CN115753786A

CN115753786A - Surface surveying method for building body crack

Info

Publication number: CN115753786A
Application number: CN202211374557.2A
Authority: CN
Inventors: 吴启民; 曾超; 余成钢
Original assignee: HANGZHOU GUODIAN DAM SAFETY ENGINEERING CO LTD; PowerChina Huadong Engineering Corp Ltd
Current assignee: HANGZHOU GUODIAN DAM SAFETY ENGINEERING CO LTD; PowerChina Huadong Engineering Corp Ltd
Priority date: 2022-10-31
Filing date: 2022-10-31
Publication date: 2023-03-07

Abstract

The invention discloses a surface surveying method of a building body crack, which comprises the following steps: the method comprises the following steps: s1: the surveying robot moves to a designated position on a working surface through a power system; s2: the surveying robot collects the image information of the current position and identifies the image information; s3: after the current collected image information is identified as a crack, the surveying robot is anchored on a working face in a vacuum adsorption mode; s4: and closing the power system, and carrying out ultrasonic survey on the crack by using the ultrasonic detection assembly. The surveying robot of the invention closes the rotor wing assembly when implementing the crack survey of the building body, thereby avoiding influencing the ultrasonic survey; the anchoring to the working face machine body is stable during surveying, and accurate building body crack information can be obtained.

Description

Surface surveying method for building body crack

Technical Field

The invention relates to the technical field of robots, in particular to a surface surveying method for building body cracks.

Background

Along with the quick extension of unmanned aerial vehicle application, load and unmanned aerial vehicle's usage to unmanned aerial vehicle are more and more, through set up many rotors on unmanned aerial vehicle, make unmanned aerial vehicle promote under the little prerequisite in dead weight, not only can obviously promote lift, still have advantages such as the load-carrying ability is strong, the controllability is high, the action is nimble and fault-tolerant capability is good.

Patent document with publication number CN114379777B discloses a tilt rotor unmanned aerial vehicle structure and a working method thereof, and the multi-rotor unmanned aerial vehicle can enhance adaptability and mobility control flexibility of the unmanned aerial vehicle through vector control of tilt rotors. However, when the building surface defects of ground buildings such as high buildings, reservoirs, bridge openings and dams are detected, the ultrasonic detection of the existing unmanned aerial vehicle cannot be directly implemented on the surface of the building due to the fact that the ultrasonic signals can be seriously interfered by sound waves generated by the operation of the rotor wings.

Disclosure of Invention

The invention provides a surface survey method for building cracks, which can directly survey and detect the cracks on the surface of a building.

The invention relates to a surface surveying method for building body cracks, which comprises the following steps:

s1: the surveying robot moves to a designated position on a working surface through a power system;

s2: the surveying robot collects the image information of the current position and identifies the image information;

s3: after the current collected image information is identified as a crack, the surveying robot is anchored on a working face in a vacuum adsorption mode;

s4: and closing the power system, and carrying out ultrasonic survey on the crack by using the ultrasonic detection assembly.

Further, the survey robot comprises:

a support body;

the vector rotor system comprises a plurality of sets of rotor assemblies, and the plurality of sets of rotor assemblies are arranged on a support body and are used for providing vector power for the support body;

the walking wheels are arranged on the bottom side of the supporting body and used for walking on a working surface;

the camera is arranged on the support body and used for shooting and acquiring image information of a working face and transmitting the image information to a server for feature recognition;

the light supplementing lamp is used for projecting light rays to the working surface;

the mounting bracket is fixed on the supporting body and used for mounting the camera and the light supplementing lamp.

Further, the survey robot comprises:

the ultrasonic probes are arranged on the support body, are arranged in pairs, and have adjustable intervals, and are used for carrying out ultrasonic survey on the cracks;

and the moving mechanism is connected with the ultrasonic probes and drives the same pair of ultrasonic probes to move relatively.

Further, the survey robot comprises:

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

the media output head has a first position adjacent to the ultrasound probe and a second position distal to the ultrasound probe;

the turnover mechanism comprises a turnover motor and a movable frame, the movable frame is arranged on the support body, the medium output head is fixed on the movable frame, an output shaft of the turnover motor is rotatably connected with the movable frame, and the turnover motor drives the movable frame to turn over so that the medium output head has a first position and a second position relative to the ultrasonic probe;

a first position: the medium output head is attached to the surface of the ultrasonic probe so that the working medium can be smeared on the surface of the probe;

a second position: the medium output head avoids the ultrasonic probe, so that interference between the medium output head and the ultrasonic probe is avoided.

Further, the survey robot further comprises:

the barrel can lift relative to the support body;

the lifting driving mechanism is arranged on the supporting body and is rotationally connected with the cylinder body, and the lifting driving mechanism drives the cylinder body to lift relative to the supporting body;

the sucker is fixed at the bottom of the cylinder body and can lift relative to the support body along with the cylinder body;

the vacuum pump is communicated with the suction cups through a pipeline, and the suction cups are vacuumized through the vacuum pump so as to enable the surveying robot to be anchored on the working face in a vacuum adsorption mode.

Further, feature extraction is carried out on the current position image information collected by the surveying robot to obtain surface features, the surface features are subjected to feature matching with a working face map of a server, and position coordinates of the surface features relative to the working face map are obtained to confirm the current position coordinates of the surveying robot.

Further, carrying out surface feature recognition on the image information acquired at the current position;

and when the building crack is identified, marking the image information of the current position as a new sample to a working face map, and updating the constructed building crack characteristic database.

Further, when the surface features are identified as the building cracks, comparing the surface features with historical image information of the current position in the working face map;

and when the comparison result meets the set difference, the crack is regarded as the crack change, and the image information of the current position is used as a new sample and is re-marked to the working face map.

Further, in step S4, before performing ultrasonic survey on the cracks of the working face, cleaning the surfaces of the cracks;

the sucker comprises a base plate, and the base plate can lift relative to the support body along with the sucker; the cleaner comprises a cleaning motor capable of sliding relative to the substrate, a brush head connected with an output shaft of the cleaning motor, and a sliding mechanism arranged on the substrate and used for driving the cleaning motor to slide.

The surface surveying method for the building body crack at least has the following technical effects:

when the surveying robot carries out the survey of the cracks on the surface of the building body, the rotor wing assembly is closed in advance, and then the ultrasonic survey of the cracks is carried out, so that the precision of the ultrasonic survey can be ensured; moreover, the surveying robot is anchored on the working face in a vacuum adsorption mode during surveying, so that the stability of the machine body can be guaranteed, and more accurate building body crack information can be obtained.

Drawings

FIG. 1 is a flow chart of a method for surface investigation of a fracture in a building body according to the present invention;

FIG. 2 is a schematic diagram of a survey robot employing a four-rotor vector drive according to the present invention;

FIG. 3 is a schematic structural view of the support body in FIG. 2;

FIG. 4 is a schematic diagram of a survey robot employing dual rotor vector drive according to the present invention;

FIG. 5 is a schematic structural view of the support body in FIG. 4;

FIGS. 6-7 are schematic structural views of an image capturing assembly;

FIG. 8 is a schematic diagram of a laser mapping assembly;

FIG. 9 is a schematic diagram of the media output tip in a second position in the ultrasonic detection assembly;

FIG. 10 is a cross-sectional view of FIG. 9;

FIG. 11 is a schematic view of a media output tip in a first position in an ultrasonic detection assembly;

FIG. 12 is an exploded view of the supply device;

FIG. 13 is a schematic view of the cleaner in a third housing;

FIGS. 14 to 15 are schematic views showing the structure of the cleaner;

FIG. 16 is a cross-sectional view of the survey robot with the support body omitted;

FIG. 17 is an enlarged view of C in FIG. 16;

FIG. 18 is a schematic view of a static adsorbent assembly;

FIG. 19 is a schematic view of the static suction assembly of FIG. 11 opening the first housing;

FIG. 20 is a cross-sectional view of a static adsorbent assembly;

FIG. 21 is a schematic view of the structure of the second housing engaged with the support body;

FIG. 22 is a schematic view of the elevation driving mechanism;

FIG. 23 is a schematic structural view of the transfer mechanism of FIG. 22;

FIG. 24 is a cross-sectional view of the survey robot with the support body omitted;

FIG. 25 is an enlarged view of A in FIG. 24;

FIG. 26 is an exploded view of the pressure relief valve;

FIG. 27 is a schematic view of the structure of the chuck;

figures 28-30 are schematic structural views of the rotor assembly;

fig. 31 is a cross-sectional view of the road wheels.

The reference numbers in the figures are as follows:

100. a top side; 101. a bottom side; 200. a survey robot;

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 rod;

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

3. a traveling 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 supplement lamp; 415. an annular member; 416. spokes; 417. an illuminating lamp; 42. a laser mapping assembly; 421. a holder; 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 media output head; 4331. an output aperture; 434. a turnover mechanism; 4341. turning over a motor; 4342. a movable frame; 4343. a micro-camera; 435. a supply device; 4351. a charging barrel; 4352. a discharge hole; 4353. a pusher piston; 4354. an electric push rod; 436. a medium line;

5. a static adsorption component; 51. a jacket; 52. a barrel; 521. an external thread; 53. a lifting drive 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 driving gear; 534. a ring gear; 535. gear teeth; 54. a suction cup; 541. a vacuum port; 542. a pressure relief port; 543. a pressure relief valve; 5431. sealing sleeves; 5432. a valve core; 5433. a valve stem; 5434. an elastic member; 5435. a flange; 544. a limiting pad; 545. a substrate; 5451. a third housing; 5452. an extension area; 5453. a first extension area; 5454. a second extension area; 5455. a first avoidance port; 5456. a second avoidance port; 546a, a seal ring; 546b, a seal ring; 546c, a seal ring; 55. a vacuum pump; 551. a vacuum line; 552. an internal pipeline; 5521a, a rigid tube; 5521b, rigid tubes; 553. an external pipe; 56. a first housing; 57. a control main board; 58. a second housing; 581. a bridge arm;

7. a cleaner; 71. cleaning the 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.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present 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 a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components 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 in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Referring to fig. 1, the present invention provides a surface survey method of a fracture of a building body, comprising:

Referring to fig. 2 and 3, a survey robot 200 is employed comprising:

a support body 1 having opposing top 100 and bottom 101 sides;

the vector rotor system comprises at least two sets of rotor assemblies 2, wherein each rotor assembly 2 is arranged on the support body 1 and provides vector power for the support body 1;

the travelling wheels 3 are arranged on the bottom side 101 of the support body 1 and are used for cooperating with a working surface;

and the information acquisition equipment 4 is arranged on the supporting body 1 and is used for acquiring information data related to a working face, such as acquiring image information of the current position, performing ultrasonic survey and the like.

And marking the building crack to a working face map after the image information identification result is the building crack. The method for identifying the surface features comprises coordinate identification, simulation display and the like when the map is marked on the working surface, and the identification of the surface features can be carried out by using 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, image information with building cracks is identified as a new sample to participate in updating of the autonomous learning algorithm; and updating the constructed building crack feature database.

Judging whether the surveying robot moves to a specified position, and extracting the characteristics of the image information collected from the current working position to obtain the surface characteristics; and performing feature matching on the surface features and the working face map to obtain position coordinates of the surface features relative to the working face map, wherein the position coordinates correspond to the current position of the surveying robot.

The map of the work surface is not limited to a specific plane but refers to a spatial map composed of all the work positions of the survey robot. In the image information acquisition process, at least part of the image information of the current working position is overlapped with the working face map (including the spliced image information), namely, the image information of the current working position can be positioned relative to the working face map, so that the data filing and splicing of the image information acquisition are facilitated. In particular, when performing surface feature comparison, the surface features of the image information include architectural defects, which can be used to perform feature matching.

Aiming at field operation places such as culverts, reservoir dams and the like, particularly to the situation that vertical face operation is involved and a working face possibly has larger architectural defects, the stability of the space attitude of a traditional unmanned aerial vehicle cannot meet the requirement no matter in endurance or information acquisition, although some prior arts disclose the technology that a flight mechanism is combined with a travelling mechanism, the power moving along the working face mainly comes from the travelling mechanism, the device is complex, the flexibility of the travelling mechanism is limited, the power moving along the working face of the surveying robot 200 in the invention comes from a vector rotor system, the control mode and the hardware requirements of the travelling mechanism are simplified, vector power can be provided per se, the attitude of a rotor component 2 and the mutual matching among multiple sets can be realized, and the conventional technology can also be applied to control.

In order to protect important building settings, active electromagnetic protection may exist, or electromagnetic interference of large equipment exists, so that the conventional robot based on a wireless mode receives large interference in a signal transmission process and is not suitable for use.

The information data related to the working surface in the invention can comprise a two-dimensional image of the working surface and also can comprise three-dimensional terrain data, the information of the internal structure is acquired through ultrasound, and the field climate, illumination conditions and the like, and the information acquisition mode adopts corresponding equipment in the prior art, and of course, the specific carrying mode and structure of the information acquisition equipment also provide an improved mode in the embodiment of the invention.

In the invention, the surveying robot 200 and a remote server can form a surveying system, the storage of a large amount of data and the data processing of comparative consumption and calculation can be completed by the server, and the server sends corresponding instructions to the robot.

The top side 100 and the bottom side 101 of the support body 1 according to the invention are relative concepts, e.g. when the robot is walking along a work surface, the side facing the work surface is the bottom side 101 and the other side is the top side 100.

Referring to fig. 2 to 5, the support body 1 of the robot is a frame structure having a flat configuration as a whole, and a top side 100 and a bottom side 101 are provided at both sides in a thickness direction, respectively. The frame structure has a large number of hollow areas, can better adapt to the application scene of the invention, can reduce weight as much as possible on the premise of ensuring the structural strength, and can improve the wind resistance and the overturn resistance due to the flat configuration.

The frame construction includes that the interval superpose is just the top frame 11 and the underframe 12 of slice to and fix a plurality of reinforcements between top frame 11 and underframe 12, and both shapes of top frame 11 and underframe 12 match each other, and all include a plurality of rings shape 14 and a plurality of wheel seat 15, and wherein each set of rotor subassembly 2 is located corresponding rings shape 14, and wheel seat 15 sets up for the 14 evaginations of adjacent rings shape, and walking wheel 3 is a plurality of installs respectively on corresponding wheel seat 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 columns 13 arranged at intervals, and the annular portions 14 are directly connected or connected through reinforcing rods 16 in the form of bars.

As regards the number of rotor assemblies 2, which can be configured according to their power and the load of the survey robot 200, considering the overall layout rationality and taking into account handling, four sets are preferred, respectively, with four annular sectors 14 in the frame structure, distributed at the four corners of a rectangular area (the area enclosed by the four annular sectors 14 connected), the reinforcing rods 16 comprising:

the edge rods 161 are annularly distributed on the periphery of the rectangular area;

and an inner rod 162 connecting the two ring portions 14 on the same side of the rectangular region to each other.

The four wheel seats 15 protrude out of the four corners of the rectangular area and are connected with the annular part 14.

As a preferred simplification and consideration of the overall amount of onboard equipment, two rotor assemblies 2 may also be used.

The annular portions 14 are two and adjacent to each other in a figure 8, the rotor assemblies 2 are correspondingly provided in two sets, and the wheel seats 15 are four and arranged in pairs on opposite sides of the respective annular portions 14.

Specifically, the central connecting 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 on two sides of the reference line.

Referring to fig. 6 to 12, the information acquisition apparatus 4 is mounted to the support body 1 for acquiring information data related to a work surface, and the information acquisition apparatus 4 includes at least one of an image acquisition assembly 41, a laser mapping assembly 42, and an ultrasonic detection assembly 43:

wherein the image acquisition assembly 41 comprises:

the camera 411 is arranged on the support body 1 and positioned between two adjacent sets of rotor assemblies 2 and is used for shooting and acquiring images;

a fill-in lamp 414 for projecting light to the working surface;

the mounting rack is connected with the support body 1 and used for mounting the camera 411 and the light supplement 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 416 extends outwards and 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 installed in the middle of the mounting frame, and the light supplement lamp 414 is installed in the ring piece 415 and arranged at the projection position of the camera 411 at intervals. An illumination lamp 417 is also mounted on the support body for providing illumination in the forward direction.

One or more cameras 411 can be adopted, the resolution of a single camera 411 is 2000 ten thousand pixels or higher, 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 maximum 2m/s of moving image acquisition is supported, and a plurality of cameras 411 can be combined.

In this 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 the outer whole working surface (in this embodiment, the first camera 412 is embodied as a binocular camera, and a distance sensor for measuring the obstacle distance, the movement distance, and the positioning of the auxiliary system is disposed at this position), and the second camera 413 is used to photograph the real-time working surface of the surveying robot 200.

Wherein, binocular camera accessible rotation cloud platform is installed to the mounting bracket, can rotate to suitable shooting angle as required. Certainly, in order to avoid the problem of image noise caused by insufficient illumination, the bottom surface of the ring 415 is provided with a light supplement lamp 414 annularly arranged to provide illumination for the second camera 413, the light supplement lamp 414 is specifically a fluorescent lamp, in order to further enhance the shooting effect, a 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 open towards the working surface. The periphery in the hemisphere space is sealed to the shading cloth (for example photographic black cloth) that adds on the mounting bracket, can form in the working face region that second camera 413 was shot and be close confined shooting space, and the light filling effect of cooperation fluorescent lamp, its image acquisition effect can promote by a wide margin, the image concatenation in the guarantee 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 supplement lamp 414 (e.g., an LED lamp) is disposed at a projection position of the side surface of the ring-shaped member 45 facing the first camera 412.

The laser mapping assembly 42 includes:

the holder 421 is arranged on the support body 1 and connected with the support body 1;

and a laser scanner 422 mounted on the pan/tilt 421 for mapping the three-dimensional space.

The information collected by the laser scanner 422 is processed to obtain three-dimensional shape data around the working surface, and three-dimensional modeling is performed according to the three-dimensional shape data, and the image obtained by the image collection assembly 41 after modeling is subjected to chartlet rendering, so that the working surface can be vividly expressed.

The bottom of the pan/tilt head 421 has a plurality of support arms 423, in this embodiment, the number of the support arms 423 is 4, and the support arms 423 are substantially X-shaped, and in order to make the mapping of the laser scanner 422 more stable, the bottom ends of the support arms 423 are connected to the bottom frame 12 of the support body 1 through a shock absorbing member 424 (e.g., a shock absorbing pad). Specifically, the bottom end of the supporting arm 423 is provided with a screw hole, and during installation, a bolt sequentially penetrates through the screw hole, the damping member 424 and is fixedly connected with the bottom frame 12 of the supporting body 1.

When the survey robot 200 encounters an obstacle, the shock absorbing members 424 can greatly reduce the shock of the support arms 423 to achieve a good shock absorbing effect, and the shock absorbing members 424 can also filter the shock from the rotor. Wherein, laser scanner 422 can adopt prior art, can follow cloud platform 421 according to the actual demand of shooing and rotate to suitable angle and carry out three-dimensional space survey and drawing.

An ultrasound probe assembly 43 comprising:

ultrasonic probes 431 arranged in pairs with an adjustable spacing between the same pair; when the ultrasonic detection assembly is used for measuring the building cracks at least twice and performing crack exploration for different times, the distance between the ultrasonic probe and the ultrasonic probe is different, and the vector rotor system is controlled to stop running, so that the vector rotor system can be prevented from interfering the work of the ultrasonic detection assembly;

the moving mechanism 432 drives the ultrasonic probes 431 between the same pair to move relatively;

and a medium output head 433 for supplying the 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 condition of an actual working surface, so that the working efficiency is improved.

In the same pair of ultrasonic probes 431, one of the ultrasonic probes 431 transmits a detection signal, the other ultrasonic probe receives a return signal, the relative positions of the two ultrasonic probes 431 can be adjusted, so that the detection can be conveniently carried out at different relative positions to obtain more accurate data, the ultrasonic detection assembly 43 further comprises a microscopic camera 4343, wherein the microscopic camera 4343 is arranged in the middle of the ultrasonic probe 431 of the same pair, and can be used for microscopic photographing of cracks, and the resolution precision of the microscopic camera can reach 0.005mm. The spring 4311 is arranged in the ultrasonic probe 431, and when the spring 4311 is contacted with the working face, the spring can buffer and protect and can adapt to the unevenness of the working face.

The moving mechanism 432 can be driven in various ways, for example, it includes a moving motor and a screw-nut pair, and the moving motor drives the ultrasonic probe 431 through the screw-nut pair. For ease of operation, each ultrasound 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 ultrasonic probe 431 and a second position (X2) distant from the ultrasonic 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 is mounted on the support body 1 through a turnover mechanism 434, the turnover mechanism 434 includes 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. Wherein, the rotation angle of tilting mechanism 434 is the rotation angle between the primary importance and the second place, can set up by oneself according to the demand, and in this embodiment, rotation 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 is a disk-shaped, the middle part of the medium output head is provided with an output hole 4331 communicated with the medium pipeline 436, and the supply device 435 specifically comprises: a cylinder 4351 for storing working medium, wherein one end of the cylinder 4351 is closed and is provided with a discharge hole 4352, and the discharge hole 4352 is communicated with the medium output head 433 through a medium pipeline 436; a pushing piston 4353 slidably fitted in the barrel 4351; and an electric push rod 4354 extending to the other end of the cylinder 4351 and connected to the pushing piston 4353.

Specifically, the ultrasonic detection assembly 43 pushes the working medium in the cartridge 4351 to the medium output head 433 through the electric push rod 4354 by using the supply device 435, then turns over the medium output head 433 at the second position to the first position by using the turning mechanism to smear the working medium on the ultrasonic probe 431, and then the turning mechanism works again to turn over the medium output head 433 at the first position to the initial position (i.e., the second position), so that the ultrasonic probe 431 works formally.

Referring to fig. 13 to 17, in operation of the ultrasonic detection unit 43, calcium deposition, stains, etc. adhering to the surface of the crack affect the final detection result, and therefore, in view of minimizing measurement errors, the survey robot 200 further includes a cleaner 7 for cleaning the calcium deposition and stains on the work surface. The cleaner 7 includes: a cleaning motor 71, which is provided in the third housing 5451 and is slidably mounted with respect to the base plate 545; the brush head 712 is connected with an 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; and a sliding mechanism 72 disposed in the third housing 5451 and driving the cleaning motor 71 to slide. The provision of the cleaner 7 in the third housing 5451 enables the construction of the survey robot 200 to be more compact.

The slide mechanism 72 includes a slide motor 721 and a lead screw nut pair, and the slide motor 721 drives the cleaning motor 71 through the lead 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 is slidably engaged with the guide member 73.

The guiding component 73 is a cover structure, two opposite side walls of the cover structure are provided with sliding grooves 731, and the housing of the cleaning motor 71 is provided with a guiding component 711 matched with the sliding grooves 731. The sliding mechanism 72 drives the cleaning motor 71 to slide back and forth along the sliding groove 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 substrate 545.

In operation, in order to clean the crack surface more stably, the surveying robot 200 aligns the cleaner 7 to the portion to be cleaned, then the suction cup 54 is attached to the working surface in vacuum through the lifting driving mechanism 53 and anchored, and then the sliding mechanism 72 drives the cleaning motor 71 to slide along the width direction of the substrate 545, at this time, the brush head 712 not only rotates but also synchronously follows the cleaning motor 71 to reciprocate under the driving of the cleaning motor 71, in addition, the cleaner 7 is internally provided with the spring 713, and the brush head 712 connected with the cleaning motor 71 can be damped.

Referring to fig. 18 to 27, in order to firmly adhere to the working surface and keep the surveying robot 200 stably stationary during other equipment operations, the surveying robot 200 further includes a static suction unit 5, and the static suction unit 5 may be fixed to the working surface by vacuum suction. When the surveying robot 200 is fixed on the working surface in an adsorption mode, the obtained data is more accurate, and even the rotor can be stopped to work for a long time so as to save energy and filter noise.

The rotor during operation can produce the sound wave and disturb, can't carry out ultrasonic detection simultaneously, consequently, when needs use ultrasonic detection subassembly 43, must use static adsorption component 5 earlier will survey robot 200 and adsorb in the working face, stop rotor work then, ultrasonic detection subassembly 43 just begins work at last. In view of the uniformity of the overall load of the survey robot 200 and the smooth switching of the robot state after desorption, the rotor assemblies 2 are arranged on the outer periphery of the static adsorption assembly 5 as a whole.

The static adsorption assembly 5 includes:

the cylinder bodies 52 are movably arranged on the support body 1, the two cylinder bodies 52 are arranged side by side, the two cylinder bodies 52 can be lifted synchronously under the action of the lifting driving mechanism 53, the lifting stability and the necessary structural strength are kept, the vacuum pump 55 is positioned between the tops of the two cylinder bodies 52, in order to play a role of protecting dust and the like, the periphery of the top of each cylinder body 52 can be covered with the outer sleeve 51, the top of the outer sleeve 51 and the periphery of the vacuum pump 55 are provided with the first shell 56, and the first shell 56 can protect the parts inside and can also realize the noise reduction effect;

a lifting drive mechanism 53 which is installed on the support body 1 and is interlocked 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.

Specifically, during operation, the suction cup 54 is lowered to be in contact with the working surface, the vacuum pump 55 pumps out the gas between the suction cup 54 and the working surface through a pipeline until a preset vacuum degree is reached, and naturally, in order to enable the suction cup 54 to be stably attached to the working surface for a long time, the vacuum pump 55 also has a function of automatically supplementing pressure, and the vacuum state is constantly maintained by detecting the change of the vacuum degree through a detection sensor.

When the rotor assembly 2 is a quad, a second housing 58 is disposed below the first housing 56, the lifting driving mechanism 53 is disposed in the second housing 58 and between the two cylinders 52, the cylinders 52 extend downward out of 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 the bridge arms 581 is four, one end of each of the bridge arms is connected to the second casing 58, and the other end of each of the bridge arms is radially connected to the corresponding annular portion 14.

The second housing 58 is substantially the same height as the support body 1 or slightly higher than the support body 1, the elevation drive mechanism 53 and the control main board 57 of the survey robot 200 are provided in the second housing 58, and the vacuum pump 55 is fixed on the top surface of the second housing 58.

When the rotor assemblies 2 are in two sets, the lifting drive mechanism 53 is located between the top frame 11 and the bottom frame 12 and between the two cylinders 52, and the cylinders 52 extend downward out of the bottom frame 12. In this embodiment, the control 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 to the top surface of the top frame 11 for easy fixing. Gyroscopes, distance sensors, etc. carried by the survey robot 200 itself may be integrally mounted to the control board 57.

The elevation drive mechanism 53 includes:

a motor 531;

a transfer mechanism 532 which is linked with the motor 531 and is provided with two output shafts 5325, and a driving gear 533 is fixed on each output shaft;

two gear rings 534 respectively rotatably sleeved on the outer periphery of the cylinder 52 and respectively engaged 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 cylinder body 52 is provided with an external thread 521, the gear ring 534 is provided with an internal thread and is matched with the external thread 521, so that the cylinder body 52 is driven to ascend or descend relative to the support body 1, and the ascending and descending of the sucker 54 are realized; the ring gear 534 has gear teeth 535 on an axial end surface thereof, and is engaged with the corresponding drive gear 533 via the gear teeth 535.

The transfer case 532 can realize that the same motor 531 drives two sets of cylinders 52 to move synchronously, and the transfer case 532 comprises: a main bevel gear 5321 fixed to an output shaft 5311 of the motor 531; two secondary bevel gears 5322 are respectively engaged with the primary bevel gear 5321 and located on both sides of the primary bevel gear 5321, a counter shaft 5323 is fixed to each secondary bevel gear 5322, and two output shafts 5325 are respectively connected to the corresponding counter shafts 5323 through universal joints 5324.

In operation, the motor 531 rotates the main bevel gear 5321, and correspondingly, the two secondary bevel gears 5322 engaged 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 suction cup 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 cylinders to vacuum port 541, and pressure relief valve 543 is located in the other cylinder.

The vacuum line 551 includes an inner line 552 and an outer line 553, wherein the inner line 552 includes two rigid pipes movably inserted and hermetically engaged, one of the rigid pipes 5521a is connected to the vacuum port 541, and the other rigid pipe 5521b extends in the cylinder 52 and is connected to the outer line 553 through an opening at a corresponding portion of the outer sleeve 51 until being connected to the vacuum pump 55.

After the completion of the operation, when the vacuum is released, the pressure release valve 543 may be opened, and the pressure release valve 543 includes:

a sealing sleeve 5431 fixed to the edge of the pressure relief opening 542;

the valve core 5432 is matched with the sealing sleeve 5431;

the valve rod 5433 passes through the sealing sleeve 5431 and is connected with the valve core 5432, and the radial clearance between the valve rod 5433 and the sealing sleeve 5431 is a pressure relief clearance;

the elastic piece 5434 acts on the valve rod 5433 to drive the valve core 5432 to be in sealing fit with the sealing sleeve 5431;

and the electromagnetic driving component acts on the valve rod 5433 to drive the valve core 5432 and the sealing sleeve 5431 to be separated and decompressed.

The end face of the sealing sleeve 5431 is provided with an annular flange 5435, the valve core 5432 is matched with the end face of the sealing sleeve 5431 and tightly attached to the flange 5435 in a sealing state, 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 recovered between the suction cup 54 and a working surface, the suction cup 54 can be lifted afterwards, and interference between the suction cup 54 and the working surface during operation of other equipment is avoided.

The bottom surface of the suction cup 54 is further provided with a limiting pad 544, the position of the limiting pad 544 is lower than the vacuum port 541 and the pressure relief port 542, that is, the limiting pad 544 is the limit position for the joint of the working surface and the suction cup 54, and can prevent the contact between the vacuum port 541 and the pressure relief port 542 and the working surface, and the generation of unnecessary interference and friction.

The suction cup 54 includes:

a base plate 545 which is installed on the support body 1 in a lifting way, 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 position-limiting pads 544 are disposed, the position-limiting pads 544 are also disposed on the bottom surface of the substrate 545;

the sealing component comprises a plurality of sealing rings which are arranged inside and outside and are used for being sealed with the working surface in a fitting way, the plurality of sealing rings are located at the periphery of the vacuum port 541 and the pressure relief port 542 (when the limiting pad 544 is arranged). The plurality of seal rings and the substrate 545 are enclosed to form a cover structure, and when the cover structure is 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 architectural defects (convex-concave structure or cracks on the surface, namely 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 is firstly contacted with the working surface, and the rest two are treated in the same way.

Wherein, the height of the outermost seal ring 546c is 2.5 to 3cm, the height of the middle 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 sealing rings become wider from inside to outside, and the sealing rings 546c and 546b may be made of foam.

To facilitate integration of other components, providing hardware utilization, the bottom surface of the substrate 545 is provided with extension 5452 that extends outside the seal assembly, and other components such as the ultrasonic probe 431 may be mounted to the corresponding extension 5452.

The base plate 545 has a length direction along which the two cylinders 52 are sequentially arranged; the extension 5452 includes at least a first extension 5453 and a second extension 5454, both extensions 5452 being on either side of the seal along the length.

The ultrasonic probe 431 of the present invention can be installed on the static adsorption component 5, specifically, the ultrasonic detection component 43 is installed on an expansion area 5452 (a first expansion area 5453), wherein the ultrasonic probe 431 of the same pair is installed in a sliding manner relative to the substrate 545, the expansion area 5452 is provided with a first avoidance port 5455, and the position of the ultrasonic probe 431 corresponds to the first avoidance port 5455 and extends downward out of the first avoidance port 5455.

The top surface of the substrate 545 is covered with a third housing 5451, the moving mechanism 432 is located in the third housing 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 substrate 545, and the supplying device 435 is installed in the first housing 56 and erected on the top surfaces of the two outer sleeves 51.

In order to construct a working face map in advance, the surface surveying method for the building body cracks can further comprise the following steps:

establishing a coordinate system, specifically comprising: the surveying robot reaches the position of an origin point, moves to a reference point along a preset coordinate axis in a pointing manner, obtains a connecting line between the origin point and the reference point, corresponds the connecting line to a working surface 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 comprising: the working surface is divided into several rectangular subregions within the coordinate system according to a predetermined side length.

It will be appreciated that position feedback of the survey robot and the server is done via the coordinate system during operation of the survey robot. The establishment of the coordinate system therefore has to be performed at the beginning of the operation of the survey robot. The establishment of the coordinate system relies on the collected and stitched image information. The origin point is the position of the surveying robot at the beginning of working, and the reference point and the origin point are both positioned on the spliced images, so that the establishment of a coordinate system can be realized, and the instruction interaction between the surveying robot and the server is facilitated.

The division of the work sub-area may be, for example, according to the maximum length of the adjacent robot cables or according to the work limit path of the robot. When a plurality of robots are adopted, the robots walk synchronously with the relative distance kept constant, and the working efficiency is improved. The sub-regions may be, for example, squares, which may be, for example, ten to two hundred meters on a side, which may be, for example, fifty meters.

When the current position is confirmed, the surface features are matched, and a user views a working face map, the data units of the sub-regions can be called one by one, so that the working efficiency is improved. The survey robot performs path planning before working, the path planning being performed for each sub-region. The process of path planning is optimized by dividing the individual sub-regions. The sub-areas can be divided by physical identification, and the working surface of the coordinate system can be divided by the server.

Three levels of resolution can be involved in the data storage during the construction and modification of the work surface map and in the data calling using the work surface map, and the resolution (or according to the size of the data volume) can be used for display from low to high respectively:

the overall working face map with the lowest definition can be obtained by photographing the robot in a flight mode;

a work surface map of a sub-area;

and after the specific coordinate is specified, the working face map near the coordinate position is obtained.

The working face map is obtained by splicing image information (such as pictures) collected from a plurality of working positions in a historical working process, and specifically comprises the following steps: traversing all areas of the working surface, splicing the obtained image information, and 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, carrying out registration splicing on the pictures to be spliced according to the same surface characteristics to obtain a two-dimensional working face map. Traversing all regions of the working surface, including traversing one or all of the partitioned sub-regions.

In the embodiment, the image information is acquired by using the image acquisition assembly. The survey robot is transferred between a plurality of working positions during working, information data of a working surface is collected by an information collecting device when a preset working position is reached, and the information data is kept at the current working position in a climbing mode during collection.

The texture of the architectural defect is distinctive and significant, and like a human fingerprint, the texture of no two architectural defects is identical. By collecting, warehousing, comparing and splicing the textures of the building defects, the server can identify and label the building defects (cracks, pits, roughness, bulges and the like) through image information so as to instruct the robot to measure and feed back the marks. High-precision image splicing can be performed through the same texture of the superposed images, the contact ratio of the image information at adjacent positions can be set according to the step length of the information acquisition equipment and the step length of the surveying robot, and for example, the contact ratio for image splicing can be more than 20%.

It will be appreciated that in surface feature comparison, different architectural defects may be ranked or classified, for example cracks belonging to distinct architectural defects may be registered for location. This embodiment passes through the data concatenation, replaces artifical and conventional unmanned aerial vehicle to detect the working face, and the efficiency that this embodiment control robot detected is higher, and the security is higher, and data is more accurate, and the cost is lower.

When traversing all areas of the working surface, acquiring three-dimensional form data and performing three-dimensional modeling by a laser scanner included in the information acquisition equipment to obtain a three-dimensional model; and fitting the working face map in the two-dimensional form to the three-dimensional model to obtain the working face map in the three-dimensional form.

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 visualization effect is better, height change can be reflected, data guarantee is provided for the exploration robot to cross obstacles, and the three-dimensional form working surface map has an auxiliary effect on mode adjustment of the obstacle crossing and 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 splicing can correct and remove distortion of the deformed image in a correction, uniform brightness and other modes; and fitting the working surface map in a two-dimensional form to the three-dimensional model, and performing self-adaptive rendering. The server may also generate a data report from the captured surface characteristic information.

Referring to fig. 28-30, the vector rotor system is used to provide power for walking, flying, obstacle crossing, etc. movements of the survey robot 200, and for ease of understanding, the first and second axes referred to in the rotor assembly 2 of the following embodiment are specifically in the L1 direction and the L2 direction.

Rotor assembly 2 includes:

a first roll-over stand 21 rotatably mounted on the ring portion 14 around a first axis;

a first steering engine 22 acting between the annular part 14 and the first roll-over stand 21;

the second roll-over stand 23 is rotatably arranged on the first roll-over stand 21 around a second axis, and the second axis is vertical to the first axis;

the second steering engine 24 acts between the second roll-over stand 23 and the first roll-over stand 21;

a main motor 25 mounted on the second roll-over stand 23;

and a paddle 26 attached to an output shaft of the main motor 25.

First steering wheel 22 and second steering wheel 24 can drive first roll-over stand 21 and second roll-over stand 23 respectively and carry out 360 rotations, and the model that the angle can be finely tuned can also be chooseed for use to the output shaft of main motor 25 in addition. Therefore, the blades 26 can rotate in all directions, full vector control conversion of spherical vectors is achieved, and the survey robot is modulated into various forms suitable for walking, climbing and flying. Furthermore, in an alternative control mode, it is preferable that the power of each rotor of the survey robot be kept constant to simplify mode control and configuration switching.

In this embodiment, the main motor 25 is mounted at an intermediate position of the second roll stand 23, and the output shaft is substantially perpendicular to the second axis. To reduce interference of forces between rotor assemblies 2 during operation of the rotor system, the first axes of rotor assemblies 2 are parallel and coplanar with one another. In addition, the first axes of all the rotor wing assemblies 2 are positioned 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 is not easy to roll over.

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

The first pivot 28 and the first steering engine 22 of all rotor assemblies 2 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 stands 21 of all rotor assemblies 2 are in a coplanar state, and the second axes of all rotor assemblies 2 are parallel and coplanar with each other.

Survey robot 200 is inside to be provided with induction system (for example gyroscope, distance sensor etc.) for current gesture and relative position of response, when meetting the obstacle face (for example right-angle face, anti-inclined plane etc.) that obviously takes the angle with the working face, can discern according to real-time information or historical data of gathering, when carrying out the full vector control of rotor, induction system carries out real-time feedback. When the obstacle is crossed, the first steering engine 22 and the second steering engine 24 start to work, the rotation angle of the vector rotor system is changed, and the front end of the surveying robot 200 is enabled to tilt up to directly climb onto the obstacle surface. When the obstacle which cannot climb over the obstacle is encountered, the obstacle can be jumped by switching to a flight mode, and the obstacle is jumped over and then switched to a climbing mode.

The survey robot has a climbing mode and a flight mode. Under the climbing mode, the walking wheel cooperates with the working face walking under vector rotor system's effect, when the working face is more inclined, provides the overdraft of walking wheel and working face through vector rotor system. In flight mode, the road wheels are far away from the working surface. If the work task is executed based on the robot cluster system (including at least one negative cable robot in addition to the survey robot), the negative cable robot follows correspondingly during the work of the survey robot.

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

Referring to fig. 31, the traveling wheels 3 are all universal wheels to ensure the traveling flexibility, and can move in any direction along the working surface under the driving of the vector rotor system, regardless of turning radius and the like, which is more obvious in the operation route planning and operation traveling.

According to the distribution of the wheel seats 15, the traveling wheels 3 can be configured into 4 sets or more, and in the same set, a single-wheel structure or a 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 methods, such as air damping and a mechanical spring, and when the wheel moves on an uneven working surface, the damping mechanism 31 may combine a plurality of instantaneous bounces into a relatively gentle movement, thereby achieving a damping effect.

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 described. The steps are not limited to being performed in the exact order illustrated and, unless explicitly stated herein, may be performed in other orders. Moreover, at least a portion of the steps may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternating with other steps or at least a portion of the sub-steps or stages of other steps.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features. When technical features in different embodiments are represented in the same drawing, it can be seen that the drawing also discloses a combination of the embodiments concerned.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is specific and detailed, but not to be understood as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.

Claims

1. A method for surface surveying of fractures in a building, comprising:

2. The method for surface investigation of building fractures according to claim 1, wherein said survey robot comprises:

a support body;

3. The method for surface investigation of building fractures according to claim 2, wherein said survey robot comprises:

4. A method for surface investigation of cracks in buildings according to claim 3, characterised in that the investigation robot comprises:

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

the medium output head has a first position adjacent to the ultrasonic probe and a second position far away from the ultrasonic probe;

the turnover mechanism comprises a turnover motor and a movable frame, the movable frame is arranged on the support body, the movable frame is used for fixing the medium output head, an output shaft of the turnover motor is rotationally connected with the movable frame, and the turnover motor drives the movable frame to turn over so that the medium output head has a first position and a second position relative to the ultrasonic probe;

5. The method for surface investigation of building fractures according to claim 2, wherein the survey robot further comprises:

the barrel can lift relative to the support body;

and the vacuum pump is communicated with the suction cup through a pipeline, and the suction cup performs vacuum pumping through the vacuum pump so as to anchor the surveying robot on the working surface in a vacuum adsorption mode.

6. The method for surveying the surface of the building cracks according to claim 1, wherein in the step S2, the current position image information collected by the surveying robot is subjected to feature extraction to obtain the surface features, the surface features are subjected to feature matching with a working plane map of a server, and the position coordinates of the surface features relative to the working plane map are obtained to confirm the current position coordinates of the surveying robot.

7. The method for surface investigation of building cracks as claimed in claim 6, characterized in that the image information collected at the current location is subjected to surface feature recognition;

8. The method of building crack surface investigation of claim 7 wherein when a surface feature is identified as a building crack, a comparison is made with historical image information for a current location in a face map;

9. The method for surface investigation of building fractures according to claim 5, wherein in step S4, the fracture surfaces are cleaned prior to the ultrasonic investigation of the working face fractures;