CN105015640B - A kind of wall surface detection rescue robot and its control method - Google Patents

Abstract

The invention discloses a kind of wall surface detection rescue robot and its control method, overall structure includes robot body, control system, roof safety system.Robot body includes turntable, driving wheel, driving motor, sucker, mechanical arm, camera, spray equipment etc.；Roof safety guard includes follow-up trolley, hoisting mechanism and steel wire rope etc., bears the part dead weight of system, and random device people moves together.The present invention can realize that robot detects the fitting situation of ceramic tile and glass etc. and crack situation on high-rise surface in real time, and it can utilize self-contained spray equipment that will apply paint at loosening automatically when ceramic tile or glass loosen to be marked, maintenance personal is facilitated to replace, in addition, when emergency occurs, window can be broken to get in, expansion rescue.

Description

A wall detection and rescue robot and its control method

technical field

The invention relates to the field of rescue machinery, in particular to a wall detection rescue robot and a control method thereof.

Background technique

With the rapid development of modern society, the number of high-rise and super high-rise buildings above 100 meters is increasing, and most of the high-rise buildings have smooth surfaces and are difficult to climb. While these high-rise buildings allow people to experience technological progress, they also bring about life and property safety problems—prevention of high-rise super-high-rise walls falling off and fire rescue problems during fires, but there is still no very good solution.

The emergence of wall-climbing robots has brought hope for the solution of this problem. At present, a variety of robot types have been developed, including crawler type, foot type, frame type, track type and wheel type. However, the crawler type has a large volume, complex structure and is not easy to turn; the foot type has a complex structure, slow walking speed, and difficult to control; the frame type structure is complex, and the walking speed is also slow; the track type wall needs to be laid with guide rails, and the moving direction is limited. There are three adsorption methods of the robot: vacuum adsorption, magnetic adsorption and thrust adsorption. Among them, magnetic adsorption requires that the wall surface must be made of magnetic materials, and the resistance between the magnet and the wall surface is large when walking; thrust adsorption is noisy, large in size, low in efficiency, and its technical reliability and safety need to be improved; there are roughly three ways to realize vacuum adsorption: Vacuum adsorption, sliding seal negative pressure suction cups and sealless negative pressure suction cups.

Contents of the invention

In view of the above defects or deficiencies, the purpose of the present invention is to provide a wall detection rescue robot and its control method.

For achieving above object, technical scheme of the present invention is:

A wall detection and rescue machine, comprising a wall-climbing robot body, an upper computer monitoring system and a lower computer PLC control system;

The chassis of the wall-climbing robot body is provided with a four-wheel drive device and a negative pressure suction cup for wall adsorption, and a window-breaking hammer and a detection knock hammer are installed on the wall-climbing robot body, wherein the four-wheel drive device includes a drive motor and four Drive wheels with the same structure, each drive wheel is equipped with a bearing and a bearing seat matched with the bearing, the bearing seat is fixedly installed on the chassis of the wall-climbing robot body, and the drive wheel and the drive motor are connected by a coupling. motor;

The PLC control system of the lower computer is connected with the four-wheel drive device of the wall-climbing robot body and the negative pressure suction cup for wall adsorption, and is used for motion control of the wall-climbing robot body;

The host computer monitoring system is used to generate motion commands for each drive motor, read the motion status of the wall-climbing robot and display it in real time.

The main body of the wall-climbing robot is a cuboid structure, and the driving wheels are symmetrically distributed around the bottom of the robot.

The top center of the wall-climbing robot body is equipped with a turntable that can rotate 180 degrees. A telescopic mechanical arm is installed on the turntable. The window breaking hammer and the detection knocking hammer are installed at the front end of the mechanical arm.

The front and rear positions of the turntable are respectively equipped with a wireless camera with lighting device. The wireless camera shoots and detects video and transmits it to the PLC control system of the lower computer through the wireless module to detect the crack status of the wall surface and the working status of the robot in real time.

A spray head for marking the empty drum is installed on the mechanical arm.

A steering gear for controlling the rotational degrees of freedom of the mechanical arm and the rotary table is installed on the rotary table.

The lower computer PLC control system includes a motion controller module, a motor drive module, a signal isolation module, and an internal information detection module;

The motion controller module is used for the normal operation of the walking motor and the speed of the motor;

The motor drive module is used to receive the pulse width modulation signal output by the controller to control the effective value of the armature voltage of the DC motor, change the speed and direction of the motor, and control the wall climbing robot to move forward, backward and turn;

The internal information detection module includes a negative pressure sensor for detecting the negative pressure value in the negative pressure suction cup.

A control method for a wall detection rescue machine, comprising the following steps:

1) Connect the body of the wall-climbing robot to the follow-up trolley installed on the roof, and then adsorb it to the wall through a negative pressure suction cup, and the host computer monitoring system generates motion commands for each drive motor;

2) After the PLC control system of the lower computer receives the drive command, it drives the drive wheel to rotate and drives the wall climbing robot to crawl in a straight line;

3) When there is no sudden danger during the movement, the crawling robot will drive to the window, start the window-breaking hammer end, extend the mechanical arm, and repeatedly knock on the glass until it breaks, and enter the room; when there is a sudden danger during the movement , then start the hollow hammer end on the mechanical arm, extend the mechanical arm to knock on the brick body, and transmit the sound signal and image signal to the controller, and compare and analyze the sound frequency. If the frequency analysis result is normal, if it is normal, Then proceed to step 4), if abnormal, then carry out spray marking;

4) The wall-climbing robot continues to crawl, and performs a knock detection on the next knock point until it reaches the destination.

The working path of the crawling robot adopts an "S"-shaped route, moving straight from the bottom of the building to the top of the building, moving sideways to a working position, and then moving straight to the bottom of the building.

When the negative pressure suction cup is adsorbed to the wall, the negative pressure sensor on the wall climbing robot body is used to detect the negative pressure value in the suction cup, which is detected by the analog-to-digital conversion module and entered into the PLC control system of the lower computer for negative pressure closed-loop control. Compared with prior art, the beneficial effects of the present invention are:

The invention provides a wall detection and rescue robot. The crawling robot is designed as a four-wheel drive robot. When a single wheel of the four-wheel drive wheel sinks, it can easily jump out of the groove under the drive of the other three drive wheels. Normal advance increases the running speed and safety. In addition, the sliding and sealing negative pressure suction cup is adopted in the present invention, which is easy to realize continuous movement and is conducive to realizing the movement speed; the vacuum degree in the suction cup is high, which is conducive to reducing the overall size and weight of the robot; The suction cup has certain adaptability to the small glue gap on the glass surface; the friction between the suction cup and the wall is small, and the movement resistance is small, which can reduce the wear of the suction cup and improve the service life of the robot.

The present invention also provides a control method for the wall surface detection and rescue robot, which controls and drives the trolley through the monitoring system of the upper computer, and can detect and analyze whether there is a sudden danger during the movement process, and perform knock detection on the knock point for rescue. , Yes, the robot operation process is safer and more accurate, and the rescue efficiency is improved.

Furthermore, the working path of the robot adopts an "S"-shaped route, that is, it moves linearly from the bottom of the building to the top of the building, moves sideways to a working position, and then moves linearly to the bottom of the building, thereby improving the detection efficiency.

Description of drawings

Fig. 1 is a structural representation of the robot of the present invention;

Fig. 2 is a schematic diagram of the structure of the robot body of the present invention;

Fig. 3 is a structural schematic diagram of the mechanical arm of the present invention;

Fig. 4 is a control flowchart of the present invention;

Fig. 5 is a planning diagram of the working path of the robot of the present invention;

Fig. 6 is a schematic diagram of the wall force of the robot of the present invention;

Fig. 7 is a schematic diagram of the pose of the robot of the present invention;

Fig. 8 is a schematic diagram of force analysis of the robot's ability to overcome obstacles in the present invention;

Fig. 9 is a negative pressure closed-loop control logic diagram of the present invention;

Fig. 10 is a logic diagram of the closed-loop control of the motion control system of the present invention.

In the figure, 1 is the body of the wall-climbing robot; 2 is the mechanical arm; 3 is the wireless camera; 4 is the window breaking hammer; 5 is the detection hammer; 6 is the winch; 9 is a negative pressure suction cup; 10 is a driving wheel; 11 is a nozzle; 12 is an upper computer monitoring system.

Detailed ways

The present invention will be described in detail below in conjunction with the accompanying drawings.

The walls of high-rise buildings are paved with ceramic tiles, etc., and there are grooves in the middle. Under the working conditions of uneven walls, the existing two-wheel differential drive mechanism or the combination mechanism of driving wheels and universal wheels , the other driving wheel is difficult to move forward, and when a single wheel of the four-wheel driving wheel sinks, driven by the other three driving wheels, it can easily jump out of the groove and continue to move forward normally.

As shown in Figure 1, the present invention provides a wall surface detection and rescue machine, including a wall climbing robot body 1, an upper computer monitoring system 12 and a lower computer PLC control system;

The chassis of the wall-climbing robot body 1 is provided with a four-wheel drive device and a negative pressure suction cup 9 for wall adsorption, and a window-breaking hammer 4 and a detection knock hammer 5 are installed on the wall-climbing robot body 1, wherein the four-wheel drive device includes Drive motor and four drive wheels 10 with the same structure, each drive wheel 10 is equipped with a bearing and a bearing seat matched with the bearing, the bearing seat is fixedly installed on the chassis of the wall climbing robot body 1, the drive wheel 10 and the drive The motors are connected by couplings to drive the motors. The main body 1 of the wall-climbing robot is a cuboid structure, and the driving wheels are symmetrically distributed around the bottom of the robot; Speed; the vacuum degree in the suction cup is high, which is beneficial to reduce the overall size and weight of the robot; the suction cup has certain adaptability to the small gap of the rubber strip on the glass surface; the friction between the suction cup and the wall is small, and the movement resistance is small, which can reduce The suction cup is worn out, and the wall adsorption of the robot is achieved by negative pressure suction cups. The control system starts or closes the fan by controlling the opening and closing of the fan relay, and the fan sucks the air in the suction cup cavity to generate negative pressure. The power supply voltage of the fan can be adjusted through the one-way AC voltage regulating module, thereby changing the speed of the fan and thus adjusting the negative pressure value in the suction cup cavity. The negative pressure sensor is used to detect the negative pressure value in the suction cup, which is detected by the analog-to-digital conversion module and entered into the PLC. Realize negative pressure closed-loop control.

The PLC control system of the lower computer is connected with the four-wheel drive device of the wall-climbing robot body 1 and the negative pressure suction cup 9 for wall adsorption, and is used for motion control of the wall-climbing robot body 1 body; the upper computer monitoring system 12 is used for each Generation of motion commands to drive the motor, read the motion status of the wall-climbing robot and display it in real time. A spray head 11 for marking the empty drum is installed on the mechanical arm 2 . Specifically, the robot body control system adopts a two-level control structure, including an upper computer monitoring system and a lower computer PLC control system. It mainly uses the upper computer to control the lower computer to complete the control of the robot movement system, the control of the adsorption system and the detection spraying device, the control of the roof follower car, etc. The upper computer part is used to complete the generation of motion commands for each motor, read The motion state of the robot is displayed in real time. The PLC part of the lower computer completes the control of the drive components and obtains the status information of the robot, and the two transmit information through wireless communication.

Further preferably, as shown in Figure 2, the top center of the wall-climbing robot body 1 is equipped with a turntable 8 that can rotate 180 degrees. The hammer 5 is mounted on the front end of the mechanical arm 2 . When the turntable rotates, the working plane of the robotic arm changes accordingly. When the turntable turns 180 degrees, the two ends of the striking end of the robotic arm are reversed. The robotic arm can reciprocate in a plane perpendicular to the wall. The rotational degrees of freedom of the manipulator and the turntable are controlled by a steering gear respectively. As shown in Figure 3, the mechanical arm 2 is a "T"-shaped structure, and the knocking end adopts a two-headed type, one end is a hollow hammer, and the other end is a window hammer, and a paint nozzle 11 is installed on the knocking end, such as Figure 6 shows. Mechanical arm is installed on the turntable 8, and turntable 8 is controlled by a steering gear, can realize the rotation in the range of 180 degrees, when it turns over 180 degrees, replace the percussion head of current work.

The mechanical arm is controlled by another steering gear, which can realize reciprocating motion on the plane perpendicular to the rotating table. When the current working striking head is an empty drum hammer, the four corners and the center of the brick body are respectively struck by the hollow drum hammer, and passed The camera on the turntable records the whole process in real time. The collected percussion sound signal is processed, and the sound frequency is detected and compared with the set frequency range. , the upper computer issues a spraying command, and the hydraulic pump pumps the paint out of the box and sprays it out through the nozzle on the mechanical arm to realize the mark on the hollow. The liquid level sensor is used to detect the liquid level in the paint tank, and when the liquid level is lower than the threshold, the ground control part is notified.

The PLC control system of the lower computer in the present invention includes a motion controller module, a motor drive module, a signal isolation module, and an internal information detection module;

The motion controller module is used for the normal operation of the walking motor and the speed of the motor;

The motor drive module is used to receive the pulse width modulation signal output by the controller to control the effective value of the armature voltage of the DC motor, change the speed and direction of the motor, and control the wall climbing robot to move forward, backward and turn;

The internal information detection module includes a negative pressure sensor for detecting the negative pressure value in the negative pressure suction cup 9 .

To further explain, the motion controller is the actuator for the robot to walk, and is mainly responsible for the normal operation of the walking motor and controls the speed of the motor.

To further explain, the motor drive module receives the pulse width modulation signal output by the controller to control the effective value of the armature voltage of the DC motor to change the speed and direction of the motor, and realize the functions of the robot to move forward, backward, and turn.

To further illustrate, the motor is the power source of the robot to realize the movement of the robot.

Further explanation, the attitude sensor feeds back the attitude angle of the robot to the motion controller to realize the closed-loop control of the motion control system.

For the actual application of the robot (a large amount of flat walls with a wide area), the working path of the robot adopts an "S"-shaped route, that is, it moves in a straight line from the bottom of the building to the top of the building, moves sideways to a working position, and then moves in a straight line to the bottom of the building. , thus improving the detection efficiency.

As shown in Figure 4, the present invention also provides a control method for a wall detection rescue machine, comprising the following steps:

1) Connect the wall-climbing robot body 1 with the follow-up car 7 installed on the roof, and control the stretching of the connected rope through the hoist 6, and then absorb it with the wall through the negative pressure suction cup 9, and the host computer monitoring system 12 generates each driving motor movement command; when the negative pressure suction cup 9 is adsorbed to the wall, the negative pressure sensor on the wall climbing robot body 1 is used to detect the negative pressure value in the suction cup, and enter the PLC control system of the lower computer through the detection of the analog-to-digital conversion module to perform negative pressure Closed-loop control.

2) After receiving the drive command, the PLC control system of the lower computer drives the drive wheel 10 to rotate, driving the wall-climbing robot to crawl in a straight line;

3) When there is no sudden danger during the movement, the crawling robot will drive to the window, start the window breaking hammer 4, extend the mechanical arm 2, and repeatedly strike the glass until it breaks, and enter the room; In case of danger, start the hollow hammer end on the mechanical arm 2, extend the mechanical arm to knock the brick body, and transmit the sound signal and image signal to the controller, and compare and analyze the sound frequency. If the frequency analysis result is normal, If normal, proceed to step 4), if abnormal, carry out spray marking;

4) The wall-climbing robot continues to crawl, and performs a knock detection on the next knock point until it reaches the destination.

Wherein, the working path of the crawling robot adopts an "S"-shaped route, moving linearly from the bottom of the building to the roof, moving sideways to a working position, and then moving linearly to the bottom of the building.

The working path of the robot adopts an "S"-shaped route, that is, it moves linearly from the bottom of the building to the top of the building, moves sideways to a working position, and then moves linearly to the bottom of the building. As shown in Figure 5, the robot only needs to go up, There are three kinds of movements, down and sideways, the four-wheel drive realizes the forward and backward movement of the robot, and the sideways movement of the robot is realized by the movement of the roof trolley, thus improving the detection efficiency.

There may be two dangerous situations when the robot works on the wall: one is that the robot slips on the wall, and the other is that the robot overturns on the wall.

For the first dangerous situation, the force diagram of the robot on the wall is shown in Figure 6, and the force should meet:

G≥T+f1+f2 (1)

P=p·A≥N (2)

N1+N2=P (3)

f1+f2＝P·μ (4)

Among them: G is the robot body and load weight; μ is the wall friction coefficient; T is the roof lift; N is the wall reaction force; P is the wall adsorption force; A is the suction cup adsorption area; p is the negative pressure inside the suction cup; N1, N2 are the normal pressures on the upper and lower wheels, respectively. From the above formula, it can be obtained that the suction cup must meet the following critical conditions to generate the adsorption force:

N≤P≤G/μ (5)

For the second dangerous situation, as shown in Figure 6 of the force diagram, the moment of the robot on the wall should meet:

N1·L1+G·H‐T·H‐N2·L2≤0 (6)

N1+N2=P (7)

N1≥0 (8)

Among them: L1, L2 are the distances between the center of the upper wheel and the center of the lower wheel and the center of mass; H is the height of the center of mass. From the above formula, the adsorption force of the suction cup must meet the following conditions:

P≥(G‐T) H/L2 (9)

It can be seen from the above formula that when designing a wall-climbing robot, the entire center of gravity of the robot should be as close to the wall as possible, that is, H should be as small as possible, and at the same time, the value of L2 should be lengthened if possible, that is, the wheel should be pulled as far as possible. distance, the overall shape of the suction cup should be as flat as possible, which not only helps to reduce the value of H, but also helps to increase the effective area of the suction cup.

When the adsorption force is constant, the dynamic model of the robot in any pose is as follows: define the X′ direction as the front direction of the car, θ is the direction angle of the car, and the coordinates of the center of mass O of the car are (x, y), so the three-dimensional vector (x, y, θ) can completely describe the pose of the robot. The center distance of the front wheels is 2B, the center distance of the front and rear wheels is 2L, the height of the center of mass is H, the radius of the rotating platform is R, and the driving forces of the four wheels are F1 and F2 respectively. , F3, F4, as shown in Figure 7.

The total energy of the robot is composed of kinetic energy, potential energy and dissipated energy. The kinetic energy includes the overall translational motion kinetic energy V1, the rotary angular kinetic energy V2 of the turntable, and the angular kinetic energy V3 of the wheel rotating around the wheel axis. The potential energy is the gravitational potential energy U of the robot on the wall. Dissipated energy D is mainly the energy loss caused by the friction between the suction cup and the wall, the friction between the rotary table and the contact surface, and the friction between the wheel and the axle.

U=mgH (11)

Let K=(Fx, Fy, Mθ)T be the driving resultant force and moment of the robot.

L=V-U (13)

According to the second kind of Lagrangian equation, there are:

Among them, q=(x, y, θ) is the coordinates of the robot in the reference coordinate system.

Substitute (15)-(17) into (14) to get:

The relationship between the driving resultant force and the four driving forces is:

In summary, the dynamic model of the robot can be obtained as follows:

When a wall-climbing robot works on a vertical wall, it will encounter obstacles such as window frames, so the robot is required to have certain obstacle-surmounting and obstacle-avoiding capabilities.

To further illustrate, the force diagram of the wheel when the robot encounters an obstacle is shown in Figure 8. The critical condition when the wheel turns over the obstacle is Nr=0, and the force triangle at this time is shown in the lower right corner of Fig. 8 . When the robot body, load capacity and driving force are fixed, it should meet the following requirements:

Among them: F is the driving force, which can be seen from the geometric relationship in the figure

Substituting into (21), we get

It can be seen from formula (23) that when the robot's self-weight and driving force are constant, increasing the wheel radius can increase the maximum obstacle height.

The control process of the robot detection spraying device is as follows:

The mechanical arm is a "T"-shaped structure, and the knocking end adopts a double-headed type, one end is a hollow hammer, and the other end is a window-breaking hammer, and a paint nozzle is installed on the knocking end, as shown in Figure 2. The mechanical arm is installed on the rotating table, which is controlled by a steering gear and can rotate within 180 degrees. When it turns 180 degrees, replace the currently working percussion head.

The mechanical arm is controlled by another steering gear, which can realize reciprocating motion on the plane perpendicular to the rotating table. When the current working striking head is an empty drum hammer, the four corners and the center of the brick body are respectively struck by the hollow drum hammer, and passed The camera on the turntable records the whole process in real time. The collected percussion sound signal is processed, and the sound frequency is detected and compared with the set frequency range. , the upper computer issues a spraying command, and the hydraulic pump pumps the paint out of the box and sprays it out through the nozzle on the mechanical arm to realize the mark on the hollow.

The robot rescue control process is as follows:

There is a camera on the front and back of the rotating platform, which records the environmental conditions around the robot in real time, and transmits the captured images to the ground control system, which is monitored by ground personnel. In case of fire and other emergencies, the ground operators will send control instructions to the robot , the steering gear controls the rotary table to rotate 180 degrees, the mechanical arm moves in the opposite direction, the current working percussion head is replaced by the hollow hammer hammer, and the robot drives towards the window. When it reaches the window, the mechanical arm length elongates and reciprocates The greater the angle, the greater the force of the window-breaking hammer. The steering gear controls the mechanical arm to repeatedly strike until the window breaks. Then the robot enters the room and takes pictures of the indoor conditions and transmits them to the ground control system for reference by the operators.

The adsorption force control process of the robot is as follows:

The adjustment and control of robot adsorption force generally includes an adsorption force size determination module and a closed-loop control module of adsorption force. The former module can be determined according to the adsorption conditions of formula (5) and formula (9), and the latter module is to prevent the change of wall surface conditions from affecting the design. According to the influence of constant adsorption force, by adjusting the working voltage of the centrifugal fan, the closed-loop control of the adsorption force based on the negative pressure sensor is carried out. The block diagram of negative pressure closed-loop control is shown in Figure 9.

The motion control process of the robot is as follows:

The motion control system of the robot includes a motion controller module, a motor drive module, a signal isolation module, a motor, and an internal information detection module. The motion controller is the actuator for the robot to walk. It is mainly responsible for the normal operation of the walking motor and controls the speed of the motor. The motor drive module receives the pulse width modulation signal output by the controller to control the effective value of the armature voltage of the DC motor to change the speed and direction of the motor, and realize functions such as forward, backward, and turning of the robot. The motor is the power source of the robot and realizes the movement of the robot. The attitude sensor feeds back the attitude angle of the robot to the motion controller to realize the closed-loop control of the motion control system. Among them, DSP is the English abbreviation of digital signal processor, and the English abbreviation is used below. The overall block diagram of the motion control system is shown in Figure 10.

The overall control process of the robot is as follows:

The control system consists of the body control system, the roof lifting control system, and the ground remote control system. When the system is working, the ground remote control system completes the task scheduling of the robot. The ground operator inputs the control command through the keyboard and transmits it to the controller of the robot body control system and the controller of the roof lifting system through the wireless communication system. The robot is under the control of the body controller. Complete actions such as adsorption, detection, obstacle surmounting, window breaking, etc., and be pulled by the roof hoist to do the downward movement. The sensors on the robot body and the roof mechanism and the camera on the robot body collect and process the working status information of the system in real time, complete autonomous planning, realize intelligent control, and transmit the information to the ground remote control system in real time. Master the working status of the robot and the surrounding environment, and the ground operator can issue control commands in time when the robot encounters an unexpected situation or a fire or other emergency.

Claims (8)

1. The control method of the wall surface detection and rescue machine is characterized in that, comprising a wall-climbing robot body (1), an upper computer monitoring system (12) and a lower computer PLC control system; The chassis of the wall-climbing robot body (1) is provided with a four-wheel drive and a negative pressure suction cup (9) for wall surface adsorption, and a window-breaking hammer (4) and a detection knock hammer (4) are installed on the wall-climbing robot body (1). 5), wherein the four-wheel drive device includes a drive motor and four drive wheels (10) with the same structure, each drive wheel (10) is equipped with a bearing and a bearing seat matched with the bearing, and the bearing seat is fixedly installed On the chassis of the wall-climbing robot body (1), the drive wheel (10) and the drive motor are connected by a coupling; The PLC control system of the lower computer is connected with the four-wheel drive device of the wall-climbing robot body (1) and the negative pressure suction cup (9) for wall surface adsorption, and is used for motion control of the wall-climbing robot body (1); The upper computer monitoring system (12) is used for the generation of the motion command of each driving motor, reads the motion state of the wall-climbing robot and displays it in real time; The top center of the wall-climbing robot body (1) is equipped with a turntable (8) capable of 180-degree rotation, and a telescopic mechanical arm (2), a window-breaking hammer (4) and a turntable (8) are installed on the turntable (8). The detection hammer (5) is installed on the front end of the mechanical arm (2); The control method includes the following steps: 1) Connect the wall-climbing robot body (1) with the follow-up car (7) installed on the roof, and then adsorb to the wall through the negative pressure suction cup (9), and the host computer monitoring system (12) generates the motion commands of each drive motor ; 2) After receiving the drive command, the PLC control system of the lower computer drives the drive wheel (10) to rotate, driving the wall-climbing robot to crawl in a straight line; 3) When there is no sudden danger during the movement, the crawling robot will drive to the window, start the end of the window breaking hammer (4), extend the mechanical arm (2), and repeatedly strike the glass until it is broken and enter the room; In case of sudden danger during the movement, start the hollow hammer end on the mechanical arm (2), extend the mechanical arm to beat the brick body, and transmit the sound signal and image signal to the controller, and compare and analyze the sound frequency. If the frequency analysis result is normal, then proceed to step 4), if abnormal, then carry out spray marking; 4) The wall-climbing robot continues to crawl, and performs a knock detection on the next knock point until it reaches the destination. 2. The control method of the wall surface detection and rescue machine according to claim 1, wherein the working path of the crawling robot adopts an "S"-shaped route, moves linearly from the bottom of the building to the top of the building, moves sideways to a working position, and then Then move in a straight line to the bottom. 3. The control method of the wall surface detection and rescue machine according to claim 1, characterized in that, when the negative pressure suction cup (9) is adsorbed to the wall surface, the negative pressure sensor on the wall climbing robot body (1) is used to detect the suction cup The internal negative pressure value is detected by the analog-to-digital conversion module and enters the PLC control system of the lower computer for negative pressure closed-loop control. 4. The control method of the wall detection and rescue machine according to claim 1, characterized in that, the wall-climbing robot body (1) is a cuboid structure, and the driving wheels are symmetrically distributed around the bottom of the robot. 5. the control method of wall surface detection rescue machine according to claim 1, is characterized in that, described turntable (8) front and back positions are respectively provided with a wireless camera (3) with lighting device, wireless camera (3) photographs The detection video is transmitted to the PLC control system of the lower computer through the wireless module, and the cracks on the wall and the working status of the robot are detected in real time. 6. The control method of the wall surface detection and rescue machine according to claim 1, characterized in that, the said mechanical arm (2) is equipped with a spray head (11) for marking the empty drum. 7. The control method of the wall surface detection and rescue machine according to claim 1, characterized in that, a rudder for controlling the degree of freedom of rotation of the mechanical arm (2) and the turntable (8) is installed on the turntable (8) machine. 8. the control method of wall detection rescue machine according to claim 1, is characterized in that, described lower computer PLC control system comprises motion controller module, motor drive module, signal isolation module and internal information detection module; The motion controller module is used for the normal operation of the walking motor and the speed of the motor; The motor drive module is used to receive the pulse width modulation signal output by the controller to control the effective value of the armature voltage of the DC motor, change the speed and direction of the motor, and control the wall climbing robot to move forward, backward and turn; The internal information detection module includes a negative pressure sensor for detecting the negative pressure value in the negative pressure suction cup (9).