot and the second active robot at the same time;

step S926, the first active robot and the second active robot are controlled to drag the passive robot.

In step S922 and step S925, it is understood that the first active robot and the second active robot move closer to each other toward the passive robot. It can be understood that each robot communicates with the server through the cable under the normal state to realize interactive control. And comprehensively judging the working condition of the robots through the information acquisition equipment of each robot and the transmission of communication signals. And when the judgment result is abnormal, the robot is considered to possibly fail, namely the robot is used as a passive robot to be rescued. For example, the image returned by the information acquisition device is interrupted, the sucker operates to report errors, and the like. The two adjacent robots are adjacent in a cable connection mode, and are not adjacent in a space distance. After the robot fails, software and hardware self-inspection can be carried out on the robot, and the implementation of a rescue control method is canceled if the self-inspection is qualified.

In step S912, step S922, step S925, changing the length of the cables of the passive robot and the robots adjacent thereto may be achieved by a cable rack mechanism, see for a specific implementation related embodiments herein with respect to a cable rack mechanism.

In steps S911 to S913, the passive robot and the active robot are not limited in type as long as the cable connection between the robots can be achieved. In step S921 to step S926, the passive robot is connected to two adjacent robots by a cable, and the passive robot is a back-cable robot, but the types of the first active robot and the second active robot are not limited. In step S913 and step S926, the towing passive robot is moved away from the current site, and reaches a specified area (for example, returns to the origin) where there is no risk of dropping, and it is determined that rescue is achieved.

Referring to fig. 46, in an embodiment of the present invention, there is further provided a building structure crossing method based on a robot cluster system, where the robot cluster system includes at least three robots operating on a working surface and cables, and all the robots are powered and communicated by the cables and are sequentially connected to the cables according to an extending direction of the cables; according to the extending direction of the cables, the three continuous robots are a head end robot, a middle robot and a tail end robot in sequence.

The method for crossing the building structure further comprises the following steps: and splicing the image information acquired from a plurality of working positions in the historical working process to obtain a working surface map and obtain the position coordinates of the building structure relative to the working surface. For details of obtaining a work surface map and location coordinates, see related embodiments herein. The building structure crossing method in the embodiment comprises the following steps:

step S1, a head end robot 204 spans to the opposite side of a building structure;

step S2, the head end robot 204 and the tail end robot 206 are anchored on the working surface in a vacuum adsorption mode respectively, and cables extending between the head end robot 204 and the tail end robot 206 are tightened;

step S3, the cable lengths of the three robots are synchronously changed, so that the middle robot 205 gradually approaches the head end robot and correspondingly gradually moves away from the tail end robot until the three robots move to the opposite side of the building structure in a suspended manner.

After the working face map and the position coordinates of the building cracks relative to the working face are obtained, the head end robot can adopt other modes such as flying, avoiding and walking to firstly span to the opposite side of the building structure. "move in a suspended manner" means to achieve positional adjustment relative to the head end robot and the end robot by means of cable pay-off control, without relying on vector power travel provided by the robot itself.

It has been described herein that in natural environments, wireless robots are not adequate for the work requirements. In the embodiment, the robot cluster system is adopted to share the cable pressure of each other and coordinate with each other, so that the use safety is improved. In this case, the robots located at the head end have relatively little interference caused by the cables when they span to opposite sides of the building structure, i.e., a portion of the weight of the cables is shared, without affecting the flight of the head end robots. If the robot cluster system is adopted to fly simultaneously, the robot cluster system can translate synchronously and fly over the building structure, so that the interference is excessive, the control algorithm is complex, and the damage caused by environmental risks cannot be eliminated. Multiple robots are damaged at the same time, and rescue is difficult. If the middle robot adopts a flying mode crossing structure, simultaneous interference of the front and rear cables can occur, so that flying difficulty is caused. If the intermediate robot avoids the crossing structure, the intermediate robot cannot cross a large (exceeding the cable length) building structure. In summary, the building structure spanning method provided in the embodiment can stably implement the problem of building structure spanning.

Further, the method for building the split structure further comprises the step S4: and (3) circulating the steps S1 to S3 until all robots to be spanned on the building structure in the robot cluster system move to the opposite sides of the building structure, wherein the middle robot of the cycle of the round is used as the head end robot of the cycle of the next round.

In this embodiment, three robots in succession may be selected as desired for the survey robot or the negative cable robot, for example, the middle robot should be selected as the negative cable robot.

In step S3, the cable lengths of the three robots are synchronously changed, specifically including: the winding wheel of the middle robot towards the head end robot is driven, and the cable lengths of the middle robot and the head end robot are shortened; the middle robot is driven to face the winding wheel of the tail end robot, and the cable lengths of the middle robot and the tail end robot are prolonged.

In step S3, when the intermediate robot path is used for building a structure, the method further includes: and controlling the winding motor to stop driving the two winding wheels, controlling the middle robot to stop moving, and acquiring related information data by using the image acquisition assembly and/or the ultrasonic detection assembly. The building structure may, for example, build a trench, or between two building bodies with a span, or a building crack, etc., where the intermediate robot stays in the middle may facilitate the acquisition of scene information. The specific manner in which the spool is positioned, functionally implemented, and driven can be found in relation to the relevant embodiments herein with respect to the cable tray mechanism.

The invention also provides a well hole detection method, wherein the robot cluster system comprises a plurality of robots and cables, wherein the robots are operated on a working surface, all the robots are powered and communicated through the cables and are sequentially connected with the cables according to the extending direction of the cables; according to the extending direction of the cables, the three continuous robots are a head end robot, a middle robot and a tail end robot in sequence. The detection method comprises the following steps:

Step S931, the head end robot and the tail end robot sequentially arrive and are anchored on the well wall in a vacuum adsorption mode;

step S932, the middle robot moves into the well, hangs from the well under the action of the cable, and collects the information data related to the well;

step S933, winding and unwinding cables by using cable rack mechanisms of the head end robot and the tail end robot, and adjusting the depth of the middle robot in the well.

The well bore is used as a signal shielding scene, and the robot must be controlled in a wired mode. The situation in the well is not clear, and a great risk exists for high-value electromechanical articles such as robots. In view of the implementation scenarios of borehole detection and construction crack crossing, the operation of the vector rotor system may be stopped during movement of the intermediate robot. In the embodiment, the middle robot in the robot cluster system is used for detecting the well, and the depth of the middle robot in the well can be prolonged and shortened through the cable. The collection of the information data related to the well hole can be completed through the information collection equipment provided by the related embodiment.

It should be understood that although the steps in the embodiments of the present invention are described in order, the steps are not necessarily performed in the order of description. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps may comprise a plurality of sub-steps or phases, which are not necessarily performed at the same time, but may be performed at different times, nor does the order in which the sub-steps or phases are performed necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a portion of the other steps or phases.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description. When technical features of different embodiments are embodied in the same drawing, the drawing can be regarded as a combination of the embodiments concerned also being disclosed at the same time.

The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention.

Claims

1. The full vector survey cluster system comprises a plurality of robots, and is characterized in that the plurality of robots comprise a survey robot and at least one negative cable robot, and the survey robot and the negative cable robot comprise:

a support body;

2. The full vector survey cluster system of claim 1 wherein the information acquisition device comprises a laser mapping assembly, an image acquisition assembly, an ultrasound detection assembly, or a combination thereof;

the laser mapping assembly includes:

the cradle head is arranged on the support body;

the image acquisition assembly includes:

the ultrasonic detection assembly comprises:

3. The full vector survey cluster system of claim 1 wherein the cable rack mechanism comprises:

4. A full vector survey cluster system according to claim 3, wherein the end of the tubular structure is provided with a connecting sleeve, the connecting sleeve is provided with a pressure sensor, one side of the cable penetrating into the connecting sleeve from the outside is an inlet side, the inner wall of the connecting sleeve is provided with a plurality of mounting lugs at uniform intervals along the circumferential direction at the inlet side, and the pressure sensor is correspondingly fixed on the inner side of the mounting lugs.

5. A full vector survey cluster system according to claim 3 wherein the support is provided with a swing frame and one of the paired wire clamping wheels is a driven wheel and rotatably mounted on the support, and the other is a driving wheel and rotatably mounted on the swing frame;

6. A full vector survey cluster system according to claim 3 wherein the negative cable robot further comprises:

and the two winding motors independently drive a corresponding winding wheel.

7. A control method based on the operation of a full vector survey cluster system, characterized in that the control method employs the full vector survey cluster system of any one of claims 1-6, the control method comprising:

constructing a working surface map;

8. The control method according to claim 7, characterized in that the constructing a work surface map includes:

9. The control method according to claim 7, characterized in that the control method comprises inspection of a work surface, the inspection of the work surface comprising: the robot confirms the current position; the robot identifies and marks the building defects on the working surface map.

10. The control method according to claim 8, wherein when the plurality of robots travel in a queue manner, the negative cable robot collects pressure signals of the cables relative to the cable frame mechanism, and accordingly adjusts and controls the cable frame mechanism to take up and pay off work and/or vector power provided by the rotor assembly according to the pressure signals, so as to adjust the travel speed or direction of the robots.